Merge "pose_service cleanup"

#include <private/dvr/sensor_constants.h>

#include <utils/Trace.h>

#define arraysize(x) (static_cast<ssize_t>(std::extent<decltype(x)>::value))

using android::pdx::LocalChannelHandle;

using android::pdx::default_transport::Endpoint;

using android::pdx::Status;

namespace dvr {

using Vector3d = vec3d;

using Vector3f = vec3f;

using Rotationd = quatd;

using Rotationf = quatf;

using AngleAxisd = Eigen::AngleAxis<double>;

using AngleAxisf = Eigen::AngleAxis<float>;

namespace {

// Wait a few seconds before checking if we need to disable sensors.

static constexpr int kDatasetIdLength = 36;

static constexpr char kDatasetIdChars[] = "0123456789abcdef-";

static constexpr char kDatasetLocation[] = "/data/sdcard/datasets/";

// These are the flags used by BufferProducer::CreatePersistentUncachedBlob,

// plus PRIVATE_ADSP_HEAP to allow access from the DSP.

    GRALLOC_USAGE_SW_READ_RARELY | GRALLOC_USAGE_SW_WRITE_RARELY |

    GRALLOC_USAGE_PRIVATE_UNCACHED | GRALLOC_USAGE_PRIVATE_ADSP_HEAP;

// Extract yaw angle from a given quaternion rotation.

// Y-axis is considered to be vertical. Result is in rad.

template <typename T>

T ExtractYaw(Eigen::Quaternion<T> rotation) {

  const Eigen::Vector3<T> yaw_axis = rotation * vec3::UnitZ();

  return std::atan2(yaw_axis.z(), yaw_axis.x());

}

std::string GetPoseModeString(DvrPoseMode mode) {

  switch (mode) {

    case DVR_POSE_MODE_6DOF:

  }

}

inline std::string GetVector3dString(const Vector3d& vector) {

  std::ostringstream stream;

  stream << "[" << vector[0] << "," << vector[1] << "," << vector[2] << "]";

  return stream.str();

}

inline std::string GetRotationdString(const Rotationd& rotation) {

  std::ostringstream stream;

  stream << "[" << rotation.w() << ", " << GetVector3dString(rotation.vec())

         << "]";

  return stream.str();

}

}  // namespace

PoseService::PoseService(SensorThread* sensor_thread)