[sensor] Refactor sensor callbacks

jimmy-huang · grgustaf · commit f2f86a36984a · 2017-03-02T16:28:57.000-08:00
Intead of shuffing the union of sensor reading to the callbacks,
only copy the the bytes needed for each type of sensor, for example,
Accelerometer and Gyroscope with X,Y,Z values will send 3 doubles,
where as Ambient Light will only send a single double.

Also rebased to use the new Zephyr api.

Signed-off-by: Jimmy Huang &lt;jimmy.huang@intel.com&gt;
diff --git a/arc/src/main.c b/arc/src/main.c
@@ -448,7 +448,7 @@ static void process_accel_data(struct device *dev)
     struct sensor_value val[3];
     double dval[3];
 
-    if (sensor_channel_get(dev, SENSOR_CHAN_ACCEL_ANY, val) < 0) {
+    if (sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ, val) < 0) {
         ERR_PRINT("failed to read accelerometer channels\n");
         return;
     }
@@ -466,7 +466,7 @@ static void process_accel_data(struct device *dev)
         accel_last_value[0] = reading.x = dval[0];
         accel_last_value[1] = reading.y = dval[1];
         accel_last_value[2] = reading.z = dval[2];
-        send_sensor_data(SENSOR_CHAN_ACCEL_ANY, reading);
+        send_sensor_data(SENSOR_CHAN_ACCEL_XYZ, reading);
     }
 
 #ifdef DEBUG_BUILD
@@ -484,7 +484,7 @@ static void process_gyro_data(struct device *dev)
     struct sensor_value val[3];
     double dval[3];
 
-    if (sensor_channel_get(dev, SENSOR_CHAN_GYRO_ANY, val) < 0) {
+    if (sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ, val) < 0) {
         ERR_PRINT("failed to read gyroscope channels\n");
         return;
     }
@@ -500,7 +500,7 @@ static void process_gyro_data(struct device *dev)
         gyro_last_value[0] = reading.x = dval[0];
         gyro_last_value[1] = reading.y = dval[1];
         gyro_last_value[2] = reading.z = dval[2];
-        send_sensor_data(SENSOR_CHAN_GYRO_ANY, reading);
+        send_sensor_data(SENSOR_CHAN_GYRO_XYZ, reading);
     }
 
 #ifdef DEBUG_BUILD
@@ -526,9 +526,9 @@ static void trigger_hdlr(struct device *dev,
         return;
     }
 
-    if (trigger->chan == SENSOR_CHAN_ACCEL_ANY) {
+    if (trigger->chan == SENSOR_CHAN_ACCEL_XYZ) {
         process_accel_data(dev);
-    } else if (trigger->chan == SENSOR_CHAN_GYRO_ANY) {
+    } else if (trigger->chan == SENSOR_CHAN_GYRO_XYZ) {
         process_gyro_data(dev);
     }
 }
@@ -547,7 +547,7 @@ struct sensor_value acc_calib[] = {
 static int auto_calibration(struct device *dev)
 {
     /* calibrate accelerometer */
-    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ,
                         SENSOR_ATTR_CALIB_TARGET, acc_calib) < 0) {
         return -1;
     }
@@ -557,7 +557,7 @@ static int auto_calibration(struct device *dev)
      * the target on all axis is set internally to 0. This is used just to
      * trigger a gyro calibration.
      */
-    if (sensor_attr_set(dev, SENSOR_CHAN_GYRO_ANY,
+    if (sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ,
                         SENSOR_ATTR_CALIB_TARGET, NULL) < 0) {
         return -1;
     }
@@ -574,7 +574,7 @@ static int start_accel_trigger(struct device *dev, int freq)
     // units, convert the range to m/s^2.
     sensor_g_to_ms2(16, &attr);
 
-    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ,
                         SENSOR_ATTR_FULL_SCALE, &attr) < 0) {
         ERR_PRINT("failed to set accelerometer range\n");
         return -1;
@@ -583,7 +583,7 @@ static int start_accel_trigger(struct device *dev, int freq)
     attr.val1 = freq;
     attr.val2 = 0;
 
