C++ 获取Sensor数据

jni文件夹
Android.mk

LOCAL_PATH := $(call my-dir)

include $(CLEAR_VARS)
LOCAL_MODULE    := libSensor


LOCAL_SRC_FILES := SensorManager.cpp \
                   com_example_testsensor_SensorInterface.cpp
                 
LOCAL_C_INCLUDES := 


LOCAL_LDLIBS    := -llog -landroid -pthread

include $(BUILD_SHARED_LIBRARY)

SensorManager.cpp

//#include <jni.h>
#include <android/log.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <android/sensor.h>
#include <pthread.h>
#include <unistd.h>

#include "SensorManager.h"

#define TAG "SensorManager"
#define LOGD(...) __android_log_print(ANDROID_LOG_DEBUG,TAG ,__VA_ARGS__)
#define LOGI(...) __android_log_print(ANDROID_LOG_INFO,TAG ,__VA_ARGS__)
#define LOGW(...) __android_log_print(ANDROID_LOG_WARN,TAG ,__VA_ARGS__)
#define LOGE(...) __android_log_print(ANDROID_LOG_ERROR,TAG ,__VA_ARGS__)
#define LOGF(...) __android_log_print(ANDROID_LOG_FATAL,TAG ,__VA_ARGS__)


static volatile int sensorThreadFlag = 0;

pthread_t sensor_get_thread = 0;

static float* gQuaternion = NULL;
static float* gPreQuaternion = NULL;
static float* gUnityQuaternion = NULL;

pthread_mutex_t gmut;

void* Sensor_Dump_ACC_GYROSCOPE(void* param){
	
	int err = 0;
    int accMinDelay = 0, gyroscopeDelay = 0;
	
#undef DUMP
#define DUMP 1
#if DUMP
    char* sensorRatePath = "/sdcard/Alva/sensor/rate.txt";
    FILE* fp = NULL;
	char rate_s[10] = { 0 };
	fp = fopen(sensorRatePath, "r+");
	fgets(rate_s, 10, fp);
	fclose(fp);	
#endif
	
    ASensorManager* sensorManager = ASensorManager_getInstance();

    ASensor const* accSensor = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_ACCELEROMETER);
    if (accSensor == NULL) {
        return NULL;
    }
    ASensor const* gyroSensor = ASensorManager_getDefaultSensor(sensorManager, ASENSOR_TYPE_GYROSCOPE);
    if (gyroSensor == NULL) {
        return NULL;
    }	
	
    ALooper* sensorLooper = ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS);
    ASensorEventQueue* sensorQueue = ASensorManager_createEventQueue(sensorManager, sensorLooper, 1, NULL, NULL);
    accMinDelay = ASensor_getMinDelay(accSensor);
	gyroscopeDelay = ASensor_getMinDelay(gyroSensor);
	
#if DUMP
	int rate_int = atoi(rate_s);
	LOGE("rate_string : %s      %d", rate_s, rate_int);
	accMinDelay = 1000000 / rate_int;
	gyroscopeDelay = 1000000 / rate_int;
#endif

    err = ASensorEventQueue_enableSensor(sensorQueue, accSensor);
    if (err < 0) {
        ASensorManager_destroyEventQueue(sensorManager, sensorQueue);
        return NULL;
    }
	err = ASensorEventQueue_enableSensor(sensorQueue, gyroSensor);
    if (err < 0) {
        ASensorManager_destroyEventQueue(sensorManager, sensorQueue);
        return NULL;
    }
	
    err = ASensorEventQueue_setEventRate(sensorQueue, accSensor, accMinDelay);
    if (err < 0) {
        ASensorEventQueue_disableSensor(sensorQueue, accSensor);
        ASensorManager_destroyEventQueue(sensorManager, sensorQueue);
        return NULL;
    }
	err = ASensorEventQueue_setEventRate(sensorQueue, gyroSensor, gyroscopeDelay);
    if (err < 0) {
        ASensorEventQueue_disableSensor(sensorQueue, gyroSensor);
        ASensorManager_destroyEventQueue(sensorManager, sensorQueue);
        return NULL;
    }
#if DUMP
    char acce_file[100] = { 0 };
	sprintf(acce_file, "/sdcard/Alva/dump/acce_%d.txt", rate_int);

    char gyro_file[100] = { 0 };
	sprintf(gyro_file, "/sdcard/Alva/dump/gyro_%d.txt", rate_int);	
	
