libs/rt-thread
libs/rt-thread
4
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Merge pull request #363 from BernardXiong/master

Browse Source 
[Sensor] code cleanup
This commit is contained in:
Bernard Xiong 2014-11-01 15:54:00 +08:00
commit ecbde6bb9d
2 changed files with 112 additions and 98 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

120
components/drivers/sensors/sensor.cpp
View File

@ -1,13 +1,13 @@
#include <stddef.h> #include <stddef.h>
#include "sensor.h" #include "sensor.h"
/** /**
* Sensor * Sensor
*/ */
Sensor::Sensor() Sensor::Sensor()
{ {
this->next = this->prev = NULL; this->next = this->prev = NULL;
Subscribe(NULL, NULL); Subscribe(NULL, NULL);
} }
Sensor::~Sensor() Sensor::~Sensor()
@ -19,7 +19,7 @@ int Sensor::GetType(void)
return this->type; return this->type;
} }
int Sensor::Subscribe(SensorEventHandler_t *handler, void* user_data) int Sensor::Subscribe(SensorEventHandler_t *handler, void *user_data)
{ {
this->evtHandler = handler; this->evtHandler = handler;
this->userData = user_data; this->userData = user_data;
@ -27,13 +27,13 @@ int Sensor::Subscribe(SensorEventHandler_t *handler, void* user_data)
return 0; return 0;
} }
int Sensor::Publish(sensors_event_t* event) int Sensor::Publish(sensors_event_t *event)
{ {
if (this->evtHandler != NULL) if (this->evtHandler != NULL)
{ {
/* invoke subscribed handler */ /* invoke subscribed handler */
(*evtHandler)(this, event, this->userData); (*evtHandler)(this, event, this->userData);
} }
return 0; return 0;
} }
@ -46,89 +46,89 @@ static SensorManager _sensor_manager;
SensorManager::SensorManager() SensorManager::SensorManager()
{ {
sensorList = NULL; sensorList = NULL;
} }
SensorManager::~SensorManager() SensorManager::~SensorManager()
{ {
} }
int SensorManager::RegisterSensor(Sensor* sensor) int SensorManager::RegisterSensor(Sensor *sensor)
{ {
SensorManager* self = &_sensor_manager; SensorManager *self = &_sensor_manager;
RT_ASSERT(sensor != RT_NULL); RT_ASSERT(sensor != RT_NULL);
/* add sensor into the list */ /* add sensor into the list */
if (self->sensorList = NULL) if (self->sensorList = NULL)
{ {
sensor->prev = sensor->next = sensor; sensor->prev = sensor->next = sensor;
} }
else else
{ {
sensor->prev = self->sensorList; sensor->prev = self->sensorList;
sensor->next = self->sensorList->next; sensor->next = self->sensorList->next;
self->sensorList->next->prev = sensor; self->sensorList->next->prev = sensor;
self->sensorList->next = sensor; self->sensorList->next = sensor;
} }
/* point the sensorList to this sensor */ /* point the sensorList to this sensor */
self->sensorList = sensor; self->sensorList = sensor;
return 0; return 0;
} }
int SensorManager::DeregisterSensor(Sensor* sensor) int SensorManager::DeregisterSensor(Sensor *sensor)
{ {
SensorManager* self = &_sensor_manager; SensorManager *self = &_sensor_manager;
/* disconnect sensor list */ /* disconnect sensor list */
sensor->next->prev = sensor->prev; sensor->next->prev = sensor->prev;
sensor->prev->next = sensor->next; sensor->prev->next = sensor->next;
/* check the sensorList */ /* check the sensorList */
if (sensor == self->sensorList) if (sensor == self->sensorList)
{ {
if (sensor->next == sensor) self->sensorList = NULL; /* empty list */ if (sensor->next == sensor) self->sensorList = NULL; /* empty list */
else self->sensorList = sensor->next; else self->sensorList = sensor->next;
} }
/* re-initialize sensor node */ /* re-initialize sensor node */
sensor->next = sensor->prev = sensor; sensor->next = sensor->prev = sensor;
return 0; return 0;
} }
Sensor *SensorManager::GetDefaultSensor(int type) Sensor *SensorManager::GetDefaultSensor(int type)
{ {
SensorManager* self = &_sensor_manager; SensorManager *self = &_sensor_manager;
Sensor *sensor = self->sensorList; Sensor *sensor = self->sensorList;
if (sensor == NULL) return NULL; if (sensor == NULL) return NULL;
do do
{ {
/* find the same type */ /* find the same type */
if (sensor->GetType() == type) return sensor; if (sensor->GetType() == type) return sensor;
sensor = sensor->next; sensor = sensor->next;
} }
while (sensor != self->sensorList); while (sensor != self->sensorList);
return NULL; return NULL;
} }
int SensorManager::Subscribe(int type, SensorEventHandler_t *handler, void* user_data) int SensorManager::Subscribe(int type, SensorEventHandler_t *handler, void *user_data)
{ {
Sensor *sensor; Sensor *sensor;
sensor = SensorManager::GetDefaultSensor(type); sensor = SensorManager::GetDefaultSensor(type);
if (sensor != NULL) if (sensor != NULL)
{ {
sensor->Subscribe(handler, user_data); sensor->Subscribe(handler, user_data);
return 0; return 0;
} }
return -1; return -1;
} }

