package com.example.sensor01;

import java.util.List;

import android.hardware.Sensor;

import android.hardware.SensorEvent;

import android.hardware.SensorEventListener;

import android.hardware.SensorManager;

import android.os.Bundle;

import android.app.Activity;

import android.view.Menu;

import android.widget.TextView;

public class MainActivity extends Activity implements SensorEventListener{

    private SensorManager mSensorManager;

    private TextView textview;

    private float[] mags;

    private float[] accs;

    private float[] oris;

    private float[] rotate;

    @Override

    protected void onCreate(Bundle savedInstanceState) {

        super.onCreate(savedInstanceState);

        setContentView(R.layout.activity_main);

        textview = (TextView) findViewById(R.id.content);

        mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);

        //Sensor.TYPE_ORIENTATION 在新版本中已经放弃

        Sensor magsensor  = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);

        Sensor accsensor  = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);

        mSensorManager.registerListener(this, magsensor, SensorManager.SENSOR_DELAY_FASTEST);

        mSensorManager.registerListener(this, accsensor, SensorManager.SENSOR_DELAY_FASTEST);

        mags = new float[3];

        accs = new float[3];

        oris = new float[3];

        rotate = new float[9];

    }

    @Override

    public void onAccuracyChanged(Sensor arg0, int arg1) {

        // TODO Auto-generated method stub

    }

    @Override

    public void onSensorChanged(SensorEvent event) {

        if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD){

            mags = event.values;//x轴地磁强度

        }

        if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER){

            accs = event.values;//x轴地磁强度

        }

        mSensorManager.getRotationMatrix(rotate, null, accs, mags);

        mSensorManager.getOrientation(rotate, oris);

        /*oris[0]      :azimuth 方向角，但用（磁场+加速度）得到的数据范围是（-180～180）,也就是说，0表示正北，90表示正东，180/-180表示正南，-90表示正西。

        oris[1]      :pitch 倾斜角  即由静止状态开始，围绕X轴前后翻转

        oris[2]      :roll 旋转角 即由静止状态开始，围绕Y轴左右翻转*/

        double azimuth = Math.toDegrees(oris[0]);

        if (azimuth<0) {

            azimuth=azimuth + 360;

        }

        double pitch = Math.toDegrees(oris[1]);

        double roll = Math.toDegrees(oris[2]);

        textview.setText(String.valueOf(azimuth) + "   "

        + String.valueOf(pitch) + "  " + String.valueOf(roll));

    }

}