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{ "id": 21619, "url": "https://patchwork.libcamera.org/api/patches/21619/?format=api", "web_url": "https://patchwork.libcamera.org/patch/21619/", "project": { "id": 1, "url": "https://patchwork.libcamera.org/api/projects/1/?format=api", "name": "libcamera", "link_name": "libcamera", "list_id": "libcamera_core", "list_email": "libcamera-devel@lists.libcamera.org", "web_url": "", "scm_url": "", "webscm_url": "" }, "msgid": "<20241014140038.1133270-3-chenghaoyang@chromium.org>", "date": "2024-10-14T13:18:57", "name": "[2/2] libcamera: Add GyroSensor as a base class", "commit_ref": null, "pull_url": null, "state": "new", "archived": false, "hash": "99f999ea9c1ee21d9f6a3910d8a3f95ecb13c249", "submitter": { "id": 117, "url": "https://patchwork.libcamera.org/api/people/117/?format=api", "name": "Cheng-Hao Yang", "email": "chenghaoyang@chromium.org" }, "delegate": null, "mbox": "https://patchwork.libcamera.org/patch/21619/mbox/", "series": [ { "id": 4696, "url": "https://patchwork.libcamera.org/api/series/4696/?format=api", "web_url": "https://patchwork.libcamera.org/project/libcamera/list/?series=4696", "date": "2024-10-14T13:18:55", "name": "Add GyroSensor", "version": 1, "mbox": "https://patchwork.libcamera.org/series/4696/mbox/" } ], "comments": "https://patchwork.libcamera.org/api/patches/21619/comments/", "check": "pending", "checks": "https://patchwork.libcamera.org/api/patches/21619/checks/", "tags": {}, "headers": { "Return-Path": "<libcamera-devel-bounces@lists.libcamera.org>", "X-Original-To": "parsemail@patchwork.libcamera.org", "Delivered-To": "parsemail@patchwork.libcamera.org", "Received": [ "from lancelot.ideasonboard.com (lancelot.ideasonboard.com\n\t[92.243.16.209])\n\tby patchwork.libcamera.org (Postfix) with ESMTPS id 1DEEDC326C\n\tfor <parsemail@patchwork.libcamera.org>;\n\tMon, 14 Oct 2024 14:00:54 +0000 (UTC)", "from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id A4B8A65386;\n\tMon, 14 Oct 2024 16:00:53 +0200 (CEST)", "from mail-pj1-x102d.google.com (mail-pj1-x102d.google.com\n\t[IPv6:2607:f8b0:4864:20::102d])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id 2AA6565381\n\tfor <libcamera-devel@lists.libcamera.org>;\n\tMon, 14 Oct 2024 16:00:48 +0200 (CEST)", "by mail-pj1-x102d.google.com with SMTP id\n\t98e67ed59e1d1-2e2e6a1042dso3063167a91.2\n\tfor <libcamera-devel@lists.libcamera.org>;\n\tMon, 14 Oct 2024 07:00:48 -0700 (PDT)", "from chenghaoyang-low.c.googlers.com.com\n\t(199.211.81.34.bc.googleusercontent.com. 