-    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ,
                         SENSOR_ATTR_SAMPLING_FREQUENCY, &attr) < 0) {
         ERR_PRINT("failed to set accelerometer sampling frequency %d\n", freq);
         return -1;
@@ -592,7 +592,7 @@ static int start_accel_trigger(struct device *dev, int freq)
     // set slope threshold to 0.1G (0.1 * 9.80665 = 4.903325 m/s^2).
     attr.val1 = 0;
     attr.val2 = 980665;
-    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ,
                         SENSOR_ATTR_SLOPE_TH, &attr) < 0) {
         ERR_PRINT("failed set slope threshold\n");
         return -1;
@@ -601,15 +601,15 @@ static int start_accel_trigger(struct device *dev, int freq)
     // set slope duration to 2 consecutive samples
     attr.val1 = 2;
     attr.val2 = 0;
-    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_ANY,
+    if (sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ,
                         SENSOR_ATTR_SLOPE_DUR, &attr) < 0) {
         ERR_PRINT("failed to set slope duration\n");
         return -1;
     }
 
     // set data ready trigger handler
     trig.type = SENSOR_TRIG_DATA_READY;
-    trig.chan = SENSOR_CHAN_ACCEL_ANY;
+    trig.chan = SENSOR_CHAN_ACCEL_XYZ;
 
     if (sensor_trigger_set(dev, &trig, trigger_hdlr) < 0) {
         ERR_PRINT("failed to enable accelerometer trigger\n");
@@ -625,7 +625,7 @@ static int stop_accel_trigger(struct device *dev)
     struct sensor_trigger trig;
 
     trig.type = SENSOR_TRIG_DATA_READY;
-    trig.chan = SENSOR_CHAN_ACCEL_ANY;
+    trig.chan = SENSOR_CHAN_ACCEL_XYZ;
 
     if (sensor_trigger_set(bmi160, &trig, NULL) < 0) {
         ERR_PRINT("failed to disable accelerometer trigger\n");
@@ -644,15 +644,15 @@ static int start_gyro_trigger(struct device *dev, int freq)
     attr.val1 = freq;
     attr.val2 = 0;
 
-    if (sensor_attr_set(bmi160, SENSOR_CHAN_GYRO_ANY,
+    if (sensor_attr_set(bmi160, SENSOR_CHAN_GYRO_XYZ,
                         SENSOR_ATTR_SAMPLING_FREQUENCY, &attr) < 0) {
         ERR_PRINT("failed to set sampling frequency for gyroscope\n");
         return -1;
     }
 
     // set data ready trigger handler
     trig.type = SENSOR_TRIG_DATA_READY;
-    trig.chan = SENSOR_CHAN_GYRO_ANY;
+    trig.chan = SENSOR_CHAN_GYRO_XYZ;
 
     if (sensor_trigger_set(bmi160, &trig, trigger_hdlr) < 0) {
         ERR_PRINT("failed to enable gyroscope trigger\n");
@@ -668,7 +668,7 @@ static int stop_gyro_trigger(struct device *dev)
     struct sensor_trigger trig;
 
     trig.type = SENSOR_TRIG_DATA_READY;
-    trig.chan = SENSOR_CHAN_GYRO_ANY;
+    trig.chan = SENSOR_CHAN_GYRO_XYZ;
 
     if (sensor_trigger_set(bmi160, &trig, NULL) < 0) {
         ERR_PRINT("failed to disable gyroscope trigger\n");
@@ -740,8 +740,8 @@ static void handle_sensor(struct zjs_ipm_message* msg)
 
     switch(msg->type) {
     case TYPE_SENSOR_INIT:
-        if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_ANY ||
-            msg->data.sensor.channel == SENSOR_CHAN_GYRO_ANY) {
+        if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_XYZ ||
+            msg->data.sensor.channel == SENSOR_CHAN_GYRO_XYZ) {
             if (!bmi160) {
                 bmi160 = device_get_binding("bmi160");
 