90
components/drivers/sensors/sensor.h
View File

@ -55,7 +55,8 @@
* Availability: SENSORS_DEVICE_API_VERSION_1_0 * Availability: SENSORS_DEVICE_API_VERSION_1_0
* see (*batch)() documentation for details * see (*batch)() documentation for details
*/ */
enum { enum
{
SENSORS_BATCH_DRY_RUN = 0x00000001, SENSORS_BATCH_DRY_RUN = 0x00000001,
SENSORS_BATCH_WAKE_UPON_FIFO_FULL = 0x00000002 SENSORS_BATCH_WAKE_UPON_FIFO_FULL = 0x00000002
}; };
@ -63,7 +64,8 @@ enum {
/* /*
* what field for meta_data_event_t * what field for meta_data_event_t
*/ */
enum { enum
{
/* a previous flush operation has completed */ /* a previous flush operation has completed */
META_DATA_FLUSH_COMPLETE = 1, META_DATA_FLUSH_COMPLETE = 1,
META_DATA_VERSION /* always last, leave auto-assigned */ META_DATA_VERSION /* always last, leave auto-assigned */
@ -749,14 +751,17 @@ enum {
*/ */
typedef struct typedef struct
{ {
union { union
{
float v[3]; float v[3];
struct { struct
{
float x; float x;
float y; float y;
float z; float z;
}; };
struct { struct
{
float azimuth; float azimuth;
float pitch; float pitch;
float roll; float roll;
@ -771,22 +776,26 @@ typedef struct
*/ */
typedef struct typedef struct
{ {
union { union
float uncalib[3]; {
struct { float uncalib[3];
float x_uncalib; struct
float y_uncalib; {
float z_uncalib; float x_uncalib;
float y_uncalib;
float z_uncalib;
};
}; };
}; union
union { {
float bias[3]; float bias[3];
struct { struct
float x_bias; {
float y_bias; float x_bias;
float z_bias; float y_bias;
float z_bias;
};
}; };
};
} uncalibrated_event_t; } uncalibrated_event_t;
typedef struct meta_data_event typedef struct meta_data_event
@ -799,7 +808,8 @@ typedef struct meta_data_event
* Union of the various types of sensor data * Union of the various types of sensor data
* that can be returned. * that can be returned.
*/ */
typedef struct sensors_event_t { typedef struct sensors_event_t
{
/* must be sizeof(struct sensors_event_t) */ /* must be sizeof(struct sensors_event_t) */
int32_t version; int32_t version;
@ -815,8 +825,10 @@ typedef struct sensors_event_t {
/* time is in nanosecond */ /* time is in nanosecond */
int64_t timestamp; int64_t timestamp;
union { union
union { {
union
{
float data[16]; float data[16];
/* acceleration values are in meter per second per second (m/s^2) */ /* acceleration values are in meter per second per second (m/s^2) */
@ -859,7 +871,8 @@ typedef struct sensors_event_t {
meta_data_event_t meta_data; meta_data_event_t meta_data;
}; };
union { union
{
uint64_t data[8]; uint64_t data[8];
/* step-counter */ /* step-counter */
@ -872,15 +885,16 @@ typedef struct sensors_event_t {
/* see SENSOR_TYPE_META_DATA */ /* see SENSOR_TYPE_META_DATA */
typedef sensors_event_t sensors_meta_data_event_t; typedef sensors_event_t sensors_meta_data_event_t;
typedef struct sensor_t { typedef struct sensor_t
{
/* Name of this sensor. /* Name of this sensor.
* All sensors of the same "type" must have a different "name". * All sensors of the same "type" must have a different "name".
*/ */
const char* name; const char *name;
/* vendor of the hardware part */ /* vendor of the hardware part */
const char* vendor; const char *vendor;
/* version of the hardware part + driver. The value of this field /* version of the hardware part + driver. The value of this field
* must increase when the driver is updated in a way that changes the * must increase when the driver is updated in a way that changes the
@ -929,7 +943,7 @@ typedef struct sensor_t {
uint32_t fifoMaxEventCount; uint32_t fifoMaxEventCount;
/* reserved fields, must be zero */ /* reserved fields, must be zero */
void* reserved[6]; void *reserved[6];
} sensor_t; } sensor_t;
class SensorConfigure class SensorConfigure
@ -939,7 +953,7 @@ class SensorConfigure
class Sensor; class Sensor;
class SensorManager; class SensorManager;
typedef void (*SensorEventHandler_t)(Sensor* sensor, sensors_event_t* event, void* user_data); typedef void (*SensorEventHandler_t)(Sensor *sensor, sensors_event_t *event, void *user_data);
/** /**
* Sensor Base Class * Sensor Base Class
@ -961,17 +975,17 @@ public:
int GetType(void); int GetType(void);
int Subscribe(SensorEventHandler_t *handler, void* user_data); int Subscribe(SensorEventHandler_t *handler, void *user_data);
int Publish(sensors_event_t* event); int Publish(sensors_event_t *event);
protected: protected:
Sensor *next; Sensor *next;
Sensor *prev; Sensor *prev;
SensorEventHandler_t *evtHandler; SensorEventHandler_t *evtHandler;
void *userData; void *userData;
friend class SensorManager; friend class SensorManager;
}; };
/** /**
@ -982,15 +996,15 @@ class SensorManager
public: public:
SensorManager(); SensorManager();
~SensorManager(); ~SensorManager();
static int RegisterSensor(Sensor* sensor); static int RegisterSensor(Sensor *sensor);
static int DeregisterSensor(Sensor* sensor); static int DeregisterSensor(Sensor *sensor);
static Sensor *GetDefaultSensor(int type); static Sensor *GetDefaultSensor(int type);
static int Subscribe(int type, SensorEventHandler_t *handler, void* user_data); static int Subscribe(int type, SensorEventHandler_t *handler, void *user_data);
private: private:
Sensor* sensorList; Sensor *sensorList;
}; };
#endif #endif