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Commit 3c33beec authored by Hendrik Wagenaar's avatar Hendrik Wagenaar
Browse files

pose_service cleanup 

* Some code changed, but the helper functions remain

Bug: None
Test: No test required - deleted code
Change-Id: I53181dfe847aa37dca302a3a318d3e9e18b09158
parent aec27c30

services/vr/sensord/pose_service.cpp

+0 −27
Original line number Diff line number Diff line
@@ -25,8 +25,6 @@ 
#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;
@@ -35,11 +33,8 @@ namespace android { 
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.
@@ -69,7 +64,6 @@ static constexpr char kPoseRingBufferName[] = "PoseService:RingBuffer"; 


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.
@@ -77,14 +71,6 @@ static constexpr int kPoseRingBufferFlags = 
    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:
@@ -110,19 +96,6 @@ std::string GetPoseModeString(DvrPoseMode mode) { 
  }

}



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)