I am new in android developing, I developed this code based on previous code related to Mr.liwatiz to find orientation from sensor fusion, I added writeCSV file to store data, The application work and the file created but there is no data store! So please what is the problem. my code clear below
public class MainActivity extends Activity implements SensorEventListener, RadioGroup.OnCheckedChangeListener{
private SensorManager mSensorManager = null;
// angular speeds from gyro
private float[] gyro = new float[3];
// rotation matrix from gyro data
private float[] gyroMatrix = new float[9];
// orientation angles from gyro matrix
private float[] gyroOrientation = new float[3];
// magnetic field vector
private float[] magnet = new float[3];
// accelerometer vector
private float[] accel = new float[3];
// orientation angles from accel and magnet
private float[] accMagOrientation = new float[3];
// final orientation angles from sensor fusion
private float[] fusedOrientation = new float[3];
// accelerometer and magnetometer based rotation matrix
private float[] rotationMatrix = new float[9];
public static final float EPSILON = 0.000000001f;
private static final float NS2S = 1.0f / 1000000.0f;
private int timestamp;
private boolean initState = true;
public static final int TIME_CONSTANT = 30;
public static final float FILTER_COEFFICIENT = 0.98f;
private Timer fuseTimer = new Timer();
// The following members are only for displaying the sensor output.
public Handler mHandler;
private RadioGroup mRadioGroup;
private TextView mAzimuthView;
private TextView mPitchView;
private TextView mRollView;
private int radioSelection;
DecimalFormat d = new DecimalFormat("#.##");
@Override
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
gyroOrientation[0] = 0.0f;
gyroOrientation[1] = 0.0f;
gyroOrientation[2] = 0.0f;
// initialise gyroMatrix with identity matrix
gyroMatrix[0] = 1.0f; gyroMatrix[1] = 0.0f; gyroMatrix[2] = 0.0f;
gyroMatrix[3] = 0.0f; gyroMatrix[4] = 1.0f; gyroMatrix[5] = 0.0f;
gyroMatrix[6] = 0.0f; gyroMatrix[7] = 0.0f; gyroMatrix[8] = 1.0f;
// get sensorManager and initialise sensor listeners
mSensorManager = (SensorManager) this.getSystemService(SENSOR_SERVICE);
initListeners();
// wait for one second until gyroscope and magnetometer/accelerometer
// data is initialised then scedule the complementary filter task
fuseTimer.scheduleAtFixedRate(new calculateFusedOrientationTask(),
1000, TIME_CONSTANT);
// GUI stuff
mHandler = new Handler();
radioSelection = 0;
d.setRoundingMode(RoundingMode.HALF_UP);
d.setMaximumFractionDigits(3);
d.setMinimumFractionDigits(3);
mRadioGroup = (RadioGroup)findViewById(R.id.radioGroup1);
mAzimuthView = (TextView)findViewById(R.id.textView4);
mPitchView = (TextView)findViewById(R.id.textView5);
mRollView = (TextView)findViewById(R.id.textView6);
mRadioGroup.setOnCheckedChangeListener(this);
}
@Override
public void onStop() {
super.onStop();
// unregister sensor listeners to prevent the activity from draining the device's battery.
mSensorManager.unregisterListener(this);
}
@Override
protected void onPause() {
super.onPause();
// unregister sensor listeners to prevent the activity from draining the device's battery.
mSensorManager.unregisterListener(this);
}
@Override
public void onResume() {
super.onResume();
// restore the sensor listeners when user resumes the application.
initListeners();
}
// This function registers sensor listeners for the accelerometer, magnetometer and gyroscope.
