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package com.mapswithme.maps.location;
import android.content.Context;
import android.hardware.GeomagneticField;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.location.Location;
import android.os.Handler;
import android.os.Message;
import android.support.annotation.NonNull;
import com.mapswithme.maps.MwmApplication;
import com.mapswithme.util.LocationUtils;
class SensorHelper implements SensorEventListener
{
private static final float DISTANCE_TO_RECREATE_MAGNETIC_FIELD_M = 1000;
private static final int MARKER = 0x39867;
private static final int AGGREGATION_TIMEOUT_IN_MILLIS = 10;
private final SensorManager mSensorManager;
private Sensor mAccelerometer;
private Sensor mMagnetometer;
private GeomagneticField mMagneticField;
@NonNull
private final SensorData mSensorData;
private final float[] mR = new float[9];
private final float[] mI = new float[9];
private final float[] mOrientation = new float[3];
@NonNull
private final Handler mHandler;
@Override
public void onSensorChanged(SensorEvent event)
{
if (!MwmApplication.get().arePlatformAndCoreInitialized())
return;
if (mSensorData.isAbsent())
{
notifyImmediately(event);
return;
}
SensorType type = SensorType.get(event);
if (type != SensorType.TYPE_MAGNETIC_FIELD)
{
notifyImmediately(event);
return;
}
if (!mHandler.hasMessages(MARKER))
{
notifyImmediately(event);
addRateLimitMessage();
}
}
private void addRateLimitMessage()
{
Message message = Message.obtain();
message.what = MARKER;
mHandler.sendMessageDelayed(message, AGGREGATION_TIMEOUT_IN_MILLIS);
}
private void notifyImmediately(@NonNull SensorEvent event)
{
SensorType sensorType = SensorType.get(event);
sensorType.updateData(mSensorData, event);
boolean hasOrientation = hasOrientation();
if (hasOrientation)
notifyInternal(event);
}
private boolean hasOrientation()
{
if (mSensorData.isAbsent())
return false;
boolean isSuccess = SensorManager.getRotationMatrix(mR, mI, mSensorData.getGravity(),
mSensorData.getGeomagnetic());
if (isSuccess)
SensorManager.getOrientation(mR, mOrientation);
return isSuccess;
}
private void notifyInternal(@NonNull SensorEvent event)
{
double trueHeading = -1.0;
double offset = -1.0;
double magneticHeading = LocationUtils.correctAngle(mOrientation[0], 0.0);
if (mMagneticField != null)
{
// Positive 'offset' means the magnetic field is rotated east that match from true north
offset = Math.toRadians(mMagneticField.getDeclination());
trueHeading = LocationUtils.correctAngle(magneticHeading, offset);
}
LocationHelper.INSTANCE.notifyCompassUpdated(event.timestamp, magneticHeading, trueHeading, offset);
}
@Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {}
SensorHelper()
{
mSensorManager = (SensorManager) MwmApplication.get().getSystemService(Context.SENSOR_SERVICE);
if (mSensorManager != null)
{
mAccelerometer = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
mMagnetometer = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
}
mSensorData = new SensorData();
mHandler = new Handler();
}
void start()
{
if (mAccelerometer != null)
mSensorManager.registerListener(this, mAccelerometer, SensorManager.SENSOR_DELAY_UI);
if (mMagnetometer != null)
mSensorManager.registerListener(this, mMagnetometer, SensorManager.SENSOR_DELAY_UI);
}
void stop()
{
mMagneticField = null;
if (mSensorManager != null)
mSensorManager.unregisterListener(this);
}
void resetMagneticField(Location oldLocation, Location newLocation)
{
if (mSensorManager == null)
return;
// Recreate magneticField if location has changed significantly
if (mMagneticField == null || oldLocation == null ||
newLocation.distanceTo(oldLocation) > DISTANCE_TO_RECREATE_MAGNETIC_FIELD_M)
{
mMagneticField = new GeomagneticField((float) newLocation.getLatitude(),
(float) newLocation.getLongitude(),
(float) newLocation.getAltitude(),
newLocation.getTime());
}
}
private enum SensorType
{
TYPE_ACCELEROMETER(Sensor.TYPE_ACCELEROMETER)
{
@Override
public void updateDataInternal(@NonNull SensorData data, @NonNull float[] params)
{
data.setGravity(params);
}
},
TYPE_MAGNETIC_FIELD(Sensor.TYPE_MAGNETIC_FIELD)
{
@Override
public void updateDataInternal(@NonNull SensorData data, @NonNull float[] params)
{
data.setGeomagnetic(params);
}
},
DEFAULT
{
@Override
public void updateDataInternal(@NonNull SensorData data, @NonNull float[] params)
{
/* Do nothing */
}
@NonNull
@Override
protected float[] getSensorParam(@NonNull SensorEvent event)
{
return new float[]{};
}
};
private static final int INVALID_ID = 0xfff73dfc;
private final int mAccelerometer;
SensorType(int accelerometer)
{
mAccelerometer = accelerometer;
}
SensorType()
{
this(INVALID_ID);
}
@NonNull
public static SensorType get(@NonNull SensorEvent value)
{
for (SensorType each : values())
{
if (each.mAccelerometer == value.sensor.getType())
return each;
}
return DEFAULT;
}
@NonNull
protected float[] getSensorParam(@NonNull SensorEvent event)
{
return LocationHelper.nativeUpdateCompassSensor(ordinal(), event.values);
}
public void updateData(@NonNull SensorData data, @NonNull SensorEvent event)
{
updateDataInternal(data, getSensorParam(event));
}
public abstract void updateDataInternal(@NonNull SensorData data, @NonNull float[] params);
}
}
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