@@ -759,12 +759,12 @@ static void handle_sensor(struct zjs_ipm_message* msg)
         break;
     case TYPE_SENSOR_START:
         freq = msg->data.sensor.frequency;
-        if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_ANY) {
+        if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_XYZ) {
             if (!bmi160 || (!accel_trigger &&
                              start_accel_trigger(bmi160, freq) != 0)) {
                 error_code = ERROR_IPM_OPERATION_FAILED;
             }
-        } else if (msg->data.sensor.channel == SENSOR_CHAN_GYRO_ANY) {
+        } else if (msg->data.sensor.channel == SENSOR_CHAN_GYRO_XYZ) {
             if (!bmi160 || (!gyro_trigger &&
                              start_gyro_trigger(bmi160, freq) != 0)) {
                 error_code = ERROR_IPM_OPERATION_FAILED;
@@ -786,12 +786,12 @@ static void handle_sensor(struct zjs_ipm_message* msg)
         }
         break;
     case TYPE_SENSOR_STOP:
-        if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_ANY) {
+        if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_XYZ) {
             if (!bmi160 || (accel_trigger &&
                             stop_accel_trigger(bmi160) != 0)) {
                 error_code = ERROR_IPM_OPERATION_FAILED;
             }
-        } else if (msg->data.sensor.channel == SENSOR_CHAN_GYRO_ANY) {
+        } else if (msg->data.sensor.channel == SENSOR_CHAN_GYRO_XYZ) {
             if (!bmi160 || (gyro_trigger &&
                             stop_gyro_trigger(bmi160) != 0)) {
                 error_code = ERROR_IPM_OPERATION_FAILED;
diff --git a/src/zjs_sensor.c b/src/zjs_sensor.c
@@ -51,9 +51,9 @@ static sensor_handle_t *zjs_sensor_alloc_handle(enum sensor_channel channel)
 
     // append to the list
     sensor_handle_t **head = NULL;
-    if (channel == SENSOR_CHAN_ACCEL_ANY) {
+    if (channel == SENSOR_CHAN_ACCEL_XYZ) {
         head = &accel_handles;
-    } else if (channel == SENSOR_CHAN_GYRO_ANY) {
+    } else if (channel == SENSOR_CHAN_GYRO_XYZ) {
         head = &gyro_handles;
     } else if (channel == SENSOR_CHAN_LIGHT) {
         head = &light_handles;
@@ -191,26 +191,42 @@ static void zjs_sensor_set_state(jerry_value_t obj, enum sensor_state state)
 
 static void zjs_sensor_update_reading(jerry_value_t obj,
                                       enum sensor_channel channel,
-                                      union sensor_reading reading)
+                                      void *reading)
 {
     // update reading property and trigger onchange event
     jerry_value_t reading_obj = jerry_create_object();
-    if (channel == SENSOR_CHAN_ACCEL_ANY ||
-        channel == SENSOR_CHAN_GYRO_ANY) {
-        jerry_value_t x_val = jerry_create_number(reading.x);
-        jerry_value_t y_val = jerry_create_number(reading.y);
-        jerry_value_t z_val = jerry_create_number(reading.z);
-        zjs_set_property(reading_obj, "x", x_val);
-        zjs_set_property(reading_obj, "y", y_val);
-        zjs_set_property(reading_obj, "z", z_val);
-        jerry_release_value(x_val);
-        jerry_release_value(y_val);
-        jerry_release_value(z_val);
-    } else if (channel == SENSOR_CHAN_LIGHT) {
-        jerry_value_t d_val = jerry_create_number(reading.dval);
-        zjs_set_property(reading_obj, "illuminance", d_val);
-        jerry_release_value(d_val);
+    switch(channel) {
+        case SENSOR_CHAN_ACCEL_XYZ:
+        case SENSOR_CHAN_GYRO_XYZ: ;
+            // reading is a ptr to an array of 3 double values
+            double x = ((double*)reading)[0];
+            double y = ((double*)reading)[1];
+            double z = ((double*)reading)[2];
+            jerry_value_t x_val = jerry_create_number(x);
+            jerry_value_t y_val = jerry_create_number(y);
+            jerry_value_t z_val = jerry_create_number(z);
+            zjs_set_property(reading_obj, "x", x_val);
+            zjs_set_property(reading_obj, "y", y_val);
+            zjs_set_property(reading_obj, "z", z_val);
+            jerry_release_value(x_val);
+            jerry_release_value(y_val);
+            jerry_release_value(z_val);
+            break;
+        case SENSOR_CHAN_LIGHT: ;
+            // reading is a ptr to double
+            double d = *((double*)reading);
+            jerry_value_t d_val = jerry_create_number(d);
+            zjs_set_property(reading_obj, "illuminance", d_val);
+            jerry_release_value(d_val);
+            break;
+
+        default:
+            ERR_PRINT("unsupported sensor type\n");
+            jerry_release_value(reading_obj);
+            return;
+
     }
+
     zjs_set_property(obj, "reading", reading_obj);
     jerry_value_t func = zjs_get_property(obj, "onchange");
     if (jerry_value_is_function(func)) {
@@ -264,21 +280,49 @@ static void zjs_sensor_onchange_c_callback(void *h, void *argv)
         return;
     }
 
