Android Sensor数据获取

package com.example.ansensor;

import java.io.File;
import java.io.FileNotFoundException;
import java.io.FileOutputStream;
import java.io.IOException;

import com.example.ansensor.R;

import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.os.Bundle;
import android.os.Environment;
import android.os.Handler;
import android.app.Activity;
import android.content.Context;
import android.util.Log;
import android.view.Menu;
import android.widget.TextView;

public class MainActivity extends Activity implements SensorEventListener{


	private SensorManager mSensorManager;
	private Sensor mSensor;
	
	private static final float NS2S = 1.0f / 1000000000.0f;
	private static final double EPSILON = 0.1f;
	private double gyroscopeRotationVelocity = 0;
    private long timestamp = 0;
	
    float deltaQuaternion[] = {0.f, 0.f, 0.f, 0.f};
    float currentOrientationQuaternion[] = {0.f, 0.f, 0.f, 1.0f};
    
    float toUnityQuaternion[] = {0.f, 0.f, 0.f, 1.0f};
    protected final Object synchronizationToken = new Object();

    //String folderName = "Alva";
    //File sdCardDir;
    //File saveFile;
    //FileOutputStream outStream;
	public float sensor_Quat[] = new float[4];
	private Handler mHandler = new Handler();
	private Runnable mRunnable = new Runnable(){

		@Override
		public void run() {
			// TODO Auto-generated method stub
			getUnityQuaternion(sensor_Quat);
			TextView textview0 = (TextView)findViewById(R.id.textView1);
			TextView textview1 = (TextView)findViewById(R.id.textView2);
			TextView textview2 = (TextView)findViewById(R.id.textView3);
			TextView textview3 = (TextView)findViewById(R.id.textView4);
			textview0.setText(Float.toString(sensor_Quat[0]));
			textview1.setText(Float.toString(sensor_Quat[1]));
			textview2.setText(Float.toString(sensor_Quat[2]));
			textview3.setText(Float.toString(sensor_Quat[3]));
			mHandler.postDelayed(mRunnable, 10);
		}			
	};
    
    void setUnityQuaternion(float[] currentQuaternion){
		synchronized (synchronizationToken) {
			toUnityQuaternion[0] = currentQuaternion[0];
			toUnityQuaternion[1] = currentQuaternion[1];
			toUnityQuaternion[2] = currentQuaternion[2];
			toUnityQuaternion[3] = currentQuaternion[3];
        }
	}
	
	void getUnityQuaternion(float[] outUnityQuaternion){
		synchronized (synchronizationToken) {
			outUnityQuaternion[0] = toUnityQuaternion[0];
			outUnityQuaternion[1] = toUnityQuaternion[1];
			outUnityQuaternion[2] = toUnityQuaternion[2];
			outUnityQuaternion[3] = toUnityQuaternion[3];
        }
	}
	
    void registerSensorListener(){
		
		mSensorManager.registerListener(this, mSensor, SensorManager.SENSOR_DELAY_GAME);
	}
    
    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        
		mSensorManager = (SensorManager)getSystemService(Context.SENSOR_SERVICE);
		mSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
		
		registerSensorListener();
		mHandler.post(mRunnable);
		
		//sdCardDir = new File(Environment.getExternalStoragePublicDirectory(
	    //        Environment.DIRECTORY_DOWNLOADS), folderName);
		
		//if (!sdCardDir.exists()) {
        //   if (!sdCardDir.mkdirs()) {

       //         try {
         //           sdCardDir.createNewFile();

         //       } catch (Exception e) {
          //          e.printStackTrace();
         //       }
         //   }
        //}
		 //saveFile = new File(sdCardDir, "gyro.txt");
		 //try {
		//	outStream = new FileOutputStream(saveFile);
		//} catch (FileNotFoundException e) {
			// TODO Auto-generated catch block
		//	e.printStackTrace();
		//}
    }


    @Override
    public boolean onCreateOptionsMenu(Menu menu) {
        // Inflate the menu; this adds items to the action bar if it is present.
        getMenuInflater().inflate(R.menu.main, menu);
        return true;
    }


	@Override
	public void onAccuracyChanged(Sensor arg0, int arg1) {
		// TODO Auto-generated method stub
		
