what's wrong with my sensor monitoring techniq

Question

(please read UPDATE 3 at the end)I'm developing an app that continually works with the sensors of device, works with Accelerometer and Magnetic sensors to retrieve the orientation of device(the purpose is mentioned here). in other words, my app needs to know the orientation of device in Real-time(however this is never possible, so as fast as possible instead, but really as fast as possible !). as mentioned in professional Android 4 Application Development by Reto Meier:

The accelerometers can update hundreds of times a second...

I must not lose any data that sensors report and I also want to do time-consuming operations on these data(retrieve the orientation and then do calculations... ). I decided to solve my problem by using LinkedBlockingQueue:

    public void startSensors() {
            LinkedBlockingQueue<float[][]> array=new LinkedBlockingQueue();
    sensorListenerForOrientation = new SensorEventListener() {

        @Override
        public void onSensorChanged(SensorEvent event) {
            if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
                aValues = (event.values.clone());
            else if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD)
                mValues = (event.values.clone());
            if (aValues != null && mValues != null) {
                try {
                    array.put(new float[][] { aValues, mValues });
                } catch (InterruptedException e) {
                }
            }
        }

        @Override
        public void onAccuracyChanged(Sensor sensor, int accuracy) {
        }
    };
    Sensor aSensor = sm.getSensorList(Sensor.TYPE_ACCELEROMETER).get(
            sm.getSensorList(Sensor.TYPE_ACCELEROMETER).size() - 1);
    Sensor mSensor = sm.getSensorList(Sensor.TYPE_MAGNETIC_FIELD).get(
            sm.getSensorList(Sensor.TYPE_MAGNETIC_FIELD).size() - 1);
    sm.registerListener(sensorListenerForOrientation, aSensor,
            SensorManager.SENSOR_DELAY_FASTEST);
    sm.registerListener(sensorListenerForOrientation, mSensor,
            SensorManager.SENSOR_DELAY_FASTEST);
    executor.execute(new Runnable() {
        @Override
        public void run() {
            doCalculations();
        }
    });
}

and

    public void doCalculations() {
    for (;;) {
        float[][] result = null;
        try {
            result = array.take();
        } catch (InterruptedException e) {
        }
        float[] aValues, mValues;
        aValues = result[0];
        mValues = result[1];

                    int[] degrees=getOrientation(aValues,mValues);
                    Log.e("",String.valueOf(degrees[0]));

                 //other calculations...
                     }
                                }

now I pick up my device and rotate it about 90 degrees to right and then return it to the first position fast(for example in 1.5 seconds) but as I look at the orientations that are registered in device I see for example: 0,1,2,3,4,5.......,40,39,38,37,....,0

I just want to say that I can't see a large domain of degrees in my result . based on what I have done and what I have researched I just can be sure that I am NOT losing any data, any new data reported by sensors are recorded.

any Idea, solution?!

Regards!

UPDATE 1: I did another experiment with my device and got shocking results! if I rotate my device over an axis 90 degrees fast (less than a second), I can see all degrees in my result: 0,1,2,3,....,89,90 (for example) but if I rotate it 90 degrees and then rotate it back to its first position, the result would be 0,1,2,...,36,37,36,...2,1,0(for example)...really confusing !

UPDATE 2: I updated doCalculations() method to be more clear what I have done

UPDATE 3: I think maybe we can solve the problem in another way! I have clear purposes for this code. please have a look at this. I have mentioned what is going to happen, I need to detect an specific movement gesture. so maybe the whole way that I have chosen(the technique above) is not a good way for solving this problem. maybe it's better to detect that gesture by using other sensors or using the same sensors in other way. what do you think?

Answer 1

This is what's wrong with your code. Fast as possible requires fast coding techniques. Save the sensor type instead of evaluating it twice.

@Override
    public void onSensorChanged(SensorEvent event) {
        int i = event.sensor.getType();
        if (i == Sensor.TYPE_ACCELEROMETER)
            aValues = (event.values.clone());
        else if (i == Sensor.TYPE_MAGNETIC_FIELD)
            mValues = (event.values.clone());
    }

Answer 2

So it looks like you are trying to find high throughput low latency solution for a standard "Producer-Consumer" problem. Basically the idea is quite straightforward: decrease data handling overhead, process data in parallel. Suggestions are the following:

1. Use "low latency" libraries

• javolution.org - is a real-time library aiming to make Java or Java-Like/C++ applications faster and more time predictable. It includes Android support.
• mentaqueue - is a super-fast, garbage-less, lock-free, two-thread (producer-consumer) queue based on the Disruptor ideas. Android support is undefined (it looks like it should work).
• disruptor - yet another lightning fast library
• trove - provides high speed regular and primitive collections for Java.