public void initListeners(){
mSensorManager.registerListener(this,
mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER),
SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this,
mSensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE),
SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this,
mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD),
SensorManager.SENSOR_DELAY_NORMAL);
}
@Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
}
public void writeToCsvGy(String x,String y,String z) throws IOException {
Calendar c = Calendar.getInstance();
File folder = new File(Environment.getExternalStorageDirectory() + "/TollCulator");
boolean success = true;
if (!folder.exists()) {
success = folder.mkdir();
}
if (success) {
// Do something on success
String csv = "/storage/sdcard0/project/GyroscopeValue.csv";
FileWriter file_writer = new FileWriter(csv,true);
String s= c.get(Calendar.YEAR)+","+c.get(Calendar.MONTH)+","+c.get(Calendar.DATE)+","+c.get(Calendar.HOUR)+","+c.get(Calendar.MINUTE)+","+c.get(Calendar.SECOND)+","+ c.get(Calendar.MILLISECOND)+","+x + ","+y+","+z+"\n";
file_writer.append(s);
file_writer.close();
}
}
@Override
public void onSensorChanged(SensorEvent event) {
switch(event.sensor.getType()) {
case Sensor.TYPE_ACCELEROMETER:
// copy new accelerometer data into accel array and calculate orientation
System.arraycopy(event.values, 0, accel, 0, 3);
calculateAccMagOrientation();
break;
case Sensor.TYPE_GYROSCOPE:
// process gyro data
gyroFunction(event);
break;
case Sensor.TYPE_MAGNETIC_FIELD:
// copy new magnetometer data into magnet array
System.arraycopy(event.values, 0, magnet, 0, 3);
break;
}
}
// calculates orientation angles from accelerometer and magnetometer output
public void calculateAccMagOrientation() {
if(SensorManager.getRotationMatrix(rotationMatrix, null, accel, magnet)) {
SensorManager.getOrientation(rotationMatrix, accMagOrientation);
}
}
// This function is borrowed from the Android reference
// at http://developer.android.com/reference/android/hardware/SensorEvent.html#values
// It calculates a rotation vector from the gyroscope angular speed values.
private void getRotationVectorFromGyro(float[] gyroValues,
float[] deltaRotationVector,
float timeFactor)
{
float[] normValues = new float[3];
// Calculate the angular speed of the sample
float omegaMagnitude =
(float)Math.sqrt(gyroValues[0] * gyroValues[0] +
gyroValues[1] * gyroValues[1] +
gyroValues[2] * gyroValues[2]);
// Normalize the rotation vector if it's big enough to get the axis
if(omegaMagnitude > EPSILON) {
normValues[0] = gyroValues[0] / omegaMagnitude;
normValues[1] = gyroValues[1] / omegaMagnitude;
normValues[2] = gyroValues[2] / omegaMagnitude;
}
// Integrate around this axis with the angular speed by the timestep
// in order to get a delta rotation from this sample over the timestep
// We will convert this axis-angle representation of the delta rotation
// into a quaternion before turning it into the rotation matrix.
float thetaOverTwo = omegaMagnitude * timeFactor;
float sinThetaOverTwo = (float)Math.sin(thetaOverTwo);
float cosThetaOverTwo = (float)Math.cos(thetaOverTwo);
deltaRotationVector[0] = sinThetaOverTwo * normValues[0];
deltaRotationVector[1] = sinThetaOverTwo * normValues[1];
deltaRotationVector[2] = sinThetaOverTwo * normValues[2];
deltaRotationVector[3] = cosThetaOverTwo;
}
// This function performs the integration of the gyroscope data.
// It writes the gyroscope based orientation into gyroOrientation.
public void gyroFunction(SensorEvent event) {
// don't start until first accelerometer/magnetometer orientation has been acquired
if (accMagOrientation == null)
return;
// initialisation of the gyroscope based rotation matrix
if(initState) {
float[] initMatrix = new float[9];
initMatrix = getRotationMatrixFromOrientation(accMagOrientation);
float[] test = new float[3];
SensorManager.getOrientation(initMatrix, test);
gyroMatrix = matrixMultiplication(gyroMatrix, initMatrix);