	}

	@Override
	public void onSensorChanged(SensorEvent event) {
		
		// TODO Auto-generated method stub
		if(event.sensor.getType() == Sensor.TYPE_GYROSCOPE){
			if(timestamp != 0){
				
				final float dT = (event.timestamp - timestamp) * NS2S;
				
				float axisX = event.values[0];
				float axisY = event.values[1];
				float axisZ = event.values[2];
				//long timesss = event.timestamp / 1000;
				//String writeData = Long.toString(timesss) + "," + Float.toString(axisX) + "," + Float.toString(axisY) + "," + Float.toString(axisZ) + "\n";
				//try {
				//	outStream.write(writeData.getBytes());
				//	outStream.flush();
				//	Log.e("JSF....", "write.....");
				//} catch (IOException e) {
					// TODO Auto-generated catch block
				//	Log.e("JSF....", "write  error.....");
				//	e.printStackTrace();
				//}
				
				//Log.e("JSF....", writeData);
				
				gyroscopeRotationVelocity = Math.sqrt(axisX * axisX + axisY * axisY + axisZ * axisZ);

				if (gyroscopeRotationVelocity > EPSILON) {
                    axisX /= gyroscopeRotationVelocity;
                    axisY /= gyroscopeRotationVelocity;
                    axisZ /= gyroscopeRotationVelocity;
                }
				
				double thetaOverTwo = gyroscopeRotationVelocity * dT / 2.0f;
                double sinThetaOverTwo = Math.sin(thetaOverTwo);
                double cosThetaOverTwo = Math.cos(thetaOverTwo);
				
                deltaQuaternion[0] = (float)(sinThetaOverTwo * axisX);
                deltaQuaternion[1] = (float)(sinThetaOverTwo * axisY);
                deltaQuaternion[2] = (float)(sinThetaOverTwo * axisZ);
                deltaQuaternion[3] = (float)(cosThetaOverTwo);
                
                float tmpVector[] = {0.f, 0.f, 0.f, 0.f};
                tmpVector[0] = currentOrientationQuaternion[0];
                tmpVector[1] = currentOrientationQuaternion[1];
                tmpVector[2] = currentOrientationQuaternion[2];
                tmpVector[3] = currentOrientationQuaternion[3];

                currentOrientationQuaternion[3] = (tmpVector[3] * deltaQuaternion[3] - tmpVector[0] * deltaQuaternion[0] - 
                		                           tmpVector[1] * deltaQuaternion[1] - tmpVector[2] * deltaQuaternion[2]); //w = w1w2 - x1x2 - y1y2 - z1z2
                currentOrientationQuaternion[0] = (tmpVector[3] * deltaQuaternion[0] + tmpVector[0] * deltaQuaternion[3] + 
                                                   tmpVector[1] * deltaQuaternion[2] - tmpVector[2] * deltaQuaternion[1]); //x = w1x2 + x1w2 + y1z2 - z1y2
                currentOrientationQuaternion[1] = (tmpVector[3] * deltaQuaternion[1] + tmpVector[1] * deltaQuaternion[3] + 
                		                           tmpVector[2] * deltaQuaternion[0] - tmpVector[0] * deltaQuaternion[2]); //y = w1y2 + y1w2 + z1x2 - x1z2
                currentOrientationQuaternion[2] = (tmpVector[3] * deltaQuaternion[2] + tmpVector[2] * deltaQuaternion[3] + 
                		                           tmpVector[0] * deltaQuaternion[1] - tmpVector[1] * deltaQuaternion[0]); //z = w1z2 + z1w2 + x1y2 - y1x2
                
                setUnityQuaternion(currentOrientationQuaternion);
			}
			timestamp = event.timestamp;
		}
	}
}

activity_main.xml

<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:tools="http://schemas.android.com/tools"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:paddingBottom="@dimen/activity_vertical_margin"
    android:paddingLeft="@dimen/activity_horizontal_margin"
    android:paddingRight="@dimen/activity_horizontal_margin"
    android:paddingTop="@dimen/activity_vertical_margin"
    tools:context=".MainActivity" >

    <GridLayout
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:columnCount="1"
        android:rowCount="5">
        
