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Commit bc2003a3 authored by Andy Hung's avatar Andy Hung Committed by Automerger Merge Worker
Browse files

Merge changes I360f4871,Iaa0249b8 am: e62e6933 

Original change: https://android-review.googlesource.com/c/platform/frameworks/av/+/2476207



Change-Id: Ie0957b11e2d9df35e1329d9d2e4c2a1acd941379
Signed-off-by: default avatarAutomerger Merge Worker <android-build-automerger-merge-worker@system.gserviceaccount.com>
parents 15b8255c e62e6933

services/audiopolicy/service/SpatializerPoseController.cpp

+51 −4
Original line number Diff line number Diff line
@@ -13,6 +13,7 @@ 
 * See the License for the specific language governing permissions and

 * limitations under the License.

 */



#include "SpatializerPoseController.h"

#include <android-base/stringprintf.h>

#include <chrono>
@@ -23,6 +24,7 @@ 
//#define LOG_NDEBUG 0

#include <sensor/Sensor.h>

#include <media/MediaMetricsItem.h>

#include <media/QuaternionUtil.h>

#include <utils/Log.h>

#include <utils/SystemClock.h>
@@ -282,7 +284,29 @@ void SpatializerPoseController::recenter() { 
void SpatializerPoseController::onPose(int64_t timestamp, int32_t sensor, const Pose3f& pose,

                                       const std::optional<Twist3f>& twist, bool isNewReference) {

    std::lock_guard lock(mMutex);

    constexpr float NANOS_TO_MILLIS = 1e-6;

    constexpr float RAD_TO_DEGREE = 180.f / M_PI;



    const float delayMs = (elapsedRealtimeNano() - timestamp) * NANOS_TO_MILLIS; // CLOCK_BOOTTIME



    if (sensor == mHeadSensor) {

        std::vector<float> pryxyzdt(8);  // pitch, roll, yaw, rot_vel_x, rot_vel_y, rot_vel_z,

                                         // discontinuity, timestamp_delay

        media::quaternionToAngles(pose.rotation(), &pryxyzdt[0], &pryxyzdt[1], &pryxyzdt[2]);

        if (twist) {

            const auto rotationalVelocity = twist->rotationalVelocity();

            for (size_t i = 0; i < 3; ++i) {

                pryxyzdt[i + 3] = rotationalVelocity[i];

            }

        }

        pryxyzdt[6] = isNewReference;

        pryxyzdt[7] = delayMs;

        for (size_t i = 0; i < 3; ++i) { // pitch, roll, yaw only.  rotational velocity in rad/s.

            pryxyzdt[i] *= RAD_TO_DEGREE;

        }

        mHeadSensorRecorder.record(pryxyzdt);

        mHeadSensorDurableRecorder.record(pryxyzdt);



        mProcessor->setWorldToHeadPose(timestamp, pose,

                                       twist.value_or(Twist3f()) / kTicksPerSecond);

        if (isNewReference) {
@@ -290,6 +314,14 @@ void SpatializerPoseController::onPose(int64_t timestamp, int32_t sensor, const 
        }

    }

    if (sensor == mScreenSensor) {

        std::vector<float> pryt{ 0.f, 0.f, 0.f, delayMs}; // pitch, roll, yaw, timestamp_delay

        media::quaternionToAngles(pose.rotation(), &pryt[0], &pryt[1], &pryt[2]);

        for (size_t i = 0; i < 3; ++i) {

            pryt[i] *= RAD_TO_DEGREE;

        }

        mScreenSensorRecorder.record(pryt);

        mScreenSensorDurableRecorder.record(pryt);



        mProcessor->setWorldToScreenPose(timestamp, pose);

        if (isNewReference) {

            mProcessor->recenter(false, true);
@@ -298,8 +330,7 @@ void SpatializerPoseController::onPose(int64_t timestamp, int32_t sensor, const 
}



std::string SpatializerPoseController::toString(unsigned level) const {

    std::string prefixSpace;

    prefixSpace.append(level, ' ');

    std::string prefixSpace(level, ' ');

    std::string ss = prefixSpace + "SpatializerPoseController:\n";

    bool needUnlock = false;
@@ -315,14 +346,30 @@ std::string SpatializerPoseController::toString(unsigned level) const { 
    if (mHeadSensor == INVALID_SENSOR) {

        ss += "HeadSensor: INVALID\n";

    } else {

        base::StringAppendF(&ss, "HeadSensor: 0x%08x\n", mHeadSensor);

        base::StringAppendF(&ss, "HeadSensor: 0x%08x (active world-to-head) "

            "[ pitch, roll, yaw, vx, vy, vz, disc, delay ] "

            "(degrees, rad/s, bool, ms)\n", mHeadSensor);

        ss.append(prefixSpace)

            .append(" PerMinuteHistory:\n")

            .append(mHeadSensorDurableRecorder.toString(level + 2))

            .append(prefixSpace)

            .append(" PerSecondHistory:\n")

            .append(mHeadSensorRecorder.toString(level + 2));

    }



    ss += prefixSpace;

    if (mScreenSensor == INVALID_SENSOR) {

        ss += "ScreenSensor: INVALID\n";

    } else {

        base::StringAppendF(&ss, "ScreenSensor: 0x%08x\n", mScreenSensor);

        base::StringAppendF(&ss, "ScreenSensor: 0x%08x (active world-to-screen) "

            "[ pitch, roll, yaw, delay ] "

            "(degrees, ms)\n", mScreenSensor);

        ss.append(prefixSpace)

            .append(" PerMinuteHistory:\n")

            .append(mScreenSensorDurableRecorder.toString(level + 2))

            .append(prefixSpace)

            .append(" PerSecondHistory:\n")

            .append(mScreenSensorRecorder.toString(level + 2));

    }



    ss += prefixSpace;

services/audiopolicy/service/SpatializerPoseController.h

+11 −0
Original line number Diff line number Diff line
@@ -24,6 +24,7 @@ 


#include <media/HeadTrackingProcessor.h>

#include <media/SensorPoseProvider.h>

#include <media/VectorRecorder.h>



namespace android {
@@ -131,6 +132,16 @@ class SpatializerPoseController : private media::SensorPoseProvider::Listener { 
    bool mShouldExit = false;

    bool mCalculated = false;



    media::VectorRecorder mHeadSensorRecorder{

        8 /* vectorSize */, std::chrono::seconds(1), 10 /* maxLogLine */};

    media::VectorRecorder mHeadSensorDurableRecorder{

        8 /* vectorSize */, std::chrono::minutes(1), 10 /* maxLogLine */};



    media::VectorRecorder mScreenSensorRecorder{

        4 /* vectorSize */, std::chrono::seconds(1), 10 /* maxLogLine */};

    media::VectorRecorder mScreenSensorDurableRecorder{

        4 /* vectorSize */, std::chrono::minutes(1), 10 /* maxLogLine */};



    // It's important that mThread is the last variable in this class

    // since we starts mThread in initializer list

    std::thread mThread;