uorb:Added 6dof motion and gesture related types.

For details,see: https://developer.android.com/reference/android/hardware/SensorEvent#values

Signed-off-by: likun17 <likun17@xiaomi.com>

system/uorb/sensor/accel.c

@@ -40,3 +40,6 @@ static const char sensor_accel_format[] =
 
 ORB_DEFINE(sensor_accel, struct sensor_accel, sensor_accel_format);
 ORB_DEFINE(sensor_accel_uncal, struct sensor_accel, sensor_accel_format);
+ORB_DEFINE(sensor_linear_accel, struct sensor_accel, sensor_accel_format);
+ORB_DEFINE(sensor_linear_accel_uncal, struct sensor_accel,
+           sensor_accel_format);

system/uorb/sensor/accel.h

@@ -35,5 +35,7 @@
 
 ORB_DECLARE(sensor_accel);
 ORB_DECLARE(sensor_accel_uncal);
+ORB_DECLARE(sensor_linear_accel);
+ORB_DECLARE(sensor_linear_accel_uncal);
 
 #endif

system/uorb/sensor/angle.c

@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/angle.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sensor/angle.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static const char sensor_angle_format[] = "timestamp:%" PRIu64 ",angle:%hf";
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_hinge_angle, struct sensor_angle, sensor_angle_format);

system/uorb/sensor/angle.h

@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/angle.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_ANGLE_H
+#define __APPS_SYSTEM_UORB_SENSOR_ANGLE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_hinge_angle);
+
+#endif

system/uorb/sensor/gesture.c

@@ -29,15 +29,29 @@
  ****************************************************************************/
 
 #ifdef CONFIG_DEBUG_UORB
-static const char sensor_wake_gesture_format[] =
+static const char sensor_gesture_format[] =
   "timestamp:%" PRIu64 ",event:%" PRIu32 "";
 #endif
 
 /****************************************************************************
  * Public Data
  ****************************************************************************/
 
-ORB_DEFINE(sensor_wake_gesture, struct sensor_wake_gesture,
-           sensor_wake_gesture_format);
-ORB_DEFINE(sensor_wake_gesture_uncal, struct sensor_wake_gesture,
-           sensor_wake_gesture_format);
+ORB_DEFINE(sensor_glance_gesture, struct sensor_event,
+           sensor_gesture_format);
+ORB_DEFINE(sensor_glance_gesture_uncal, struct sensor_event,
+           sensor_gesture_format);
+ORB_DEFINE(sensor_offbody_detector, struct sensor_event,
+           sensor_gesture_format);
+ORB_DEFINE(sensor_offbody_detector_uncal, struct sensor_event,
+           sensor_gesture_format);
+ORB_DEFINE(sensor_pickup_gesture, struct sensor_event,
+           sensor_gesture_format);
+ORB_DEFINE(sensor_pickup_gesture_uncal, struct sensor_event,
+           sensor_gesture_format);
+ORB_DEFINE(sensor_wrist_tilt, struct sensor_event, sensor_gesture_format);
+ORB_DEFINE(sensor_wrist_tilt_uncal, struct sensor_event,
+           sensor_gesture_format);
+ORB_DEFINE(sensor_wake_gesture, struct sensor_event, sensor_gesture_format);
+ORB_DEFINE(sensor_wake_gesture_uncal, struct sensor_event,
+           sensor_gesture_format);

system/uorb/sensor/gesture.h

@@ -33,6 +33,14 @@
 
 /* register this as object request broker structure */
 
+ORB_DECLARE(sensor_glance_gesture);
+ORB_DECLARE(sensor_glance_gesture_uncal);
+ORB_DECLARE(sensor_offbody_detector);
+ORB_DECLARE(sensor_offbody_detector_uncal);
+ORB_DECLARE(sensor_pickup_gesture);
+ORB_DECLARE(sensor_pickup_gesture_uncal);
+ORB_DECLARE(sensor_wrist_tilt);
+ORB_DECLARE(sensor_wrist_tilt_uncal);
 ORB_DECLARE(sensor_wake_gesture);
 ORB_DECLARE(sensor_wake_gesture_uncal);
 

system/uorb/sensor/motion.c

@@ -0,0 +1,46 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/motion.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sensor/motion.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static const char sensor_event_format[] =
+  "timestamp:%" PRIu64 ",event:%" PRIu32 "";
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_motion_detect, struct sensor_event, sensor_event_format);
+ORB_DEFINE(sensor_significant_motion, struct sensor_event,
+           sensor_event_format);
+ORB_DEFINE(sensor_step_detector, struct sensor_event, sensor_event_format);
+ORB_DEFINE(sensor_tilt_detector, struct sensor_event, sensor_event_format);
+ORB_DEFINE(sensor_tilt_detector_uncal, struct sensor_event,
+           sensor_event_format);

system/uorb/sensor/motion.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/motion.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_MOTION_H
+#define __APPS_SYSTEM_UORB_SENSOR_MOTION_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_motion_detect);
+ORB_DECLARE(sensor_significant_motion);
+ORB_DECLARE(sensor_step_detector);
+ORB_DECLARE(sensor_tilt_detector);
+ORB_DECLARE(sensor_tilt_detector_uncal);
+
+#endif

system/uorb/sensor/pose_6dof.c

@@ -0,0 +1,42 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pose_6dof.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sensor/pose_6dof.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static const char sensor_pose_6dof_format[] =
+  "timestamp:%" PRIu64 ",x:%hf,y:%hf,z:%hf,w:%hf,tx:%hf,ty:%hf,tz:%hf,"
+  "dx:%hf,dy:%hf,dz:%hf,dw:%hf,dtx:%hf,dty:%hf,dtz:%hf,number:%" PRIu64 "";
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_pose_6dof, struct sensor_pose_6dof,
+           sensor_pose_6dof_format);

system/uorb/sensor/pose_6dof.h

@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pose_6dof.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_POSE_6DOF_H
+#define __APPS_SYSTEM_UORB_SENSOR_POSE_6DOF_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_pose_6dof);
+
+#endif

system/uorb/sensor/rotation.c

@@ -0,0 +1,46 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/rotation.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sensor/rotation.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static const char sensor_rotation_format[] =
+  "timestamp:%" PRIu64 ",x:%hf,y:%hf,z:%hf";
+static const char sensor_orientation_format[] =
+  "timestamp:%" PRIu64 ",x:%hf,y:%hf,z:%hf,w:%hf";
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_rotation, struct sensor_rotation, sensor_rotation_format);
+ORB_DEFINE(sensor_orientation, struct sensor_orientation,
+           sensor_orientation_format);
+ORB_DEFINE(sensor_device_orientation, struct sensor_orientation,
+           sensor_orientation_format);