カスタムセンサーサービス
public class CalculatePosition {
static Double earthRadius = 6378D;
static Double oldLatitude,oldLongitude;
static Boolean IsFirst = true;
static Double sensorLatitude, sensorLongitude;
static Date CollaborationWithGPSTime;
public static float[] results;
public static void calculateNewPosition(Context applicationContext,
Float currentAcceleration, Float currentSpeed,
Float currentDistanceTravelled, Float currentDirection, Float TotalDistance) {
results = new float[3];
if(IsFirst){
CollaborationWithGPSTime = new Date();
Toast.makeText(applicationContext, "First", Toast.LENGTH_LONG).show();
oldLatitude = CustomLocationListener.mLatitude;
oldLongitude = CustomLocationListener.mLongitude;
sensorLatitude = oldLatitude;
sensorLongitude = oldLongitude;
LivePositionActivity.PlotNewPosition(oldLongitude,oldLatitude,currentDistanceTravelled * 1000, currentAcceleration, currentSpeed, currentDirection, "GPSSensor",0.0F,TotalDistance);
IsFirst = false;
return;
}
Date CurrentDateTime = new Date();
if(CurrentDateTime.getTime() - CollaborationWithGPSTime.getTime() > 900000){
//This IF Statement is to Collaborate with GPS position --> For accuracy --> 900,000 == 15 minutes
oldLatitude = CustomLocationListener.mLatitude;
oldLongitude = CustomLocationListener.mLongitude;
LivePositionActivity.PlotNewPosition(oldLongitude,oldLatitude,currentDistanceTravelled * 1000, currentAcceleration, currentSpeed, currentDirection, "GPSSensor", 0.0F, 0.0F);
return;
}
//Convert Variables to Radian for the Formula
oldLatitude = Math.PI * oldLatitude / 180;
oldLongitude = Math.PI * oldLongitude / 180;
currentDirection = (float) (Math.PI * currentDirection / 180.0);
//Formulae to Calculate the NewLAtitude and NewLongtiude
Double newLatitude = Math.asin(Math.sin(oldLatitude) * Math.cos(currentDistanceTravelled / earthRadius) +
Math.cos(oldLatitude) * Math.sin(currentDistanceTravelled / earthRadius) * Math.cos(currentDirection));
Double newLongitude = oldLongitude + Math.atan2(Math.sin(currentDirection) * Math.sin(currentDistanceTravelled / earthRadius)
* Math.cos(oldLatitude), Math.cos(currentDistanceTravelled / earthRadius)
- Math.sin(oldLatitude) * Math.sin(newLatitude));
//Convert Back from radians
newLatitude = 180 * newLatitude / Math.PI;
newLongitude = 180 * newLongitude / Math.PI;
currentDirection = (float) (180 * currentDirection / Math.PI);
//Update old Latitude and Longitude
oldLatitude = newLatitude;
oldLongitude = newLongitude;
sensorLatitude = oldLatitude;
sensorLongitude = oldLongitude;
IsFirst = false;
//Plot Position on Map
LivePositionActivity.PlotNewPosition(newLongitude,newLatitude,currentDistanceTravelled * 1000, currentAcceleration, currentSpeed, currentDirection, "Sensor", results[0],TotalDistance);
}
}
public class CustomSensorService extends サービスの実装 SensorEventListener{
static SensorManager sensorManager;
static Sensor mAccelerometer;
private Sensor mMagnetometer;
private Sensor mLinearAccelertion;
static Context mContext;
private static float[] AccelerometerValue;
private static float[] MagnetometerValue;
public static Float currentAcceleration = 0.0F;
public static Float currentDirection = 0.0F;
public static Float CurrentSpeed = 0.0F;
public static Float CurrentDistanceTravelled = 0.0F;
/*---------------------------------------------*/
float[] prevValues,speed;
float[] currentValues;
float prevTime, currentTime, changeTime,distanceY,distanceX,distanceZ;
float[] currentVelocity;
public static CalculatePosition CalcPosition;
/*-----FILTER VARIABLES-------------------------*-/
*
*
*/
public static Float prevAcceleration = 0.0F;
public static Float prevSpeed = 0.0F;
public static Float prevDistance = 0.0F;
public static Float totalDistance;
TextView tv;
Boolean First,FirstSensor = true;
@Override
public void onCreate(){
super.onCreate();
mContext = getApplicationContext();
CalcPosition = new CalculatePosition();
First = FirstSensor = true;