    FILE* fp_acc = NULL;
    fp_acc = fopen(acce_file, "w+");
    if (fp_acc == NULL) {
        LOGE("open fp_acc error.");
    }
	FILE* fp_gyro = NULL;
    fp_gyro = fopen(gyro_file, "w+");
    if (fp_gyro == NULL) {
        LOGE("open fp_gyro error.");
    }
#endif
    float rt[9] = { 0.f };
    ASensorEvent event;
    while (sensorThreadFlag == 0) {
        if (ASensorEventQueue_getEvents(sensorQueue, &event, 1) > 0) {
            switch (event.type) {
            case ASENSOR_TYPE_ACCELEROMETER:
            {
                float xAcc = event.vector.x;
                float yAcc = event.vector.y;
                float zAcc = event.vector.z;
                rt[0] = xAcc;
                rt[1] = yAcc;
                rt[2] = zAcc;
				
#if DUMP
                LOGE("%lld,%f,%f,%f\n", event.timestamp, xAcc, yAcc, zAcc);
                fprintf(fp_acc, "%lld,%f,%f,%f\n", event.timestamp, xAcc, yAcc, zAcc);
				fflush(fp_acc);
#endif				
                setQuaternion(rt);
            };
            break;
			case ASENSOR_TYPE_GYROSCOPE:
			{
				float xGyro = event.vector.x;
                float yGyro = event.vector.y;
                float zGyro = event.vector.z;
				rt[3] = xGyro;
                rt[4] = yGyro;
                rt[5] = zGyro;
#if DUMP
                LOGE("%lld,%f,%f,%f\n", event.timestamp, xGyro, yGyro, zGyro);
                fprintf(fp_gyro, "%lld,%f,%f,%f\n", event.timestamp, xGyro, yGyro, zGyro);
				fflush(fp_gyro);
#endif				
                setQuaternion(rt);
			};break;
            default:
                break;
            }
        }
    }
	
#if DUMP
    fclose(fp_acc);
	fclose(fp_gyro);
#endif
	
    pthread_exit(0);
	return NULL;
}


int initSensorManager() {
    sensorThreadFlag = 0;
	LOGE("start Create pthread");
	pthread_mutex_init(&gmut, NULL);
	if(gQuaternion == NULL)
	    gQuaternion = (float*)calloc(1, sizeof(float) * 9);
	if(gUnityQuaternion == NULL)
		gUnityQuaternion = (float*)calloc(1, sizeof(float) * 9);
	if(gPreQuaternion == NULL)
		gPreQuaternion = (float*)calloc(1, sizeof(float) * 9);
	gPreQuaternion[3] = 1.f;

	pthread_create(&sensor_get_thread, NULL, Sensor_Dump_ACC_GYROSCOPE, (void *)NULL);
	LOGE("end Create pthread");
    return 0;
}

int unitSensorManager() {
    sensorThreadFlag = 1;
	pthread_join(sensor_get_thread, NULL);
	if(gQuaternion)
		free(gQuaternion);
	if(gUnityQuaternion)
		free(gUnityQuaternion);
	if(gPreQuaternion)
		free(gPreQuaternion);
    return 0;
}

SensorManager.h

#ifndef SENSORMANAGER_H
#define SENSORMANAGER_H

#ifdef __cplusplus
extern "C"
{
#endif

int initSensorManager();
void getQuaternion(float* unityQuaternion);
int unitSensorManager();

#ifdef __cplusplus
}
#endif

#endif

com_example_testsensor_SensorInterface.cpp

#define USE_ANDROID 1

#if USE_ANDROID == 1
#include <jni.h>
#endif

#include <android/log.h>
#include <stdio.h>

#include "com_example_testsensor_SensorInterface.h"
#include "SensorManager.h"