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with SMTP id\n\t98e67ed59e1d1-2e3152e4dd9mr11448939a91.20.1728914446605; \n\tMon, 14 Oct 2024 07:00:46 -0700 (PDT)", "From": "Harvey Yang <chenghaoyang@chromium.org>", "To": "libcamera-devel@lists.libcamera.org", "Cc": "Harvey Yang <chenghaoyang@chromium.org>,\n\tHan-Lin Chen <hanlinchen@chromium.org>", "Subject": "[PATCH 2/2] libcamera: Add GyroSensor as a base class", "Date": "Mon, 14 Oct 2024 13:18:57 +0000", "Message-ID": "<20241014140038.1133270-3-chenghaoyang@chromium.org>", "X-Mailer": "git-send-email 2.47.0.rc1.288.g06298d1525-goog", "In-Reply-To": "<20241014140038.1133270-1-chenghaoyang@chromium.org>", "References": "<20241014140038.1133270-1-chenghaoyang@chromium.org>", "MIME-Version": "1.0", "Content-Transfer-Encoding": "8bit", "X-BeenThere": "libcamera-devel@lists.libcamera.org", "X-Mailman-Version": "2.1.29", "Precedence": "list", "List-Id": "<libcamera-devel.lists.libcamera.org>", "List-Unsubscribe": "<https://lists.libcamera.org/options/libcamera-devel>,\n\t<mailto:libcamera-devel-request@lists.libcamera.org?subject=unsubscribe>", "List-Archive": "<https://lists.libcamera.org/pipermail/libcamera-devel/>", "List-Post": "<mailto:libcamera-devel@lists.libcamera.org>", "List-Help": "<mailto:libcamera-devel-request@lists.libcamera.org?subject=help>", "List-Subscribe": "<https://lists.libcamera.org/listinfo/libcamera-devel>,\n\t<mailto:libcamera-devel-request@lists.libcamera.org?subject=subscribe>", "Errors-To": "libcamera-devel-bounces@lists.libcamera.org", "Sender": "\"libcamera-devel\" <libcamera-devel-bounces@lists.libcamera.org>" }, "content": "An android-cros implementation is also added, with defined\nSensorHalClient interface connecting to CrOS daemon iioservice.\n\nSigned-off-by: Harvey Yang <chenghaoyang@chromium.org>\nCo-developed-by: Han-Lin Chen <hanlinchen@chromium.org>\nSigned-off-by: Han-Lin Chen <hanlinchen@chromium.org>\n---\n include/libcamera/internal/gyro_sensor.h | 65 ++++++++\n src/libcamera/cros_gyro_sensor.cpp | 179 +++++++++++++++++++++++\n src/libcamera/gyro_sensor.cpp | 82 +++++++++++\n src/libcamera/meson.build | 8 +\n 4 files changed, 334 insertions(+)\n create mode 100644 include/libcamera/internal/gyro_sensor.h\n create mode 100644 src/libcamera/cros_gyro_sensor.cpp\n create mode 100644 src/libcamera/gyro_sensor.cpp", "diff": "diff --git a/include/libcamera/internal/gyro_sensor.h b/include/libcamera/internal/gyro_sensor.h\nnew file mode 100644\nindex 000000000..3a2d5ecee\n--- /dev/null\n+++ b/include/libcamera/internal/gyro_sensor.h\n@@ -0,0 +1,65 @@\n+/* SPDX-License-Identifier: LGPL-2.1-or-later */\n+/*\n+ * Copyright (C) 2024, Google Inc.\n+ *\n+ * gyro_sensor.h - A gyroscope sensor\n+ */\n+\n+#pragma once\n+\n+#include <libcamera/base/class.h>\n+\n+namespace libcamera {\n+\n+class GyroSensor final : public libcamera::Extensible\n+{\n+\tLIBCAMERA_DECLARE_PRIVATE()\n+\n+public:\n+\tenum class Location {\n+\t\tkNone = 0, // The device doesn't have the location attribute.