currentValues = new float[3];
prevValues = new float[3];
currentVelocity = new float[3];
speed = new float[3];
totalDistance = 0.0F;
Toast.makeText(getApplicationContext(),"Service Created",Toast.LENGTH_SHORT).show();
sensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
mAccelerometer = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
mMagnetometer = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
//mGyro = sensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
mLinearAccelertion = sensorManager.getDefaultSensor(Sensor.TYPE_LINEAR_ACCELERATION);
sensorManager.registerListener(this, mAccelerometer, SensorManager.SENSOR_DELAY_NORMAL);
sensorManager.registerListener(this, mMagnetometer, SensorManager.SENSOR_DELAY_NORMAL);
//sensorManager.registerListener(this, mGyro, SensorManager.SENSOR_DELAY_NORMAL);
sensorManager.registerListener(this, mLinearAccelertion, SensorManager.SENSOR_DELAY_NORMAL);
}
@Override
public void onDestroy(){
Toast.makeText(this, "Service Destroyed", Toast.LENGTH_SHORT).show();
sensorManager.unregisterListener(this);
//sensorManager = null;
super.onDestroy();
}
@Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
// TODO Auto-generated method stub
}
@Override
public void onSensorChanged(SensorEvent event) {
float[] values = event.values;
Sensor mSensor = event.sensor;
if(mSensor.getType() == Sensor.TYPE_ACCELEROMETER){
AccelerometerValue = values;
}
if(mSensor.getType() == Sensor.TYPE_LINEAR_ACCELERATION){
if(First){
prevValues = values;
prevTime = event.timestamp / 1000000000;
First = false;
currentVelocity[0] = currentVelocity[1] = currentVelocity[2] = 0;
distanceX = distanceY= distanceZ = 0;
}
else{
currentTime = event.timestamp / 1000000000.0f;
changeTime = currentTime - prevTime;
prevTime = currentTime;
calculateDistance(event.values, changeTime);
currentAcceleration = (float) Math.sqrt(event.values[0] * event.values[0] + event.values[1] * event.values[1] + event.values[2] * event.values[2]);
CurrentSpeed = (float) Math.sqrt(speed[0] * speed[0] + speed[1] * speed[1] + speed[2] * speed[2]);
CurrentDistanceTravelled = (float) Math.sqrt(distanceX * distanceX + distanceY * distanceY + distanceZ * distanceZ);
CurrentDistanceTravelled = CurrentDistanceTravelled / 1000;
if(FirstSensor){
prevAcceleration = currentAcceleration;
prevDistance = CurrentDistanceTravelled;
prevSpeed = CurrentSpeed;
FirstSensor = false;
}
prevValues = values;
}
}
if(mSensor.getType() == Sensor.TYPE_MAGNETIC_FIELD){
MagnetometerValue = values;
}
if(currentAcceleration != prevAcceleration || CurrentSpeed != prevSpeed || prevDistance != CurrentDistanceTravelled){
if(!FirstSensor)
totalDistance = totalDistance + CurrentDistanceTravelled * 1000;
if (AccelerometerValue != null && MagnetometerValue != null && currentAcceleration != null) {
//Direction
float RT[] = new float[9];
float I[] = new float[9];
boolean success = SensorManager.getRotationMatrix(RT, I, AccelerometerValue,
MagnetometerValue);
if (success) {
float orientation[] = new float[3];
SensorManager.getOrientation(RT, orientation);
float azimut = (float) Math.round(Math.toDegrees(orientation[0]));
currentDirection =(azimut+ 360) % 360;
if( CurrentSpeed > 0.2){
CalculatePosition.calculateNewPosition(getApplicationContext(),currentAcceleration,CurrentSpeed,CurrentDistanceTravelled,currentDirection,totalDistance);
}
}
prevAcceleration = currentAcceleration;
prevSpeed = CurrentSpeed;
prevDistance = CurrentDistanceTravelled;
}
}
}
@Override
public IBinder onBind(Intent arg0) {
// TODO Auto-generated method stub
return null;
}
public void calculateDistance (float[] acceleration, float deltaTime) {
float[] distance = new float[acceleration.length];
for (int i = 0; i < acceleration.length; i++) {
speed[i] = acceleration[i] * deltaTime;
distance[i] = speed[i] * deltaTime + acceleration[i] * deltaTime * deltaTime / 2;
}
distanceX = distance[0];
distanceY = distance[1];
distanceZ = distance[2];
}
}
