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[Camera专题]Qcom- 获取sensor数据

[Camera专题]Qcom- 获取sensor数据

作者: c枫_撸码的日子 | 来源:发表于2021-10-14 16:18 被阅读0次

    前言

    在集成eis算法时，我们需要获取sensor的数据：如gyro，ois，accelerate等传感器的数据。
    本文以gyro数据为例子。

    1.初始化

    1.1 获取服务

    void GyroReader::init()
{
    LOGE("zcf_g:E");
    //步骤1：获取sensor服务
    this->smgr = ISensorManager::getService();
    if(smgr == nullptr) {
        LOGE("zcf_g:Fail to get sensor manager!");
        this->deinit();
    }
    //打印所有支持的sensor信息
    this->printSensors();

    Result latestResult;
    //步骤2：获取相应的sensor：这里以gyro为例子
    this->smgr->getDefaultSensor(SensorType::GYROSCOPE,
        [&](const SensorInfo& sensorinfo,const Result & result){
        this->info = sensorinfo;
        latestResult = result;
    });

    //如果想获取accelerate的：
/*
    this->smgr->getDefaultSensor(:SensorType::ACCELEROMETER,
        [&](const SensorInfo& sensorinfo,const Result & result){
        this->info = sensorinfo;
        latestResult = result;
    });
*/
    if(latestResult != Result::OK) {
        LOGE("zcf_g:getDefaultSensor gyro failed !");
        return;
    }
    LOGE("[%s]: name: %s, version: 0x%x",
      this->iinfo.typeAsString.c_str(), this->iinfo.name.c_str(), this->iinfo.version);
    LOGE("[%s]: minDelay: %d, maxDelay: %d",
      this->iinfo.typeAsString.c_str(), this->iinfo.minDelay, this->iinfo.maxDelay);
    LOGE("[%s]: handle = 0x%x, flags: 0x%x",
      this->iinfo.typeAsString.c_str(), this->iinfo.sensorHandle, this->iinfo.flags);

    LOGE("sample_rate = ",USEC_PER_SEC/info.minDelay):

    /*callback object(sensorCb) is freed by IEventqueue implemter, don't delete in deinit*/
    this->sensorCb = new SensorEventCallback();
    this->sensorCb->gyroReader_ptr = (void*)this;

    //步骤3：创建EventQueue
    this->smgr->createEventQueue(this->sensorCb,
        [&](const auto& queue,const auto& result)->void{
            this->eventQueue = queue;
            latestResult = result;
        });

    if(latestResult != Result::OK){
        LOGE("zcf_g:createEventQueue failed!!!");
    }
    //步骤4：enable gyro sensor
    this->eventQueue->enableSensor(info.sensorHandle,info.minDelay,0);
    LOGE("zcf_g:X");
}

    1.2 创建sensorCallback

    class SensorEventCallback : public IEventQueueCallback
{
public:
    SensorEventCallback()
    {
        LOGE("zcf_g:SensorEventCallback 构造函数");
    }

    ~SensorEventCallback()
    {
        LOGE("zcf_g:SensorEventCallback 析构函数");
    }

    Return<void> onEvent(const Event &e)
    {
        GyroReader * gr_obj = (GyroReader *)this->gyroReader_ptr;
        if(gr_obj != nullptr) {
            gr_obj->processEvent(e);//这里调用processEvent去处理事件
        }else {
            LOGE("zcf_g:gr_obj is null!")
        }
        return Void();
    }
public:
    void* gyroReader_ptr;//GyroReader类的指针
};

    1.3 processEvent

    void GyroReader::processEvent(const Event& e)
{
    if(!e.sensorHandle){
        LOGE("zcf_g:invalid sensor handle, ignore");
        return;
    }
    switch(e.sensorType)
    {
    //这里只打印数据，有必要的话，可以创建数组存储起来，后续使用
        case SensorType::GYROSCOPE:
            LOGE("zcf_gd:Event type - gyro!");
            LOGE("zcf_gd:Gyro: evt_ts:%lld us x:%f y:%f z:%f",
                e.timestamp,
                e.u.uncal.x,
                e.u.uncal.y,
                e.u.uncal.z);
            break;
        case SensorType::ACCELEROMETER:
            LOGE("zcf_gd:Event type - Accel!");
            LOGE("zcf_gd:Accel: evt_timestamp:%lld us x:%f y:%f z:%f",
                e.timestamp,
                e.u.uncal.x,
                e.u.uncal.y,
                e.u.uncal.z);
            break;
        default:
            LOGE("zcf_gd:Event for sensor(type: %d) not interested", e.sensorType);
        break;
    }