\n+\t\tkBase = 1,\n+\t\tkLid = 2,\n+\t\tkCamera = 3,\n+\t};\n+\n+\tstruct SensorSample {\n+\t\tdouble x_value;\n+\t\tdouble y_value;\n+\t\tdouble z_value;\n+\t\tint64_t timestamp;\n+\t};\n+\n+\tGyroSensor();\n+\n+\tint init(Location location);\n+\n+\tbool startReading(double frequency);\n+\tvoid stopReading();\n+\n+\tSensorSample getLatestSample();\n+};\n+\n+#define PUBLIC_GYRO_SENSOR_IMPLEMENTATION \\\n+\tGyroSensor::GyroSensor() \\\n+\t\t: Extensible(std::make_unique<Private>()) \\\n+\t{ \\\n+\t} \\\n+\tint GyroSensor::init(Location location) \\\n+\t{ \\\n+\t\treturn _d()->init(location); \\\n+\t} \\\n+\tbool GyroSensor::startReading(double frequency) \\\n+\t{ \\\n+\t\treturn _d()->startReading(frequency); \\\n+\t} \\\n+\tvoid GyroSensor::stopReading() \\\n+\t{ \\\n+\t\t_d()->stopReading(); \\\n+\t} \\\n+\tGyroSensor::SensorSample GyroSensor::getLatestSample() \\\n+\t{ \\\n+\t\treturn _d()->getLatestSample(); \\\n+\t}\n+\n+} /* namespace libcamera */\ndiff --git a/src/libcamera/cros_gyro_sensor.cpp b/src/libcamera/cros_gyro_sensor.cpp\nnew file mode 100644\nindex 000000000..062f0013d\n--- /dev/null\n+++ b/src/libcamera/cros_gyro_sensor.cpp\n@@ -0,0 +1,179 @@\n+/* SPDX-License-Identifier: LGPL-2.1-or-later */\n+/*\n+ * Copyright (C) 2024, Google Inc.\n+ *\n+ * cros_gyro_sensor.cpp - Chromium OS gyroscope sensor using mojo\n+ */\n+\n+#include <libcamera/base/log.h>\n+#include <libcamera/base/mutex.h>\n+#include <libcamera/base/thread_annotations.h>\n+\n+#include \"libcamera/internal/gyro_sensor.h\"\n+\n+#include <cros-camera/sensor_hal_client.h>\n+\n+#include \"../android/cros_mojo_token.h\"\n+\n+namespace libcamera {\n+\n+namespace {\n+\n+std::string convertErrorTypeToString(cros::SamplesObserver::ErrorType error)\n+{\n+\tswitch (error) {\n+\tcase cros::SamplesObserver::ErrorType::MOJO_DISCONNECTED:\n+\t\treturn \"MOJO_DISCONNECTED\";\n+\n+\tcase cros::SamplesObserver::ErrorType::READ_FAILED:\n+\t\treturn \"READ_FAILED\";\n+\n+\tcase cros::SamplesObserver::ErrorType::INVALID_ARGUMENT:\n+\t\treturn \"INVALID_ARGUMENT\";\n+\n+\tcase cros::SamplesObserver::ErrorType::DEVICE_REMOVED:\n+\t\treturn \"DEVICE_REMOVED\";\n+\t}\n+}\n+\n+} /* namespace */\n+\n+LOG_DEFINE_CATEGORY(CrosGyroSensor)\n+\n+class GyroSensor::Private : public Extensible::Private,\n+\t\t\t public cros::SamplesObserver\n+{\n+\tLIBCAMERA_DECLARE_PUBLIC(GyroSensor)\n+\n+public:\n+\tPrivate();\n+\n+\tint init(Location location);\n+\n+\tbool startReading(double frequency);\n+\tvoid stopReading();\n+\n+\tSensorSample getLatestSample();\n+\n+\tvoid OnSampleUpdated(cros::SamplesObserver::Sample sample) override;\n+\tvoid OnErrorOccurred(cros::SamplesObserver::ErrorType error) override;\n+\n+private:\n+\tcros::SensorHalClient *sensorHalClient_;\n+\tcros::SensorHalClient::Location location_;\n+\n+\tlibcamera::Mutex gyroSampleMutex_;\n+\tSensorSample gyroSample_ LIBCAMERA_TSA_GUARDED_BY(gyroSampleMutex_);\n+};\n+\n+/**\n+ * \\class libcamera::GyroSensor::Private\n+ * \\brief CrOS implementation of GyroSensor\n+ */\n+GyroSensor::Private::Private()\n+{\n+}\n+\n+/**\n+ * \\brief Initialize with \\a location inquiried\n+ * \\param[in] location The gyroscope with \\a location needed\n+ * \\return 0 