Using Sensor APIs to configure and acquire sensor data

Using Sensor APIs to configure and acquire sensor data

Please follow below steps as a guide to configure and acquire sensor data

1. Get sensor factory

auto &sensorFactory = telux::sensor::SensorFactory::getInstance();

2. Prepare a callback that is invoked when the sensor sub-system initialization is complete

std::promise<telux::common::ServiceStatus> p;
auto initCb = [&p](telux::common::ServiceStatus status) {
   std::cout << "Received service status: " << static_cast<int>(status) << std::endl;
   p.set_value(status);
};

3. Get the sensor manager. If initialization fails, perform necessary error handling

std::shared_ptr<telux::sensor::ISensorManager> sensorManager
   = sensorFactory.getSensorManager(initCb);
if (sensorManager == nullptr) {
   std::cout << "sensor manager is nullptr" << std::endl;
   exit(1);
}
std::cout << "obtained sensor manager" << std::endl;

4. Wait until initialization is complete

p.get_future().get();
if (sensorManager->getServiceStatus() != telux::common::ServiceStatus::SERVICE_AVAILABLE) {
   std::cout << "Sensor service not available" << std::endl;
   exit(1);
}

5. Get information regarding available sensors in the system

std::cout << "Sensor service is now available" << std::endl;
std::vector<telux::sensor::SensorInfo> sensorInfo;
telux::common::Status status = sensorManager->getAvailableSensorInfo(sensorInfo);
if (status != telux::common::Status::SUCCESS) {
   std::cout << "Failed to get information on available sensors" << static_cast<int>(status)
             << std::endl;
   exit(1);
}
std::cout << "Received sensor information" << std::endl;
for (auto info : sensorInfo) {
   printSensorInfo(info);
}

6. Identify the required sensor and request the ISensorManager for the desired sensor

std::string getSensorName(
   std::vector<telux::sensor::SensorInfo> &sensorInfo, telux::sensor::SensorType type) {
   for (auto &info : sensorInfo) {
      if (info.type == type) {
            return info.name;
      }
   }
   return "";
}

std::string gyroName = getGyroscopeName(sensorInfo);
std::shared_ptr<telux::sensor::ISensor> gyroScope;
std::cout << "Getting gyroscope with name " << gyroName << std::endl;
status = sensorManager->getSensor(gyroScope, gyroName);
if (status != telux::common::Status::SUCCESS) {
   std::cout << "Failed to get gyroscope sensor" << std::endl;
   exit(1);
}

7. Create and register a sensor event listener for configuration updates and sensor events

The event listener extends the ISensorEventListener to receive notification about configuration and sensor events.

class SensorEventListener : public telux::sensor::ISensorEventListener {
public:
   SensorEventListener(telux::sensor::SensorInfo info)
      : info_(info) {
   }

   virtual void onEvent(std::shared_ptr<std::vector<telux::sensor::SensorEvent>> events) override {
      PRINT_NOTIFICATION << ": Received " << events->size()
                         << " events from sensor: " << info_.name << std::endl;
      for (telux::sensor::SensorEvent s : *(events.get())) {
            printSensorEvent(s);
      }
   }

   virtual void onConfigurationUpdate(telux::sensor::SensorConfiguration configuration) override {
      PRINT_NOTIFICATION << ": Received configuration update from sensor: " << info_.name << ": ["
                           << configuration.samplingRate << ", " << configuration.batchCount << " ]"
                           << std::endl;
   }

private:
   bool isUncalibratedSensor(telux::sensor::SensorType type) {
      return ((type == telux::sensor::SensorType::GYROSCOPE_UNCALIBRATED)
               || (type == telux::sensor::SensorType::ACCELEROMETER_UNCALIBRATED));
   }
   void printSensorEvent(telux::sensor::SensorEvent &s) {
      if (isUncalibratedSensor(info_.type)) {
            PRINT_NOTIFICATION << ": name " << info_.name << ": " << s.timestamp << ", "
                              << s.uncalibrated.data.x << ", " << s.uncalibrated.data.y << ", "
                              << s.uncalibrated.data.z << ", " << s.uncalibrated.bias.x << ", "
                              << s.uncalibrated.bias.y << ", " << s.uncalibrated.bias.z
                              << std::endl;
      } else {
            PRINT_NOTIFICATION << ": name " << info_.name << ": " << s.timestamp << ", "
                              << s.calibrated.x << ", " << s.calibrated.y << ", " << s.calibrated.z
                              << std::endl;
      }
   }
   telux::sensor::SensorInfo info_;
};

Create a event listener and register it with the sensor.

std::shared_ptr<SensorEventListener> sensorEventListener
    = std::make_shared<SensorEventListener>(gyroScope->getSensorInfo());
gyroScope->registerListener(sensorEventListener);

8. Configure the sensor with required configuration setting the necessary validityMask

telux::sensor::SensorConfiguration config;
config.samplingRate = getMinimumSamplingRate(gyroScope->getSensorInfo());
config.batchCount = gyroScope->getSensorInfo().maxBatchCountSupported;
std::cout << "Configuring gyroscope with samplingRate, batchCount [" << config.samplingRate
          << ", " << config.batchCount << "]" << std::endl;
config.validityMask.set(
    static_cast<uint32_t>(telux::sensor::SensorConfigParams::SAMPLING_RATE));
config.validityMask.set(static_cast<uint32_t>(telux::sensor::SensorConfigParams::BATCH_COUNT));
status = gyroScope->configure(config);
if (status != telux::common::Status::SUCCESS) {
   std::cout << "Failed to configure gyroscope" << std::endl;
   exit(1);
}

9. Receive updates on sensor configuration

virtual void onConfigurationUpdate(telux::sensor::SensorConfiguration configuration) override {
   PRINT_NOTIFICATION << ": Received configuration update from sensor with ID " << id_ << ": ["
                      << configuration.samplingRate << ", " << configuration.batchCount << " ]"
                      << std::endl;
}

10. Activate the sensor to receive sensor data

status = gyroScope->activate();
if (status != telux::common::Status::SUCCESS) {
   std::cout << "Failed to activate gyroscope" << std::endl;
   exit(1);
}

11. Receive sensor data with the registered listener

virtual void onEvent(std::shared_ptr<std::vector<telux::sensor::SensorEvent>> events) override {
   PRINT_NOTIFICATION << ": Received " << events->size()
                      << " events from sensor: " << info_.name << std::endl;
   for (telux::sensor::SensorEvent s : *(events.get())) {
      printSensorEvent(s);
   }
}

12. When data acquisition is no longer necessary, deactivate the sensor

status = gyroScope->deactivate();
if (status != telux::common::Status::SUCCESS) {
   std::cout << "Failed to deactivate gyroscope" << std::endl;
   exit(1);
}

13. Release the instance of ISensor if no longer required

gyroScope = nullptr;

14. Release the instance of ISensorManager to cleanup resources

sensorManager = nullptr;