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표준 HC-SR04 초음파 센서 용 Android Things 드라이버를 만들려고합니다. 나는 올바른 이벤트 시퀀스를 가지고 있다고 믿는다 : see footer, 그러나 그것을 UserSensor로 등록 할 수 없었다.Android 항목 UserSensor.Builder - 거리 센서 드라이버를 만들 수 없습니다.
userSensor = UserSensor.Builder()
.setName("HC-SR04 Ultrasonic Distance Sensor")
.setVersion(1)
// If boolean "on face or not," should I use something linear like TYPE_LIGHT
.setType(Sensor.TYPE_PROXIMITY)
.setDriver(this) // UserSensorDriver
.build()
이 시점에서 UserSrior를 UserDriverManager에 등록 (완료) 한 것과 SensorManager에 등록하는 것의 차이점은 무엇입니까? 센서 목록에 표시되지 않도록하는 항목이 있습니까? sensorManager.registerDynamicSensorCallback과 같이 센서가 "준비"상태가 될 때까지 기다려야합니까?
val sensorManager = context.getSystemService(Context.SENSOR_SERVICE) as SensorManager
sensorManager.registerListener(this, // SensorEventListener.onSensorChanged
sensorManager.getDefaultSensor(Sensor.TYPE_PROXIMITY),
SensorManager.SENSOR_DELAY_NORMAL)
은 내가 노력할 상관없이, 나는 "E/SensorManager를 : 센서 또는 listener가 null"얻을 (널 (null)이 많은 몰래되어 있지 않기 때문에 더욱 놀라운 코 틀린에)
내 센서 / also a gist : 당신이 고려할 수
/** Callback for when the distance changes "enough to care" */
interface SignificantDistanceChangeListener {
fun onDistanceChanged(distanceCm: Float)
}
/**
* User Sensor - Ultrasonic range finder
*/
class HCSR04(context: Context, val sdcl: SignificantDistanceChangeListener) : UserSensorDriver(), SensorEventListener, AutoCloseable {
private val LOG = Logger.getLogger(this.javaClass.name)
private val gpio = PeripheralManagerService().openGpio("BCM23")
private val distanceReading: BlockingQueue<Float> = ArrayBlockingQueue(1)
// Choreography of each ping
private val scheduler: ScheduledExecutorService = Executors.newScheduledThreadPool(1)
private val userSensor: UserSensor
init {
userSensor = UserSensor.Builder()
.setName("HC-SR04 Ultrasonic Distance Sensor")
.setVersion(1)
.setType(Sensor.TYPE_PROXIMITY) // Could this be something more linear like TYPE_LIGHT
.setDriver(this)
.build()
UserDriverManager.getManager().registerSensor(userSensor)
val sensorManager = context.getSystemService(Context.SENSOR_SERVICE) as SensorManager
LOG.info("ALL Sensors: ${sensorManager.getSensorList(Sensor.TYPE_ALL)}")
sensorManager.registerDynamicSensorCallback(object : SensorManager.DynamicSensorCallback() {
override fun onDynamicSensorConnected(sensor: Sensor) {
LOG.info("onDynamicSensorConnected")
if (sensor.type == Sensor.TYPE_PROXIMITY) {
sensorManager.registerListener(
[email protected],
sensor,
SensorManager.SENSOR_DELAY_NORMAL
)
}
}
})
}
val gpioEdgeCallback = object : GpioCallback() {
// Track the reply rise/fall
private val startMs = AtomicLong()
private val startValid = AtomicBoolean(false)
private fun calculate() {
val elapsed = (System.nanoTime()/1000) - startMs.get()
if (startValid.get() && elapsed > 0) {
distanceReading.put(elapsed * 34000/2f)
} else {
LOG.warning("Discarding edge callback ${startMs.get()} ${startValid.get()} $elapsed")
}
startValid.set(false)
}
override fun onGpioEdge(gpio: Gpio?): Boolean {
if (gpio != null) {
if (gpio.value) {
startMs.set(System.nanoTime()/1000)
startValid.set(true)
} else {
calculate()
}
LOG.finer("GPIO input edge: ${System.nanoTime()/1000} ${gpio.value}")
}
return true
}
override fun onGpioError(gpio: Gpio?, error: Int) = LOG.severe("$gpio Error event $error")
}
/** Launch a new thread to get the distance, then block until we have a result */
override fun read(): UserSensorReading {
distanceReading.clear()
gpio.setDirection(Gpio.DIRECTION_OUT_INITIALLY_LOW)
gpio.setActiveType(Gpio.ACTIVE_HIGH)
gpio.value = false
scheduler.schedule({ gpio.value = true }, 1, TimeUnit.MICROSECONDS)
scheduler.schedule({ gpio.value = false }, 11, TimeUnit.MICROSECONDS)
scheduler.schedule({
gpio.setDirection(Gpio.DIRECTION_IN)
gpio.setActiveType(Gpio.ACTIVE_HIGH) // redundant?
gpio.setEdgeTriggerType(Gpio.EDGE_BOTH)
gpio.registerGpioCallback(gpioEdgeCallback)
}, 12, TimeUnit.MICROSECONDS)
val distanceCm = distanceReading.take()
gpio.unregisterGpioCallback(gpioEdgeCallback)
LOG.info("New distance reading: $distanceCm")
return UserSensorReading(floatArrayOf(distanceCm))
}
/** from @SensorEventListener */
override fun onAccuracyChanged(sensor: Sensor, accuracy: Int) = LOG.info("$sensor accuracy change: $accuracy")
/**
* from @SensorEventListener
*/
override fun onSensorChanged(event: SensorEvent) = sdcl.onDistanceChanged(event.values[0])
/** from @AutoCloseable */
override fun close() {
LOG.warning("Closing Sensor HCSR04")
UserDriverManager.getManager().unregisterSensor(userSensor)
gpio.close()
scheduler.shutdownNow()
}
}
코드를 잘못 읽지 않는 한. 'HCSR04'는'Service'를 연장하지 않는 것 같습니다. 예제에서 볼 수 있습니다. https://developer.android.com/things/sdk/drivers/sensors.html – Blundell