on success or a negative error code otherwise\n+ */\n+int GyroSensor::Private::init(Location location)\n+{\n+\tsensorHalClient_ = cros::SensorHalClient::GetInstance(gCrosMojoToken);\n+\tlocation_ = static_cast<cros::SensorHalClient::Location>(location);\n+\tif (sensorHalClient_ &&\n+\t sensorHalClient_->HasDevice(\n+\t\t cros::SensorHalClient::DeviceType::kAnglVel, location_)) {\n+\t\treturn 0;\n+\t}\n+\n+\treturn -ENXIO;\n+}\n+\n+/**\n+ * \\brief Start reading gyroscope samples with \\a frequency\n+ * \\param[in] frequency The frequency of samples required\n+ *\n+ * This should be called after init().\n+ *\n+ * \\sa init()\n+ *\n+ * \\return True if succeed\n+ */\n+bool GyroSensor::Private::startReading(double frequency)\n+{\n+\treturn sensorHalClient_->RegisterSamplesObserver(\n+\t\tcros::SensorHalClient::DeviceType::kAnglVel,\n+\t\tlocation_, frequency, this);\n+}\n+\n+/**\n+ * \\brief Stop reading gyroscope samples\n+ *\n+ * \\sa startReading()\n+ */\n+void GyroSensor::Private::stopReading()\n+{\n+\tsensorHalClient_->UnregisterSamplesObserver(this);\n+}\n+\n+/**\n+ * \\brief This should be called after startReading()\n+ *\n+ * \\sa startReading()\n+ *\n+ * \\return The latest received sample\n+ */\n+GyroSensor::SensorSample GyroSensor::Private::getLatestSample()\n+{\n+\tMutexLocker lock(gyroSampleMutex_);\n+\n+\treturn gyroSample_;\n+}\n+\n+/**\n+ * \\brief A sample is updated and pushed to GyroSensor::Private\n+ * \\param[in] sample The sample being updated\n+ */\n+void GyroSensor::Private::OnSampleUpdated(cros::SamplesObserver::Sample sample)\n+{\n+\tMutexLocker lock(gyroSampleMutex_);\n+\n+\tgyroSample_.x_value = sample.x_value;\n+\tgyroSample_.y_value = sample.y_value;\n+\tgyroSample_.z_value = sample.z_value;\n+\tgyroSample_.timestamp = sample.timestamp;\n+}\n+\n+/**\n+ * \\brief An error is occurred and pushed to GyroSensor::Private\n+ * \\param[in] error The error occurred\n+ */\n+void GyroSensor::Private::OnErrorOccurred(cros::SamplesObserver::ErrorType error)\n+{\n+\tswitch (error) {\n+\tcase cros::SamplesObserver::ErrorType::READ_FAILED:\n+\t\tLOG(CrosGyroSensor, Error) << \"SensorHalClient error: \"\n+\t\t\t\t\t << convertErrorTypeToString(error);\n+\t\tbreak;\n+\n+\tcase cros::SamplesObserver::ErrorType::MOJO_DISCONNECTED:\n+\tcase cros::SamplesObserver::ErrorType::INVALID_ARGUMENT:\n+\tcase cros::SamplesObserver::ErrorType::DEVICE_REMOVED:\n+\t\tLOG(CrosGyroSensor, Error) << \"SensorHalClient error: \"\n+\t\t\t\t\t << convertErrorTypeToString(error)\n+\t\t\t\t\t << \", aborting all usages\";\n+\t\tauto *sensorHalClient =\n+\t\t\tcros::SensorHalClient::GetInstance(gCrosMojoToken);\n+\t\tif (sensorHalClient)\n+\t\t\tsensorHalClient->UnregisterSamplesObserver(this);\n+\n+\t\tbreak;\n+\t}\n+}\n+\n+PUBLIC_GYRO_SENSOR_IMPLEMENTATION\n+\n+} /* namespace libcamera */\ndiff --git a/src/libcamera/gyro_sensor.cpp b/src/libcamera/gyro_sensor.cpp\nnew file mode 100644\nindex 000000000..0ea4f0c71\n--- /dev/null\n+++ b/src/libcamera/gyro_sensor.cpp\n@@ -0,0 +1,82 @@\n+/* SPDX-License-Identifier: LGPL-2.1-or-later */\n+/*\n+ * Copyright (C) 2024, Google Inc.