-    union sensor_reading *reading = (union sensor_reading*)argv;
     if (zjs_sensor_get_state(handle->sensor_obj) == SENSOR_STATE_ACTIVATED) {
         zjs_sensor_update_reading(handle->sensor_obj,
                                   handle->channel,
-                                  *reading);
+                                  argv);
     }
 }
 
 // INTERRUPT SAFE FUNCTION: No JerryScript VM, allocs, or likely prints!
-static void zjs_sensor_signal_callbacks(sensor_handle_t *handle,
-                                        union sensor_reading reading)
+static void zjs_sensor_signal_callbacks(struct sensor_data *data)
 {
+    sensor_handle_t *handles = NULL;
+    bool xyz = false;
+
+    switch(data->channel) {
+    case SENSOR_CHAN_ACCEL_XYZ:
+        handles = accel_handles;
+        xyz = true;
+        break;
+    case SENSOR_CHAN_GYRO_XYZ:
+        handles = gyro_handles;
+        xyz = true;
+        break;
+    case SENSOR_CHAN_LIGHT:
+        handles = light_handles;
+        break;
+
+    default:
+        ERR_PRINT("unsupported sensor type\n");
+        return;
+    }
+
     // iterate all sensor instances to update readings and trigger event
-    for (sensor_handle_t *h = handle; h; h = h->next) {
-        zjs_signal_callback(h->id, &reading, sizeof(reading));
+    for (sensor_handle_t *h = handles; h; h = h->next) {
+        if (xyz) {
+            double xyz[3];
+            xyz[0] = data->reading.x;
+            xyz[1] = data->reading.y;
+            xyz[2] = data->reading.z;
+            zjs_signal_callback(h->id, &xyz, sizeof(xyz));
+        } else {
+            double dval = data->reading.dval;
+            zjs_signal_callback(h->id, &dval, sizeof(dval));
+        }
     }
 }
 
@@ -298,16 +342,8 @@ static void ipm_msg_receive_callback(void *context, uint32_t id, volatile void *
         // un-block sync api
         k_sem_give(&sensor_sem);
     } else if (msg->type == TYPE_SENSOR_EVENT_READING_CHANGE) {
-        // value change event, copy the data, and signal event callback
-        if (msg->data.sensor.channel == SENSOR_CHAN_ACCEL_ANY) {
-            zjs_sensor_signal_callbacks(accel_handles, msg->data.sensor.reading);
-        } else if (msg->data.sensor.channel == SENSOR_CHAN_GYRO_ANY) {
-            zjs_sensor_signal_callbacks(gyro_handles, msg->data.sensor.reading);
-        } else if (msg->data.sensor.channel == SENSOR_CHAN_LIGHT) {
-            zjs_sensor_signal_callbacks(light_handles, msg->data.sensor.reading);
-        } else {
-            ERR_PRINT("unsupported sensor type\n");
-        }
+        // value change event, signal event callback
+        zjs_sensor_signal_callbacks(&msg->data.sensor);
     } else {
         ERR_PRINT("unsupported message received\n");
     }
@@ -437,7 +473,7 @@ static jerry_value_t zjs_sensor_create(const jerry_value_t function_obj,
                       DEFAULT_SAMPLING_FREQUENCY);
         }
 
-        if (channel == SENSOR_CHAN_ACCEL_ANY) {
+        if (channel == SENSOR_CHAN_ACCEL_XYZ) {
             bool option_gravity;
             if (zjs_obj_get_boolean(options, "includeGravity", &option_gravity) &&
                 option_gravity) {
@@ -501,7 +537,7 @@ static jerry_value_t zjs_accel_create(const jerry_value_t function_obj,
                              this,
                              argv,
                              argc,
-                             SENSOR_CHAN_ACCEL_ANY);
+                             SENSOR_CHAN_ACCEL_XYZ);
 }
 
 static jerry_value_t zjs_gyro_create(const jerry_value_t function_obj,
@@ -516,7 +552,7 @@ static jerry_value_t zjs_gyro_create(const jerry_value_t function_obj,
                              this,
                              argv,
                              argc,
-                             SENSOR_CHAN_GYRO_ANY);
+                             SENSOR_CHAN_GYRO_XYZ);
 }
 
 static jerry_value_t zjs_light_create(const jerry_value_t function_obj,