        
    <TextView
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:layout_columnWeight="1"
        android:layout_rowWeight="1"
        android:layout_row="0"
        android:layout_column="0"
        android:layout_gravity="center_horizontal"
        android:background="@color/bisque"
        android:text="@string/gyro" />           
    <TextView
        android:id="@+id/textView1"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:layout_columnWeight="1"
        android:layout_rowWeight="1"
        android:layout_row="1"
        android:layout_column="0"
        android:layout_gravity="center_horizontal"
        android:text=""/>
    <TextView
        android:id="@+id/textView2"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:layout_columnWeight="1"
        android:layout_rowWeight="1"
        android:layout_row="2"
        android:layout_column="0"
        android:layout_gravity="center_horizontal"
        android:text=""/>
    <TextView
        android:id="@+id/textView3"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:layout_columnWeight="1"
        android:layout_rowWeight="1"
        android:layout_row="3"
        android:layout_column="0"
        android:layout_gravity="center_horizontal"
        android:text="" />
    
    <TextView
        android:id="@+id/textView4"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:layout_columnWeight="1"
        android:layout_rowWeight="1"
        android:layout_row="4"
        android:layout_column="0"
        android:layout_gravity="center_horizontal"
        android:text="" />
   
    </GridLayout>

</RelativeLayout>

strings.xml

<?xml version="1.0" encoding="utf-8"?>
<resources>

    <string name="app_name">TestSensor</string>
    <string name="action_settings">Settings</string>
    <string name="acce">Acce</string>
    <string name="gyro">Gyro</string>
    <string name="orie">Orie</string>
    <string name="lacce">LAcce</string>
    

</resources>

AndroidManifest.xml

<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
    package="com.example.ansensor"
    android:versionCode="1"
    android:versionName="1.0" >

    <uses-sdk
        android:minSdkVersion="14"
        android:targetSdkVersion="18" />
    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>  
    <uses-permission android:name="android.permission.MOUNT_UNMOUNT_FILESYSTEMS"/> 
    <application
        android:allowBackup="true"
        android:icon="@drawable/ic_launcher"
        android:label="@string/app_name"
        android:theme="@style/AppTheme" >
        <activity
            android:name="com.example.ansensor.MainActivity"
            android:label="@string/app_name" >
            <intent-filter>
                <action android:name="android.intent.action.MAIN" />

                <category android:name="android.intent.category.LAUNCHER" />
            </intent-filter>
        </activity>
    </application>