\n+ *\n+ * gyro_sensor.cpp - A gyroscope sensor\n+ */\n+\n+/**\n+ * \\class libcamera::GyroSensor\n+ * \\brief Gyroscope Sensor\n+ *\n+ * The GyroSensor class models a gyroscope sensor capable of reporting\n+ * gyroscope samples, with x, y, z, and timestamp channels. There might be\n+ * multiple gyroscope sensors on a system, while should be distinguishable via\n+ * GyroSensor::Location.\n+ */\n+\n+/**\n+ * \\enum libcamera::GyroSensor::Location\n+ * \\brief Gyroscope sensor's location type\n+ * \\var GyroSensor::kNone\n+ * \\brief No location attribute available\n+ * \\var GyroSensor::kBase\n+ * \\brief Gyroscope sensor is on the base\n+ * \\var GyroSensor::kLid\n+ * \\brief Gyroscope sensor is on the lid\n+ * \\var GyroSensor::kCamera\n+ * \\brief Gyroscope sensor is on the camera\n+ */\n+\n+/**\n+ * \\struct libcamera::GyroSensor::SensorSample\n+ * \\brief SensorSample contains all available channels within a sample\n+ *\n+ * \\var SensorSample::x_value\n+ * \\brief Sensor reading on the x axis\n+ *\n+ * \\var SensorSample::y_value\n+ * \\brief Sensor reading on the y axis\n+ *\n+ * \\var SensorSample::z_value\n+ * \\brief Sensor reading on the z axis\n+ *\n+ * \\var SensorSample::timestamp\n+ * \\brief The timestamp of the sample\n+ */\n+\n+/**\n+ * \\fn int GyroSensor::init(Location location)\n+ * \\brief Initialize with \\a location inquiried\n+ * \\param[in] location The gyroscope with \\a location needed\n+ * \\return 0 on success or a negative error code otherwise\n+ */\n+\n+/**\n+ * \\fn bool GyroSensor::startReading(double frequency)\n+ * \\brief Start reading gyroscope samples with \\a frequency\n+ * \\param[in] frequency The frequency of samples required\n+ *\n+ * This should be called after init().\n+ *\n+ * \\sa init()\n+ *\n+ * \\return True if succeed\n+ */\n+\n+/**\n+ * \\fn void GyroSensor::stopReading()\n+ * \\brief Stop reading gyroscope samples\n+ *\n+ * \\sa startReading()\n+ */\n+\n+/**\n+ * \\fn SensorSample GyroSensor::getLatestSample()\n+ *\n+ * This should be called after startReading()\n+ *\n+ * \\sa startReading()\n+ *\n+ * \\return The latest received sample\n+ */\ndiff --git a/src/libcamera/meson.build b/src/libcamera/meson.build\nindex aa9ab0291..9cd393920 100644\n--- a/src/libcamera/meson.build\n+++ b/src/libcamera/meson.build\n@@ -60,6 +60,14 @@ includes = [\n \n libcamera_deps = []\n \n+if get_option('android').enabled() and get_option('android_platform') == 'cros'\n+ libcamera_public_sources += files([\n+ 'cros_gyro_sensor.cpp',\n+ 'gyro_sensor.cpp',\n+ ])\n+ libcamera_deps += [dependency('libcros_camera')]\n+endif\n+\n libatomic = cc.find_library('atomic', required : false)\n libthreads = dependency('threads')\n \n", "prefixes": [ "2/2" ] }