500 lines
21 KiB
C++
500 lines
21 KiB
C++
/*
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* Copyright (C) 2022 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "aidl/sensors/convert.h"
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#include "android-base/logging.h"
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namespace android {
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namespace hardware {
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namespace sensors {
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namespace implementation {
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using aidl::android::hardware::sensors::AdditionalInfo;
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using aidl::android::hardware::sensors::DynamicSensorInfo;
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using aidl::android::hardware::sensors::Event;
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using aidl::android::hardware::sensors::ISensors;
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using aidl::android::hardware::sensors::SensorInfo;
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using aidl::android::hardware::sensors::SensorStatus;
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using aidl::android::hardware::sensors::SensorType;
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status_t convertToStatus(ndk::ScopedAStatus status) {
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if (status.isOk()) {
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return OK;
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} else {
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switch (status.getExceptionCode()) {
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case EX_ILLEGAL_ARGUMENT: {
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return BAD_VALUE;
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}
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case EX_SECURITY: {
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return PERMISSION_DENIED;
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}
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case EX_UNSUPPORTED_OPERATION: {
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return INVALID_OPERATION;
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}
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case EX_SERVICE_SPECIFIC: {
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switch (status.getServiceSpecificError()) {
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case ISensors::ERROR_BAD_VALUE: {
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return BAD_VALUE;
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}
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case ISensors::ERROR_NO_MEMORY: {
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return NO_MEMORY;
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}
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default: {
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return UNKNOWN_ERROR;
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}
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}
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}
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default: {
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return UNKNOWN_ERROR;
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}
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}
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}
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}
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void convertToSensor(const SensorInfo& src, sensor_t* dst) {
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dst->name = strdup(src.name.c_str());
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dst->vendor = strdup(src.vendor.c_str());
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dst->version = src.version;
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dst->handle = src.sensorHandle;
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dst->type = (int)src.type;
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dst->maxRange = src.maxRange;
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dst->resolution = src.resolution;
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dst->power = src.power;
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dst->minDelay = src.minDelayUs;
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dst->fifoReservedEventCount = src.fifoReservedEventCount;
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dst->fifoMaxEventCount = src.fifoMaxEventCount;
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dst->stringType = strdup(src.typeAsString.c_str());
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dst->requiredPermission = strdup(src.requiredPermission.c_str());
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dst->maxDelay = src.maxDelayUs;
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dst->flags = src.flags;
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dst->reserved[0] = dst->reserved[1] = 0;
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}
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void convertToSensorEvent(const Event& src, sensors_event_t* dst) {
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*dst = {.version = sizeof(sensors_event_t),
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.sensor = src.sensorHandle,
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.type = (int32_t)src.sensorType,
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.reserved0 = 0,
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.timestamp = src.timestamp};
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switch (src.sensorType) {
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case SensorType::META_DATA: {
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// Legacy HALs expect the handle reference in the meta data field.
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// Copy it over from the handle of the event.
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dst->meta_data.what = (int32_t)src.payload.get<Event::EventPayload::meta>().what;
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dst->meta_data.sensor = src.sensorHandle;
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// Set the sensor handle to 0 to maintain compatibility.