</manifest>

color.xml

<?xml version="1.0" encoding="utf-8"?>  

<resources>  

<color name="white">#FFFFFF</color><!--白色 -->  

<color name="ivory">#FFFFF0</color><!--象牙色 -->  

<color name="lightyellow">#FFFFE0</color><!--亮黄色 -->  

<color name="yellow">#FFFF00</color><!--黄色 -->  

<color name="snow">#FFFAFA</color><!--雪白色 -->  

<color name="floralwhite">#FFFAF0</color><!--花白色 -->  

<color name="lemonchiffon">#FFFACD</color><!--柠檬绸色 -->  

<color name="cornsilk">#FFF8DC</color><!--米绸色 -->  

<color name="seashell">#FFF5EE</color><!--海贝色 -->  

<color name="lavenderblush">#FFF0F5</color><!--淡紫红 -->  

<color name="papayawhip">#FFEFD5</color><!--番木色 -->  

<color name="blanchedalmond">#FFEBCD</color><!--白杏色 -->  

<color name="mistyrose">#FFE4E1</color><!--浅玫瑰色 -->  

<color name="bisque">#FFE4C4</color><!--桔黄色 -->  

<color name="moccasin">#FFE4B5</color><!--鹿皮色 -->  

<color name="navajowhite">#FFDEAD</color><!--纳瓦白 -->  

<color name="peachpuff">#FFDAB9</color><!--桃色 -->  

<color name="gold">#FFD700</color><!--金色 -->  

<color name="pink">#FFC0CB</color><!--粉红色 -->  

<color name="lightpink">#FFB6C1</color><!--亮粉红色 -->  

<color name="orange">#FFA500</color><!--橙色 -->  

<color name="lightsalmon">#FFA07A</color><!--亮肉色 -->  

<color name="darkorange">#FF8C00</color><!--暗桔黄色 -->  

<color name="coral">#FF7F50</color><!--珊瑚色 -->  

<color name="hotpink">#FF69B4</color><!--热粉红色 -->  

<color name="tomato">#FF6347</color><!--西红柿色 -->  

<color name="orangered">#FF4500</color><!--红橙色 -->  

<color name="deeppink">#FF1493</color><!--深粉红色 -->  

<color name="fuchsia">#FF00FF</color><!--紫红色 -->  

<color name="magenta">#FF00FF</color><!--红紫色 -->  

<color name="red">#FF0000</color><!--红色 -->  

<color name="oldlace">#FDF5E6</color><!--老花色 -->  

<color name="lightgoldenrodyellow">#FAFAD2</color><!--亮金黄色 -->  

<color name="linen">#FAF0E6</color><!--亚麻色 -->  

<color name="antiquewhite">#FAEBD7</color><!--古董白 -->  

<color name="salmon">#FA8072</color><!--鲜肉色 -->  

<color name="ghostwhite">#F8F8FF</color><!--幽灵白 -->  

<color name="mintcream">#F5FFFA</color><!--薄荷色 -->  

<color name="whitesmoke">#F5F5F5</color><!--烟白色 -->  

<color name="beige">#F5F5DC</color><!--米色 -->  

<color name="wheat">#F5DEB3</color><!--浅黄色 -->  

<color name="sandybrown">#F4A460</color><!--沙褐色 -->  

<color name="azure">#F0FFFF</color><!--天蓝色 -->  

<color name="honeydew">#F0FFF0</color><!--蜜色 -->  

<color name="aliceblue">#F0F8FF</color><!--艾利斯兰 -->  

<color name="khaki">#F0E68C</color><!--黄褐色 -->  

<color name="lightcoral">#F08080</color><!--亮珊瑚色 -->  

<color name="palegoldenrod">#EEE8AA</color><!--苍麒麟色 -->  

<color name="violet">#EE82EE</color><!--紫罗兰色 -->  

<color name="darksalmon">#E9967A</color><!--暗肉色 -->  

<color name="lavender">#E6E6FA</color><!--淡紫色 -->  

<color name="lightcyan">#E0FFFF</color><!--亮青色 -->  

<color name="burlywood">#DEB887</color><!--实木色 -->  

<color name="plum">#DDA0DD</color><!--洋李色 -->  

<color name="gainsboro">#DCDCDC</color><!--淡灰色 -->  

<color name="crimson">#DC143C</color><!--暗深红色 -->  

<color name="palevioletred">#DB7093</color><!--苍紫罗兰色-->  

<color name="goldenrod">#DAA520</color><!--金麒麟色 -->  

<color name="orchid">#DA70D6</color><!--淡紫色 -->  

<color name="thistle">#D8BFD8</color><!--蓟色 -->  

<color name="lightgray">#D3D3D3</color><!--亮灰色 -->  

<color name="lightgrey">#D3D3D3</color><!--亮灰色 -->  

<color name="tan">#D2B48C</color><!--茶色 -->  

<color name="chocolate">#D2691E</color><!--巧可力色 -->  

<color name="peru">#CD853F</color><!--秘鲁色 -->  

<color name="indianred">#CD5C5C</color><!--印第安红 -->  

<color name="mediumvioletred">#C71585</color><!--中紫罗兰色 -->  

<color name="silver">#C0C0C0</color><!--银色 -->  

<color name="darkkhaki">#BDB76B</color><!--暗黄褐色 -->  

<color name="rosybrown">#BC8F8F</color><!--褐玫瑰红 -->  

<color name="mediumorchid">#BA55D3</color><!--中粉紫色 -->  

<color name="darkgoldenrod">#B8860B</color><!--暗金黄色 -->  

<color name="firebrick">#B22222</color><!--火砖色 -->  