initState = false;
}
// copy the new gyro values into the gyro array
// convert the raw gyro data into a rotation vector
float[] deltaVector = new float[4];
if(timestamp != 0) {
final float dT = (event.timestamp - timestamp) * NS2S;
System.arraycopy(event.values, 0, gyro, 0, 3);
getRotationVectorFromGyro(gyro, deltaVector, dT / 2.0f);
}
// measurement done, save current time for next interval
switch ( timestamp = (int) event.timestamp ) {
}
// convert rotation vector into rotation matrix
float[] deltaMatrix = new float[9];
SensorManager.getRotationMatrixFromVector(deltaMatrix, deltaVector);
// apply the new rotation interval on the gyroscope based rotation matrix
gyroMatrix = matrixMultiplication(gyroMatrix, deltaMatrix);
// get the gyroscope based orientation from the rotation matrix
SensorManager.getOrientation(gyroMatrix, gyroOrientation);
}
private float[] getRotationMatrixFromOrientation(float[] o) {
float[] xM = new float[9];
float[] yM = new float[9];
float[] zM = new float[9];
float sinX = (float)Math.sin(o[1]);
float cosX = (float)Math.cos(o[1]);
float sinY = (float)Math.sin(o[2]);
float cosY = (float)Math.cos(o[2]);
float sinZ = (float)Math.sin(o[0]);
float cosZ = (float)Math.cos(o[0]);
// rotation about x-axis (pitch)
xM[0] = 1.0f; xM[1] = 0.0f; xM[2] = 0.0f;
xM[3] = 0.0f; xM[4] = cosX; xM[5] = sinX;
xM[6] = 0.0f; xM[7] = -sinX; xM[8] = cosX;
// rotation about y-axis (roll)
yM[0] = cosY; yM[1] = 0.0f; yM[2] = sinY;
yM[3] = 0.0f; yM[4] = 1.0f; yM[5] = 0.0f;
yM[6] = -sinY; yM[7] = 0.0f; yM[8] = cosY;
// rotation about z-axis (azimuth)
zM[0] = cosZ; zM[1] = sinZ; zM[2] = 0.0f;
zM[3] = -sinZ; zM[4] = cosZ; zM[5] = 0.0f;
zM[6] = 0.0f; zM[7] = 0.0f; zM[8] = 1.0f;
// rotation order is y, x, z (roll, pitch, azimuth)
float[] resultMatrix = matrixMultiplication(xM, yM);
resultMatrix = matrixMultiplication(zM, resultMatrix);
return resultMatrix;
}
private float[] matrixMultiplication(float[] A, float[] B) {
float[] result = new float[9];
result[0] = A[0] * B[0] + A[1] * B[3] + A[2] * B[6];
result[1] = A[0] * B[1] + A[1] * B[4] + A[2] * B[7];
result[2] = A[0] * B[2] + A[1] * B[5] + A[2] * B[8];
result[3] = A[3] * B[0] + A[4] * B[3] + A[5] * B[6];
result[4] = A[3] * B[1] + A[4] * B[4] + A[5] * B[7];
result[5] = A[3] * B[2] + A[4] * B[5] + A[5] * B[8];
result[6] = A[6] * B[0] + A[7] * B[3] + A[8] * B[6];
result[7] = A[6] * B[1] + A[7] * B[4] + A[8] * B[7];
result[8] = A[6] * B[2] + A[7] * B[5] + A[8] * B[8];
return result;
}
class calculateFusedOrientationTask extends TimerTask {
public void run() {
float oneMinusCoeff = 1.0f - FILTER_COEFFICIENT;
/*
* Fix for 179? <--> -179? transition problem:
* Check whether one of the two orientation angles (gyro or accMag) is negative while the other one is positive.
* If so, add 360? (2 * math.PI) to the negative value, perform the sensor fusion, and remove the 360? from the result
* if it is greater than 180?. This stabilizes the output in positive-to-negative-transition cases.
*/
// azimuth
if (gyroOrientation[0] < -0.5 * Math.PI && accMagOrientation[0] > 0.0) {
fusedOrientation[0] = (float) (FILTER_COEFFICIENT * (gyroOrientation[0] + 2.0 * Math.PI) + oneMinusCoeff * accMagOrientation[0]);
fusedOrientation[0] -= (fusedOrientation[0] > Math.PI) ? 2.0 * Math.PI : 0;
}
else if (accMagOrientation[0] < -0.5 * Math.PI && gyroOrientation[0] > 0.0) {
fusedOrientation[0] = (float) (FILTER_COEFFICIENT * gyroOrientation[0] + oneMinusCoeff * (accMagOrientation[0] + 2.0 * Math.PI));
fusedOrientation[0] -= (fusedOrientation[0] > Math.PI)? 2.0 * Math.PI : 0;
}
else {
fusedOrientation[0] = FILTER_COEFFICIENT * gyroOrientation[0] + oneMinusCoeff * accMagOrientation[0];
}
// pitch
if (gyroOrientation[1] < -0.5 * Math.PI && accMagOrientation[1] > 0.0) {
fusedOrientation[1] = (float) (FILTER_COEFFICIENT * (gyroOrientation[1] + 2.0 * Math.PI) + oneMinusCoeff * accMagOrientation[1]);
fusedOrientation[1] -= (fusedOrientation[1] > Math.PI) ? 2.0 * Math.PI : 0;