Any of these solution will let you save a lot of CPU cycles.

2. Process data wisely

There is an overhead every time you submit a job. Batch processing can be really helpful.

Process data continuously. Note, executor.execute will consume quite a lot. Several long-living consumers might help.

3. Finally, use micro optimization techniques

For example, get rid of if-else-if in favor of switch.

Track performance all the time in order to identify good and bad solutions. Experiment.

Happy coding.

Answer 3

1. Change variable declaration:

List<float[][]> array = Collections.synchronizedList(new ArrayList<float[][]>());

1. Inside the runnable:

Iterator<float[][]> values = array.iterator();
while (values.hasNext()) {
        float[][] result = values.next();
        //calculating.

        //after calculating remove the items.
        values.remove();
}

Answer 4

Your code looks reasonable. A big unknown is how good the sensors and sensor fusion are in your device. Quick angle change readings rely on integration of angular acceleration or else a physical gyroscope with magnetic data mixed in to make the result absolutely align with the earth. Magnetic data are subject to surroundings. If your device has low quality sensors or there are magnetic disturbances in your environment, it's entirely possible to see the kinds of error you are seeing. Big metal structures and magnetic equipment (like motors or even fluorescent light ballasts) can blank the field or introduce arbitrary errors. For normal uses, a device only needs an accelerometer to accurately determine which way is down so screen flips are accurate. This only needs to work when the device is not moving, where a gyro has no role. If you have a phone or tablet with sensors meant only to serve this purpose - therefore with no gyro or an inaccurate one - you are seeing a device limitation. The erratic values are other evidence that your device is low quality and/or that you are in a location where the earth's magnetic field is being distorted. Try the program on another (preferably expensive) device outside and in the open, and see what you get.

Answer 5

just a thought. I have a similar problem when I needed to collect several large sample sizes an perform calculations. My situation was probably quite different from yours as I just needed acceleration. What I did was create an array list. calculated acceleration per every record reported :

  @Override
        public void onSensorChanged(SensorEvent event) {
            float x = event.values[0];
            float y = event.values[1];
            float z = event.values[2];

            float acceleration = FloatMath.sqrt((x * x) + (y * y) + (z * z));

Then in the same onSensorChanged method, I wait until the size hits a certain limit, like 300, clone that sample to a new list,clear out original, perform calculations on new list and continue in that manner. I get results in secs. I am not sure how much down time is allowed for your application but when I run this I get what I am looking for in less that 5 secs. If you need more sample code let me know, but that is the gist. Sorry if I didn't understand your question properly but I think you were asking for a way to calculate data without losing much? Also I have this running on a separate handler when I register the listener, not to interfere with the main thread, not to effect user experience.

Answer 6

Just thinking: please try the following:

public void startSensors() {
    final Stack<Runnable> mStack = new Stack<Runnable>();
    sensorListenerForOrientation = new SensorEventListener() {

        @Override
        public void onSensorChanged(SensorEvent event) {
            if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
                aValues = (event.values.clone());
            else if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD)
                mValues = (event.values.clone());
            if (aValues != null && mValues != null) {
               mStack.push(new Calculater(new float[][] { aValues, mValues });
            }
        }

        @Override
        public void onAccuracyChanged(Sensor sensor, int accuracy) {
        }
    };
    Sensor aSensor = sm.getSensorList(Sensor.TYPE_ACCELEROMETER).get(
            sm.getSensorList(Sensor.TYPE_ACCELEROMETER).size() - 1);
    Sensor mSensor = sm.getSensorList(Sensor.TYPE_MAGNETIC_FIELD).get(
            sm.getSensorList(Sensor.TYPE_MAGNETIC_FIELD).size() - 1);
    sm.registerListener(sensorListenerForOrientation, aSensor,
            SensorManager.SENSOR_DELAY_FASTEST);
    sm.registerListener(sensorListenerForOrientation, mSensor,
            SensorManager.SENSOR_DELAY_FASTEST);
    new Thread() { 
        public void run() {
            while(true)
            {
                try { 
                    Runnable r = mStack.pop();
                    r.run();
                } catch(Exception ex){}
            }
        }
    }.start();
}
private class Calculater implements Runnable {
    float[][] theValues;
    public Calculater(float[][] values) {
        theValues = values;
    }
    public void run() {
        int[] degrees= getOrientation(theValues[0], theValues[1]);
        Log.e("",String.valueOf(degrees[0]));
    }
}