<color name="powderblue">#B0E0E6</color><!--粉蓝色 -->  

<color name="lightsteelblue">#B0C4DE</color><!--亮钢兰色-->  

<color name="paleturquoise">#AFEEEE</color><!--苍宝石绿 -->  

<color name="greenyellow">#ADFF2F</color><!--黄绿色 -->  

<color name="lightblue">#ADD8E6</color><!--亮蓝色 -->  

<color name="darkgray">#A9A9A9</color><!--暗灰色 -->  

<color name="darkgrey">#A9A9A9</color><!--暗灰色 -->  

<color name="brown">#A52A2A</color><!--褐色 -->  

<color name="sienna">#A0522D</color><!--赭色 -->  

<color name="darkorchid">#9932CC</color><!--暗紫色 -->  

<color name="palegreen">#98FB98</color><!--苍绿色 -->  

<color name="darkviolet">#9400D3</color><!--暗紫罗兰色 -->  

<color name="mediumpurple">#9370DB</color><!--中紫色 -->  

<color name="lightgreen">#90EE90</color><!--亮绿色 -->  

<color name="darkseagreen">#8FBC8F</color><!--暗海兰色 -->  

<color name="saddlebrown">#8B4513</color><!--重褐色 -->  

<color name="darkmagenta">#8B008B</color><!--暗洋红 -->  

<color name="darkred">#8B0000</color><!--暗红色 -->  

<color name="blueviolet">#8A2BE2</color><!--紫罗兰蓝色 -->  

<color name="lightskyblue">#87CEFA</color><!--亮天蓝色 -->  

<color name="skyblue">#87CEEB</color><!--天蓝色 -->  

<color name="gray">#808080</color><!--灰色 -->  

<color name="grey">#808080</color><!--灰色 -->  

<color name="olive">#808000</color><!--橄榄色 -->  

<color name="purple">#800080</color><!--紫色 -->  

<color name="maroon">#800000</color><!--粟色 -->  

<color name="aquamarine">#7FFFD4</color><!--碧绿色 -->  

<color name="chartreuse">#7FFF00</color><!--黄绿色 -->  

<color name="lawngreen">#7CFC00</color><!--草绿色 -->  

<color name="mediumslateblue">#7B68EE</color><!--中暗蓝色-->  

<color name="lightslategray">#778899</color><!--亮蓝灰 -->  

<color name="lightslategrey">#778899</color><!--亮蓝灰 -->  

<color name="slategray">#708090</color><!--灰石色 -->  

<color name="slategrey">#708090</color><!--灰石色 -->  

<color name="olivedrab">#6B8E23</color><!--深绿褐色 -->  

<color name="slateblue">#6A5ACD</color><!--石蓝色 -->  

<color name="dimgray">#696969</color><!--暗灰色 -->  

<color name="dimgrey">#696969</color><!--暗灰色 -->  

<color name="mediumaquamarine">#66CDAA</color><!--中绿色-->  

<color name="cornflowerblue">#6495ED</color><!--菊兰色 -->  

<color name="cadetblue">#5F9EA0</color><!--军兰色 -->  

<color name="darkolivegreen">#556B2F</color><!--暗橄榄绿 -->  

<color name="indigo">#4B0082</color><!--靛青色 -->  

<color name="mediumturquoise">#48D1CC</color><!--中绿宝石-->  

<color name="darkslateblue">#483D8B</color><!--暗灰蓝色 -->  

<color name="steelblue">#4682B4</color><!--钢兰色 -->  

<color name="royalblue">#4169E1</color><!--皇家蓝 -->  

<color name="turquoise">#40E0D0</color><!--青绿色 -->  

<color name="mediumseagreen">#3CB371</color><!--中海蓝 -->  

<color name="limegreen">#32CD32</color><!--橙绿色 -->  

<color name="darkslategray">#2F4F4F</color><!--暗瓦灰色 -->  

<color name="darkslategrey">#2F4F4F</color><!--暗瓦灰色 -->  

<color name="seagreen">#2E8B57</color><!--海绿色 -->  

<color name="forestgreen">#228B22</color><!--森林绿 -->  

<color name="lightseagreen">#20B2AA</color><!--亮海蓝色 -->  

<color name="dodgerblue">#1E90FF</color><!--闪兰色 -->  

<color name="midnightblue">#191970</color><!--中灰兰色 -->  

<color name="aqua">#00FFFF</color><!--浅绿色 -->  

<color name="cyan">#00FFFF</color><!--青色 -->  

<color name="springgreen">#00FF7F</color><!--春绿色 -->  

<color name="lime">#00FF00</color><!--酸橙色 -->  

<color name="mediumspringgreen">#00FA9A</color><!--中春绿色 -->  

<color name="darkturquoise">#00CED1</color><!--暗宝石绿 -->  

<color name="deepskyblue">#00BFFF</color><!--深天蓝色 -->  

<color name="darkcyan">#008B8B</color><!--暗青色 -->  

<color name="teal">#008080</color><!--水鸭色 -->  

<color name="green">#008000</color><!--绿色 -->  

<color name="darkgreen">#006400</color><!--暗绿色 -->  

<color name="blue">#0000FF</color><!--蓝色 -->  

<color name="mediumblue">#0000CD</color><!--中兰色 -->  

<color name="darkblue">#00008B</color><!--暗蓝色 -->  

<color name="navy">#000080</color><!--海军色 -->  

<color name="black">#000000</color><!--黑色 -->  

</resources>