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dst->sensor = 0;
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break;
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}
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case SensorType::ACCELEROMETER:
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case SensorType::MAGNETIC_FIELD:
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case SensorType::ORIENTATION:
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case SensorType::GYROSCOPE:
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case SensorType::GRAVITY:
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case SensorType::LINEAR_ACCELERATION: {
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dst->acceleration.x = src.payload.get<Event::EventPayload::vec3>().x;
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dst->acceleration.y = src.payload.get<Event::EventPayload::vec3>().y;
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dst->acceleration.z = src.payload.get<Event::EventPayload::vec3>().z;
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dst->acceleration.status = (int32_t)src.payload.get<Event::EventPayload::vec3>().status;
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break;
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}
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case SensorType::GAME_ROTATION_VECTOR: {
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dst->data[0] = src.payload.get<Event::EventPayload::vec4>().x;
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dst->data[1] = src.payload.get<Event::EventPayload::vec4>().y;
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dst->data[2] = src.payload.get<Event::EventPayload::vec4>().z;
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dst->data[3] = src.payload.get<Event::EventPayload::vec4>().w;
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break;
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}
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case SensorType::ROTATION_VECTOR:
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case SensorType::GEOMAGNETIC_ROTATION_VECTOR: {
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dst->data[0] = src.payload.get<Event::EventPayload::data>().values[0];
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dst->data[1] = src.payload.get<Event::EventPayload::data>().values[1];
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dst->data[2] = src.payload.get<Event::EventPayload::data>().values[2];
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dst->data[3] = src.payload.get<Event::EventPayload::data>().values[3];
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dst->data[4] = src.payload.get<Event::EventPayload::data>().values[4];
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break;
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}
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case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
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case SensorType::GYROSCOPE_UNCALIBRATED:
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case SensorType::ACCELEROMETER_UNCALIBRATED: {
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dst->uncalibrated_gyro.x_uncalib = src.payload.get<Event::EventPayload::uncal>().x;
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dst->uncalibrated_gyro.y_uncalib = src.payload.get<Event::EventPayload::uncal>().y;
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dst->uncalibrated_gyro.z_uncalib = src.payload.get<Event::EventPayload::uncal>().z;
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dst->uncalibrated_gyro.x_bias = src.payload.get<Event::EventPayload::uncal>().xBias;
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dst->uncalibrated_gyro.y_bias = src.payload.get<Event::EventPayload::uncal>().yBias;
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dst->uncalibrated_gyro.z_bias = src.payload.get<Event::EventPayload::uncal>().zBias;
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break;
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}
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case SensorType::HINGE_ANGLE:
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case SensorType::DEVICE_ORIENTATION:
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case SensorType::LIGHT:
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case SensorType::PRESSURE:
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case SensorType::PROXIMITY:
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case SensorType::RELATIVE_HUMIDITY:
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case SensorType::AMBIENT_TEMPERATURE:
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case SensorType::SIGNIFICANT_MOTION:
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case SensorType::STEP_DETECTOR:
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case SensorType::TILT_DETECTOR:
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case SensorType::WAKE_GESTURE:
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case SensorType::GLANCE_GESTURE:
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case SensorType::PICK_UP_GESTURE:
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case SensorType::WRIST_TILT_GESTURE:
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case SensorType::STATIONARY_DETECT:
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case SensorType::MOTION_DETECT:
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case SensorType::HEART_BEAT:
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case SensorType::LOW_LATENCY_OFFBODY_DETECT: {
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dst->data[0] = src.payload.get<Event::EventPayload::scalar>();
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break;
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}
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case SensorType::STEP_COUNTER: {
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dst->u64.step_counter = src.payload.get<Event::EventPayload::stepCount>();
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break;
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}
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case SensorType::HEART_RATE: {
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dst->heart_rate.bpm = src.payload.get<Event::EventPayload::heartRate>().bpm;
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dst->heart_rate.status =
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(int8_t)src.payload.get<Event::EventPayload::heartRate>().status;
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break;
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}
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case SensorType::POSE_6DOF: { // 15 floats
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for (size_t i = 0; i < 15; ++i) {
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dst->data[i] = src.payload.get<Event::EventPayload::pose6DOF>().values[i];
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}
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break;
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}
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case SensorType::DYNAMIC_SENSOR_META: {
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dst->dynamic_sensor_meta.connected =
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src.payload.get<Event::EventPayload::dynamic>().connected;
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dst->dynamic_sensor_meta.handle =
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src.payload.get<Event::EventPayload::dynamic>().sensorHandle;
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dst->dynamic_sensor_meta.sensor = NULL; // to be filled in later
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memcpy(dst->dynamic_sensor_meta.uuid,
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src.payload.get<Event::EventPayload::dynamic>().uuid.values.data(), 16);
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break;
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}
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case SensorType::ADDITIONAL_INFO: {
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const AdditionalInfo& srcInfo = src.payload.get<Event::EventPayload::additional>();
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additional_info_event_t* dstInfo = &dst->additional_info;
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dstInfo->type = (int32_t)srcInfo.type;
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dstInfo->serial = srcInfo.serial;