}

    1.4 编译

    hardware/qcom/camera/QCamera2/Android.mk

    --- a/hardware/qcom/camera/QCamera2/Android.mk
+++ b/hardware/qcom/camera/QCamera2/Android.mk
@@ -40,7 +40,7 @@ LOCAL_SRC_FILES += \
         HAL3/QCamera3CropRegionMapper.cpp \
         HAL3/QCamera3StreamMem.cpp
 
-LOCAL_CFLAGS := -Wall -Wextra -Werror
+LOCAL_CFLAGS := -Wall -Wextra
 LOCAL_CFLAGS += -DFDLEAK_FLAG
 LOCAL_CFLAGS += -DMEMLEAK_FLAG
 #HAL 1.0 source
@@ -68,7 +68,8 @@ LOCAL_SRC_FILES += \
         util/QCameraExtZoomTranslator.cpp \
         util/QCameraPprocManager.cpp \
         util/QCameraBokeh.cpp \
-        util/QCameraClearSight.cpp
+        util/QCameraClearSight.cpp \
+               HAL/GyroReader.cpp
 endif

 # System header file path prefix
 LOCAL_SHARED_LIBRARIES += libmmcamera_interface libmmjpeg_interface libui libcamera_metadata
 LOCAL_SHARED_LIBRARIES += libqdMetaData libqservice libbinder
 LOCAL_SHARED_LIBRARIES += libcutils libdl libhal_dbg
+LOCAL_SHARED_LIBRARIES += libhidlbase libhidltransport android.frameworks.sensorservice@1.0
 ifeq ($(IS_QC_BOKEH_SUPPORTED),true)
 LOCAL_SHARED_LIBRARIES += libdualcameraddm
 LOCAL_CFLAGS += -DENABLE_QC_BOKEH

    1.5 调用

    hardware/qcom/camera/QCamera2/HAL/QCamera2HWI.h

    --- a/hardware/qcom/camera/QCamera2/HAL/QCamera2HWI.h
+++ b/hardware/qcom/camera/QCamera2/HAL/QCamera2HWI.h
@@ -62,6 +62,8 @@ extern "C" {
 
 #include "QCameraTrace.h"
 
+#include "GyroReader.h"
+
 namespace qcamera {
 
 #ifndef TRUE
@@ -863,6 +865,7 @@ private:
     bool bDepthAFCallbacks;
     bool m_bOptimizeCacheOps;
     bool m_bNeedHalPP;
+       ISensorAPI::GyroReader gy;
 };
 
 }; // namespace qcamera

    2 完整源码

    hardware/qcom/camera/QCamera2/HAL/GyroReader.h

    #ifndef GYRO_READ_H_
#define GYRO_READ_H_

extern "C" {
#include "mm_camera_dbg.h"
}


#include <android/frameworks/sensorservice/1.0/ISensorManager.h>
#include <android/frameworks/sensorservice/1.0/types.h>
//#include <hardware/sensors.h>  // for sensor type strings

using ::android::frameworks::sensorservice::V1_0::ISensorManager;
using ::android::frameworks::sensorservice::V1_0::Result;
using ::android::frameworks::sensorservice::V1_0::IEventQueue;
using ::android::frameworks::sensorservice::V1_0::IEventQueueCallback;

using ::android::hardware::sensors::V1_0::Event;
using ::android::hardware::sensors::V1_0::SensorType;
using ::android::hardware::sensors::V1_0::SensorInfo;

using ::android::sp;
using ::android::hardware::Void;
using ::android::hardware::Return;

class SensorEventCallback;
namespace ISensorAPI {

class GyroReader
{
public:
    GyroReader();
    ~GyroReader();
    void init();
    void deinit();
    void processEvent(const Event& e);
    void printSensors();
    static constexpr int32_t USEC_PER_SEC = 1e6;
    static constexpr int32_t NSEC_PER_SEC = 1e9;

private:
    SensorInfo info;
    sp<ISensorManager> smgr;
    /*callback object(sensorCb) is freed by IEventqueue implemter, don't delete in deinit*/
    //因此可以不用定义成智能指针：sp<SensorEventCallback > sensorCb;
    SensorEventCallback * sensorCb; 
    sp<IEventQueue> eventQueue;
};
}
#endif /* GYRO_READ_H_ */

    hardware/qcom/camera/QCamera2/HAL/GyroReader.cpp

    #include "GyroReader.h"

using namespace ISensorAPI;

class SensorEventCallback : public IEventQueueCallback
{
public:
    SensorEventCallback()
    {
        LOGE("zcf_g:SensorEventCallback 构造函数");
    }
    
