1 /*
2  * Copyright (C) 2023 The Android Open Source Project
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  *      http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #pragma once
18 
19 #include <Eigen/Dense>
20 
21 #include <chrono>
22 #include <string>
23 
24 namespace cuttlefish {
25 namespace webrtc_streaming {
26 
27 class SensorsSimulator {
28  public:
29   SensorsSimulator();
30   // Update sensor values based on new rotation status.
31   void RefreshSensors(double x, double y, double z);
32   // Get sensors data in string format to be passed as a message.
33   std::string GetSensorsData();
34 
35  private:
36   Eigen::Vector3d xyz_ {0, 0, 0}, acc_xyz_{0, 0, 0}, mgn_xyz_{0, 0, 0}, gyro_xyz_{0, 0, 0};
37   Eigen::Matrix3d prior_rotation_matrix_, current_rotation_matrix_;
38   std::chrono::time_point<std::chrono::high_resolution_clock> last_event_timestamp_;
39 };
40 }  // namespace webrtc_streaming
41 }  // namespace cuttlefish
42