#define TAG "SensorInterface"
#define LOGD(...) __android_log_print(ANDROID_LOG_DEBUG,TAG ,__VA_ARGS__)
#define LOGI(...) __android_log_print(ANDROID_LOG_INFO,TAG ,__VA_ARGS__)
#define LOGW(...) __android_log_print(ANDROID_LOG_WARN,TAG ,__VA_ARGS__)
#define LOGE(...) __android_log_print(ANDROID_LOG_ERROR,TAG ,__VA_ARGS__)
#define LOGF(...) __android_log_print(ANDROID_LOG_FATAL,TAG ,__VA_ARGS__)
extern "C"
{
#if USE_ANDROID == 1
    JNIEXPORT jint JNICALL Java_com_example_testsensor_SensorInterface_initManager(JNIEnv *env, jclass obj){
#else
    int initManager(){
#endif

    	return initSensorManager();
    }
#if USE_ANDROID == 1
    JNIEXPORT jint JNICALL Java_com_example_testsensor_SensorInterface_unitManager(JNIEnv *env, jclass obj){
#else
    int unitManager(){
#endif

    	return unitSensorManager();
    }
#if USE_ANDROID == 1
    JNIEXPORT jint JNICALL Java_com_example_testsensor_SensorInterface_getQuat(JNIEnv *env, jclass obj, jfloatArray ptr_Quat){
        jfloat* arr = NULL;
        arr = env->GetFloatArrayElements(ptr_Quat, NULL);
        getQuaternion((float*)arr);

        env->ReleaseFloatArrayElements(ptr_Quat, arr, 0);

        return 0;
	}
#else
    int getQuat(float* ptr_Quat){
    	getQuaternion((float*)ptr_Quat);
    	return 0;
    }
#endif
}

com_example_testsensor_SensorInterface.h

/* DO NOT EDIT THIS FILE - it is machine generated */
#define USE_ANDROID 1
#if USE_ANDROID == 1
#include <jni.h>
#endif
/* Header for class com_example_testsensor_SensorInterface */

#ifndef _Included_com_example_testsensor_SensorInterface
#define _Included_com_example_testsensor_SensorInterface
#ifdef __cplusplus
extern "C" {
#endif
/*
 * Class:     com_example_testsensor_SensorInterface
 * Method:    setSensorArray
 * Signature: (II)I
 */
#if USE_ANDROID == 1
JNIEXPORT jint JNICALL Java_com_example_testsensor_SensorInterface_getQuat(JNIEnv *env, jclass obj, jfloatArray ptr_sensor);

JNIEXPORT jint JNICALL Java_com_example_testsensor_SensorInterface_initManager(JNIEnv *env, jclass obj);

JNIEXPORT jint JNICALL Java_com_example_testsensor_SensorInterface_unitManager(JNIEnv *env, jclass obj);
#else
int getQuat(float* ptr_sensor);
int initManager();
int unitManager();
#endif
#ifdef __cplusplus
}
#endif
#endif

SensorInterface.java

package com.example.testsensor;

import android.util.Log;

public class SensorInterface {
    public static native int getQuat(float[] ptr_quat);
    public static native int initManager();
    public static native int unitManager();
    static{
    	Log.e("load library", "start");
    	System.loadLibrary("Sensor");
    	Log.e("load library", "end");
    }
}

MainActivity.java

package com.example.testsensor;

import android.app.Activity;
import android.os.Bundle;
import android.os.Handler;
import android.util.Log;
import android.widget.Button;
import android.widget.TextView;
import android.view.View;

public class MainActivity extends Activity{
	
	public float sensor_Quat[] = new float[9];
	private Handler mHandler = new Handler();
	private Runnable mRunnable = new Runnable(){

		@Override
		public void run() {
			// TODO Auto-generated method stub
			SensorInterface.getQuat(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);
			TextView textview4 = (TextView)findViewById(R.id.textView5);
			TextView textview5 = (TextView)findViewById(R.id.textView6);
			TextView textview6 = (TextView)findViewById(R.id.textView7);
			TextView textview7 = (TextView)findViewById(R.id.textView8);
			TextView textview8 = (TextView)findViewById(R.id.textView9);
			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]));
			textview4.setText(Float.toString(sensor_Quat[4]));
			textview5.setText(Float.toString(sensor_Quat[5]));

			textview6.setText(Float.toString(sensor_Quat[6]));
			textview7.setText(Float.toString(sensor_Quat[7]));
			textview8.setText(Float.toString(sensor_Quat[8]));
			//textview3.setText(Float.toString(sensor_Quat[3]));
			mHandler.postDelayed(mRunnable, 10);
		}
	};
	@Override
	protected void onCreate(Bundle savedInstanceState) {
		super.onCreate(savedInstanceState);
		setContentView(R.layout.activity_main);
		SensorInterface.initManager();
		
		mHandler.post(mRunnable);
	}
}

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