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switch (srcInfo.payload.getTag()) {
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case AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32: {
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const auto& values =
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srcInfo.payload.get<AdditionalInfo::AdditionalInfoPayload::dataInt32>()
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.values;
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CHECK_EQ(values.size() * sizeof(int32_t), sizeof(dstInfo->data_int32));
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memcpy(dstInfo->data_int32, values.data(), sizeof(dstInfo->data_int32));
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break;
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}
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case AdditionalInfo::AdditionalInfoPayload::Tag::dataFloat: {
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const auto& values =
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srcInfo.payload.get<AdditionalInfo::AdditionalInfoPayload::dataFloat>()
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.values;
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CHECK_EQ(values.size() * sizeof(float), sizeof(dstInfo->data_float));
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memcpy(dstInfo->data_float, values.data(), sizeof(dstInfo->data_float));
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break;
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}
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default: {
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LOG(ERROR) << "Invalid sensor additional info tag: ",
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(int)srcInfo.payload.getTag();
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}
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}
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break;
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}
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case SensorType::HEAD_TRACKER: {
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const auto& ht = src.payload.get<Event::EventPayload::headTracker>();
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dst->head_tracker.rx = ht.rx;
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dst->head_tracker.ry = ht.ry;
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dst->head_tracker.rz = ht.rz;
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dst->head_tracker.vx = ht.vx;
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dst->head_tracker.vy = ht.vy;
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dst->head_tracker.vz = ht.vz;
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dst->head_tracker.discontinuity_count = ht.discontinuityCount;
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break;
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}
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case SensorType::ACCELEROMETER_LIMITED_AXES:
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case SensorType::GYROSCOPE_LIMITED_AXES:
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dst->limited_axes_imu.x = src.payload.get<Event::EventPayload::limitedAxesImu>().x;
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dst->limited_axes_imu.y = src.payload.get<Event::EventPayload::limitedAxesImu>().y;
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dst->limited_axes_imu.z = src.payload.get<Event::EventPayload::limitedAxesImu>().z;
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dst->limited_axes_imu.x_supported =
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src.payload.get<Event::EventPayload::limitedAxesImu>().xSupported;
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dst->limited_axes_imu.y_supported =
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src.payload.get<Event::EventPayload::limitedAxesImu>().ySupported;
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dst->limited_axes_imu.z_supported =
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src.payload.get<Event::EventPayload::limitedAxesImu>().zSupported;
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break;
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case SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
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case SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED:
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dst->limited_axes_imu_uncalibrated.x_uncalib =
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src.payload.get<Event::EventPayload::limitedAxesImuUncal>().x;
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dst->limited_axes_imu_uncalibrated.y_uncalib =
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src.payload.get<Event::EventPayload::limitedAxesImuUncal>().y;
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dst->limited_axes_imu_uncalibrated.z_uncalib =
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src.payload.get<Event::EventPayload::limitedAxesImuUncal>().z;
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dst->limited_axes_imu_uncalibrated.x_bias =
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src.payload.get<Event::EventPayload::limitedAxesImuUncal>().xBias;
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dst->limited_axes_imu_uncalibrated.y_bias =
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src.payload.get<Event::EventPayload::limitedAxesImuUncal>().yBias;
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dst->limited_axes_imu_uncalibrated.z_bias =
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src.payload.get<Event::EventPayload::limitedAxesImuUncal>().zBias;
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dst->limited_axes_imu_uncalibrated.x_supported =
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src.payload.get<Event::EventPayload::limitedAxesImuUncal>().xSupported;
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dst->limited_axes_imu_uncalibrated.y_supported =
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src.payload.get<Event::EventPayload::limitedAxesImuUncal>().ySupported;
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dst->limited_axes_imu_uncalibrated.z_supported =
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src.payload.get<Event::EventPayload::limitedAxesImuUncal>().zSupported;
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break;
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case SensorType::HEADING:
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dst->heading.heading = src.payload.get<Event::EventPayload::heading>().heading;
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dst->heading.accuracy = src.payload.get<Event::EventPayload::heading>().accuracy;
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break;
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default: {
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CHECK_GE((int32_t)src.sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);
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memcpy(dst->data, src.payload.get<Event::EventPayload::data>().values.data(),
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16 * sizeof(float));
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break;
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}
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}
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}
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void convertFromSensorEvent(const sensors_event_t& src, Event* dst) {
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*dst = {
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.timestamp = src.timestamp,
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.sensorHandle = src.sensor,
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.sensorType = (SensorType)src.type,
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};
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switch (dst->sensorType) {
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case SensorType::META_DATA: {
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Event::EventPayload::MetaData meta;
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meta.what = (Event::EventPayload::MetaData::MetaDataEventType)src.meta_data.what;
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// Legacy HALs contain the handle reference in the meta data field.
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// Copy that over to the handle of the event. In legacy HALs this
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// field was expected to be 0.