    ~SensorEventCallback()
    {
        LOGE("zcf_g:SensorEventCallback 析构函数");
    }
        
    Return<void> onEvent(const Event &e)
    {
        GyroReader * gr_obj = (GyroReader *)this->gyroReader_ptr;
        if(gr_obj != nullptr) {
            gr_obj->processEvent(e);
        }else {
            LOGE("zcf_g:gr_obj is null!")
        }
        return Void();
    }
public:
    void* gyroReader_ptr;
};

GyroReader::GyroReader()
{
    this->init();
}

GyroReader::~GyroReader()
{
    this->deinit();
}

void GyroReader::init()
{
    LOGE("zcf_g:E");
    //步骤1：获取sensor服务
    this->smgr = ISensorManager::getService();
    if(smgr == nullptr) {
        LOGE("zcf_g:Fail to get sensor manager!");
        this->deinit();
    }
    //打印所有支持的sensor信息
    this->printSensors();

    Result latestResult;
    //步骤2：获取相应的sensor：这里以gyro为例子
    this->smgr->getDefaultSensor(SensorType::GYROSCOPE,
        [&](const SensorInfo& sensorinfo,const Result & result){
        this->info = sensorinfo;
        latestResult = result;
    });

    //如果想获取accelerate的：
/*
    this->smgr->getDefaultSensor(:SensorType::ACCELEROMETER,
        [&](const SensorInfo& sensorinfo,const Result & result){
        this->info = sensorinfo;
        latestResult = result;
    });
*/
    if(latestResult != Result::OK) {
        LOGE("zcf_g:getDefaultSensor gyro failed !");
        return;
    }
    LOGE("[%s]: name: %s, version: 0x%x",
      this->iinfo.typeAsString.c_str(), this->iinfo.name.c_str(), this->iinfo.version);
    LOGE("[%s]: minDelay: %d, maxDelay: %d",
      this->iinfo.typeAsString.c_str(), this->iinfo.minDelay, this->iinfo.maxDelay);
    LOGE("[%s]: handle = 0x%x, flags: 0x%x",
      this->iinfo.typeAsString.c_str(), this->iinfo.sensorHandle, this->iinfo.flags);

    LOGE("sample_rate = ",USEC_PER_SEC/info.minDelay):
    /*callback object(sensorCb) is freed by IEventqueue implemter, don't delete in deinit*/
    this->sensorCb = new SensorEventCallback();
    this->sensorCb->gyroReader_ptr = (void*)this;

    //步骤3：创建EventQueue
    this->smgr->createEventQueue(this->sensorCb,
        [&](const auto& queue,const auto& result)->void{
            this->eventQueue = queue;
            latestResult = result;
        });

    if(latestResult != Result::OK){
        LOGE("zcf_g:createEventQueue failed!!!");
    }
    //步骤4：enable gyro sensor
    this->eventQueue->enableSensor(info.sensorHandle,info.minDelay,0);
    LOGE("zcf_g:X");
}

void GyroReader::deinit()
{
    this->eventQueue->disableSensor(info.sensorHandle);
}

void GyroReader::processEvent(const Event& e)
{
    if(!e.sensorHandle){
        LOGE("zcf_g:invalid sensor handle, ignore");
        return;
    }
    switch(e.sensorType)
    {
        case SensorType::GYROSCOPE:
            LOGE("zcf_gd:Event type - gyro!");
            LOGE("zcf_gd:Gyro: evt_ts:%lld us x:%f y:%f z:%f",
                e.timestamp,
                e.u.uncal.x,
                e.u.uncal.y,
                e.u.uncal.z);
            break;
        case SensorType::ACCELEROMETER:
            LOGE("zcf_gd:Event type - Accel!");
            LOGE("zcf_gd:Accel: evt_timestamp:%lld us x:%f y:%f z:%f",
                e.timestamp,
                e.u.uncal.x,
                e.u.uncal.y,
                e.u.uncal.z);
            break;
        default:
            LOGE("zcf_gd:Event for sensor(type: %d) not interested", e.sensorType);
        break;
    }

}

void GyroReader::printSensors()
{
    
    if(this->smgr.get() != nullptr){
        this->smgr.get()->getSensorList([&](const auto &list,auto result){
            if(result == Result::OK){
                for(unsigned int i =0;i<list.size();i++){
                    LOGE("zcf_g:Sensor:%s",list[i].name.c_str());
                }
            }else{
                LOGE("zcf_g:failed to get sensor list!");
            }
        });
    }
}

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