}
else if (accMagOrientation[1] < -0.5 * Math.PI && gyroOrientation[1] > 0.0) {
fusedOrientation[1] = (float) (FILTER_COEFFICIENT * gyroOrientation[1] + oneMinusCoeff * (accMagOrientation[1] + 2.0 * Math.PI));
fusedOrientation[1] -= (fusedOrientation[1] > Math.PI)? 2.0 * Math.PI : 0;
}
else {
fusedOrientation[1] = FILTER_COEFFICIENT * gyroOrientation[1] + oneMinusCoeff * accMagOrientation[1];
}
// roll
if (gyroOrientation[2] < -0.5 * Math.PI && accMagOrientation[2] > 0.0) {
fusedOrientation[2] = (float) (FILTER_COEFFICIENT * (gyroOrientation[2] + 2.0 * Math.PI) + oneMinusCoeff * accMagOrientation[2]);
fusedOrientation[2] -= (fusedOrientation[2] > Math.PI) ? 2.0 * Math.PI : 0;
}
else if (accMagOrientation[2] < -0.5 * Math.PI && gyroOrientation[2] > 0.0) {
fusedOrientation[2] = (float) (FILTER_COEFFICIENT * gyroOrientation[2] + oneMinusCoeff * (accMagOrientation[2] + 2.0 * Math.PI));
fusedOrientation[2] -= (fusedOrientation[2] > Math.PI)? 2.0 * Math.PI : 0;
}
else {
fusedOrientation[2] = FILTER_COEFFICIENT * gyroOrientation[2] + oneMinusCoeff * accMagOrientation[2];
}
// overwrite gyro matrix and orientation with fused orientation
// to comensate gyro drift
gyroMatrix = getRotationMatrixFromOrientation(fusedOrientation);
System.arraycopy(fusedOrientation, 0, gyroOrientation, 0, 3);
// update sensor output in GUI
mHandler.post(updateOreintationDisplayTask);
}
}
// **************************** GUI FUNCTIONS *********************************
@Override
public void onCheckedChanged(RadioGroup group, int checkedId) {
switch(checkedId) {
case R.id.radio0:
radioSelection = 0;
break;
case R.id.radio1:
radioSelection = 1;
break;
case R.id.radio2:
radioSelection = 2;
break;
}
}
public void updateOreintationDisplay() {
switch(radioSelection) {
case 0:
mAzimuthView.setText(d.format(accMagOrientation[0] * 180/Math.PI) + '?');
mPitchView.setText(d.format(accMagOrientation[1] * 180/Math.PI) + '?');
mRollView.setText(d.format(accMagOrientation[2] * 180/Math.PI) + '?');
try {
writeToCsv((d.format(accMagOrientation[0] * 180/Math.PI) + '?'),(d.format(accMagOrientation[1] * 180/Math.PI)+ '?'),(d.format(accMagOrientation[2] * 180/Math.PI) + '?'));
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
break;
case 1:
mAzimuthView.setText(d.format(gyroOrientation[0] * 180/Math.PI) + '?');
mPitchView.setText(d.format(gyroOrientation[1] * 180/Math.PI) + '?');
mRollView.setText(d.format(gyroOrientation[2] * 180/Math.PI) + '?');
try {
writeToCsv((d.format(gyroOrientation[0] * 180/Math.PI) + '?'),(d.format(gyroOrientation[1] * 180/Math.PI)+ '?'),(d.format(gyroOrientation[2] * 180/Math.PI) + '?'));
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
break;
case 2:
mAzimuthView.setText(d.format(fusedOrientation[0] * 180/Math.PI) + '?');
mPitchView.setText(d.format(fusedOrientation[1] * 180/Math.PI) + '?');
mRollView.setText(d.format(fusedOrientation[2] * 180/Math.PI) + '?');
try {
writeToCsv((d.format(fusedOrientation[0] * 180/Math.PI) + '?'),(d.format(fusedOrientation[1] * 180/Math.PI) + '?'),(d.format(fusedOrientation[2] * 180/Math.PI) + '?'));
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
break;
}
}
private void writeToCsv(String x, String y, String z) throws IOException {
Calendar c = Calendar.getInstance();
// File path = getFilesDir();
File folder = new File(getFilesDir() + "/TollCulator");
boolean success = true;
if (! folder.exists()) {
success = folder.mkdir();
}
if (success) {
// Do something on success
String csv = "data.csv";
FileWriter file_writer = new FileWriter(csv,true);
String s= c.get(Calendar.YEAR)+","+c.get(Calendar.MONTH)+","+c.get(Calendar.DATE)+","+c.get(Calendar.HOUR)+","+c.get(Calendar.MINUTE)+","+c.get(Calendar.SECOND)+","+ c.get(Calendar.MILLISECOND)+","+x + ","+y+","+z+"\n";
file_writer.append(s);
file_writer.close();
}
}
private Runnable updateOreintationDisplayTask = new Runnable() {
public void run() {
updateOreintationDisplay();
}
};
}