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dst->sensorHandle = src.meta_data.sensor;
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dst->payload.set<Event::EventPayload::Tag::meta>(meta);
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break;
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}
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case SensorType::ACCELEROMETER:
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case SensorType::MAGNETIC_FIELD:
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case SensorType::ORIENTATION:
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case SensorType::GYROSCOPE:
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case SensorType::GRAVITY:
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case SensorType::LINEAR_ACCELERATION: {
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Event::EventPayload::Vec3 vec3;
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vec3.x = src.acceleration.x;
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vec3.y = src.acceleration.y;
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vec3.z = src.acceleration.z;
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vec3.status = (SensorStatus)src.acceleration.status;
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dst->payload.set<Event::EventPayload::Tag::vec3>(vec3);
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break;
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}
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case SensorType::GAME_ROTATION_VECTOR: {
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Event::EventPayload::Vec4 vec4;
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vec4.x = src.data[0];
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vec4.y = src.data[1];
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vec4.z = src.data[2];
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vec4.w = src.data[3];
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dst->payload.set<Event::EventPayload::Tag::vec4>(vec4);
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break;
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}
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case SensorType::ROTATION_VECTOR:
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case SensorType::GEOMAGNETIC_ROTATION_VECTOR: {
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Event::EventPayload::Data data;
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memcpy(data.values.data(), src.data, 5 * sizeof(float));
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dst->payload.set<Event::EventPayload::Tag::data>(data);
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break;
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}
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case SensorType::MAGNETIC_FIELD_UNCALIBRATED:
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case SensorType::GYROSCOPE_UNCALIBRATED:
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case SensorType::ACCELEROMETER_UNCALIBRATED: {
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Event::EventPayload::Uncal uncal;
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uncal.x = src.uncalibrated_gyro.x_uncalib;
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uncal.y = src.uncalibrated_gyro.y_uncalib;
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uncal.z = src.uncalibrated_gyro.z_uncalib;
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uncal.xBias = src.uncalibrated_gyro.x_bias;
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uncal.yBias = src.uncalibrated_gyro.y_bias;
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uncal.zBias = src.uncalibrated_gyro.z_bias;
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dst->payload.set<Event::EventPayload::Tag::uncal>(uncal);
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break;
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}
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case SensorType::DEVICE_ORIENTATION:
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case SensorType::LIGHT:
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case SensorType::PRESSURE:
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case SensorType::PROXIMITY:
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case SensorType::RELATIVE_HUMIDITY:
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case SensorType::AMBIENT_TEMPERATURE:
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case SensorType::SIGNIFICANT_MOTION:
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case SensorType::STEP_DETECTOR:
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case SensorType::TILT_DETECTOR:
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case SensorType::WAKE_GESTURE:
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case SensorType::GLANCE_GESTURE:
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case SensorType::PICK_UP_GESTURE:
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case SensorType::WRIST_TILT_GESTURE:
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case SensorType::STATIONARY_DETECT:
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case SensorType::MOTION_DETECT:
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case SensorType::HEART_BEAT:
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case SensorType::LOW_LATENCY_OFFBODY_DETECT:
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case SensorType::HINGE_ANGLE: {
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dst->payload.set<Event::EventPayload::Tag::scalar>((float)src.data[0]);
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break;
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}
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case SensorType::STEP_COUNTER: {
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dst->payload.set<Event::EventPayload::Tag::stepCount>(src.u64.step_counter);
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break;
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}
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case SensorType::HEART_RATE: {
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Event::EventPayload::HeartRate heartRate;
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heartRate.bpm = src.heart_rate.bpm;
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heartRate.status = (SensorStatus)src.heart_rate.status;
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dst->payload.set<Event::EventPayload::Tag::heartRate>(heartRate);
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break;
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}
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case SensorType::POSE_6DOF: { // 15 floats
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Event::EventPayload::Pose6Dof pose6DOF;
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for (size_t i = 0; i < 15; ++i) {
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pose6DOF.values[i] = src.data[i];
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}
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dst->payload.set<Event::EventPayload::Tag::pose6DOF>(pose6DOF);
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break;
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}
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case SensorType::DYNAMIC_SENSOR_META: {
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DynamicSensorInfo dynamic;
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dynamic.connected = src.dynamic_sensor_meta.connected;
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dynamic.sensorHandle = src.dynamic_sensor_meta.handle;
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memcpy(dynamic.uuid.values.data(), src.dynamic_sensor_meta.uuid, 16);
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dst->payload.set<Event::EventPayload::Tag::dynamic>(dynamic);
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break;
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}
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case SensorType::ADDITIONAL_INFO: {
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AdditionalInfo info;
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const additional_info_event_t& srcInfo = src.additional_info;
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info.type = (AdditionalInfo::AdditionalInfoType)srcInfo.type;
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info.serial = srcInfo.serial;
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AdditionalInfo::AdditionalInfoPayload::Int32Values data;
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CHECK_EQ(data.values.size() * sizeof(int32_t), sizeof(srcInfo.data_int32));
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memcpy(data.values.data(), srcInfo.data_int32, sizeof(srcInfo.data_int32));
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info.payload.set<AdditionalInfo::AdditionalInfoPayload::Tag::dataInt32>(data);
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dst->payload.set<Event::EventPayload::Tag::additional>(info);
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break;
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}
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case SensorType::HEAD_TRACKER: {
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Event::EventPayload::HeadTracker headTracker;
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headTracker.rx = src.head_tracker.rx;
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headTracker.ry = src.head_tracker.ry;
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headTracker.rz = src.head_tracker.rz;
|
|
headTracker.vx = src.head_tracker.vx;
|
|
headTracker.vy = src.head_tracker.vy;
|
|
headTracker.vz = src.head_tracker.vz;
|
|
headTracker.discontinuityCount = src.head_tracker.discontinuity_count;
|
|
|
|
dst->payload.set<Event::EventPayload::Tag::headTracker>(headTracker);
|
|
break;
|
|
}
|
|
|
|
case SensorType::ACCELEROMETER_LIMITED_AXES:
|
|
case SensorType::GYROSCOPE_LIMITED_AXES: {
|
|
Event::EventPayload::LimitedAxesImu limitedAxesImu;
|
|
limitedAxesImu.x = src.limited_axes_imu.x;
|
|
limitedAxesImu.y = src.limited_axes_imu.y;
|
|
limitedAxesImu.z = src.limited_axes_imu.z;
|
|
limitedAxesImu.xSupported = src.limited_axes_imu.x_supported;
|
|
limitedAxesImu.ySupported = src.limited_axes_imu.y_supported;
|
|
limitedAxesImu.zSupported = src.limited_axes_imu.z_supported;
|
|
dst->payload.set<Event::EventPayload::Tag::limitedAxesImu>(limitedAxesImu);
|
|
break;
|
|
}
|
|
|
|
case SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
|
|
case SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED: {
|
|
Event::EventPayload::LimitedAxesImuUncal limitedAxesImuUncal;
|
|
limitedAxesImuUncal.x = src.limited_axes_imu_uncalibrated.x_uncalib;
|
|
limitedAxesImuUncal.y = src.limited_axes_imu_uncalibrated.y_uncalib;
|
|
limitedAxesImuUncal.z = src.limited_axes_imu_uncalibrated.z_uncalib;
|
|
limitedAxesImuUncal.xBias = src.limited_axes_imu_uncalibrated.x_bias;
|
|
limitedAxesImuUncal.yBias = src.limited_axes_imu_uncalibrated.y_bias;
|
|
limitedAxesImuUncal.zBias = src.limited_axes_imu_uncalibrated.z_bias;
|
|
limitedAxesImuUncal.xSupported = src.limited_axes_imu_uncalibrated.x_supported;
|
|
limitedAxesImuUncal.ySupported = src.limited_axes_imu_uncalibrated.y_supported;
|
|
limitedAxesImuUncal.zSupported = src.limited_axes_imu_uncalibrated.z_supported;
|
|
dst->payload.set<Event::EventPayload::Tag::limitedAxesImuUncal>(limitedAxesImuUncal);
|
|
break;
|
|
}
|
|
|
|
case SensorType::HEADING: {
|
|
Event::EventPayload::Heading heading;
|
|
heading.heading = src.heading.heading;
|
|
heading.accuracy = src.heading.accuracy;
|
|
dst->payload.set<Event::EventPayload::heading>(heading);
|
|
break;
|
|
}
|
|
|
|
default: {
|
|
CHECK_GE((int32_t)dst->sensorType, (int32_t)SensorType::DEVICE_PRIVATE_BASE);
|
|
|
|
Event::EventPayload::Data data;
|
|
memcpy(data.values.data(), src.data, 16 * sizeof(float));
|
|
dst->payload.set<Event::EventPayload::Tag::data>(data);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void convertFromASensorEvent(const ASensorEvent& src, Event* dst) {
|
|
convertFromSensorEvent(common::convertASensorEvent(src), dst);
|
|
}
|
|
|
|
} // namespace implementation
|
|
} // namespace sensors
|
|
} // namespace hardware
|
|
} // namespace android
|