diff options
Diffstat (limited to 'sensors/Fusion/client.cpp')
| -rw-r--r-- | sensors/Fusion/client.cpp | 789 |
1 files changed, 789 insertions, 0 deletions
diff --git a/sensors/Fusion/client.cpp b/sensors/Fusion/client.cpp new file mode 100644 index 00000000..686b4197 --- /dev/null +++ b/sensors/Fusion/client.cpp @@ -0,0 +1,789 @@ +//Copyright (C) Microsoft Corporation, All Rights Reserved. +// +//Abstract: +// +// This module contains the implementation of driver callback function +// from clx to FusionSensor. +// +//Environment: +// +// Windows User-Mode Driver Framework (UMDF) + +#include "Device.h" +#include "HardwareSimulator.h" + +#include <timeapi.h> +#include <Intsafe.h> + +#include "Client.tmh" + +// This routine is called by worker thread to read a single sample, compare threshold +// and push it back to CLX. It simulates hardware thresholding by only generating data +// when the change of data is greater than threshold. +NTSTATUS +FusionSensorDevice::GetData( +) +{ + // TODO: Remove the HardwareSimulator code in your final driver. The HardwareSimulator is only used for the purpose of demonstrating how sensor driver samples work. + PHardwareSimulator pSimulator = GetHardwareSimulatorContextFromInstance(m_SimulatorInstance); + BOOLEAN DataReady = FALSE; + NTSTATUS Status = STATUS_SUCCESS; + FusionSensorSample Sample = {}; + + SENSOR_FunctionEnter(); + + if (nullptr == pSimulator) + { + Status = STATUS_INSUFFICIENT_RESOURCES; + TraceError("FUS %!FUNC! GetHardwareSimulatorContextFromInstance failed %!STATUS!", Status); + goto Exit; + } + + // TODO: In this case, we are calling into the HardwareSimulator code to get some simulated data. + // In a real driver (which either communicates with real hardware or some other drivers), this call should be replaced by some + // logic to get data comming from the hardware/other drivers. The "Sample" variable is expected to contain actual data from here on. + Status = pSimulator->GetSample(&Sample); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! GetSample failed %!STATUS!", Status); + goto Exit; + } + + if (FALSE != m_FirstSample) + { + Status = GetPerformanceTime(&m_StartTime); + if (!NT_SUCCESS(Status)) + { + m_StartTime = 0; + TraceError("FUS %!FUNC! GetPerformanceTime failed %!STATUS!", Status); + } + + m_SampleCount = 0; + + DataReady = TRUE; + } + else + { + // Compare the change of data to threshold, and only push the data back to + // clx if the change exceeds threshold. + + CQUATERNION Quaternion = Sample.Quaternion; + FLOAT RotationAngle = Quaternion.ToAngleAxis(nullptr) * RadToDegRatio; + + CQUATERNION LastQuaternion = m_LastSample.Quaternion; + FLOAT LastRotationAngle = LastQuaternion.ToAngleAxis(nullptr) * RadToDegRatio; + + TraceData("FUS %!FUNC! Rotation Angle: new=%f, old=%f", RotationAngle, LastRotationAngle); + + if ((abs(RotationAngle - LastRotationAngle) >= m_CachedThresholds.RotationAngle)) + { + DataReady = TRUE; + } + } + + if (FALSE != DataReady) + { + // update last sample + m_LastSample.Quaternion = Sample.Quaternion; + m_LastSample.Accuracy = Sample.Accuracy; + m_LastSample.DeclinationAngle = Sample.DeclinationAngle; + + // push to clx + InitPropVariantFromFileTime(&m_LastSample.Timestamp, &(m_pData->List[FUSIONSENSOR_DATA_TIMESTAMP].Value)); + InitPropVariantFromFloat(m_LastSample.Quaternion.W, &(m_pData->List[FUSIONSENSOR_DATA_QUATERNION_W].Value)); + InitPropVariantFromFloat(m_LastSample.Quaternion.X, &(m_pData->List[FUSIONSENSOR_DATA_QUATERNION_X].Value)); + InitPropVariantFromFloat(m_LastSample.Quaternion.Y, &(m_pData->List[FUSIONSENSOR_DATA_QUATERNION_Y].Value)); + InitPropVariantFromFloat(m_LastSample.Quaternion.Z, &(m_pData->List[FUSIONSENSOR_DATA_QUATERNION_Z].Value)); + InitPropVariantFromUInt32(m_LastSample.Accuracy, &(m_pData->List[FUSIONSENSOR_DATA_ACCURACY].Value)); + InitPropVariantFromFloat(m_LastSample.DeclinationAngle, &(m_pData->List[FUSIONSENSOR_DATA_DECLINATION_ANGLE].Value)); + + + SensorsCxSensorDataReady(m_SensorInstance, m_pData); + m_FirstSample = FALSE; + } + else + { + Status = STATUS_DATA_NOT_ACCEPTED; + TraceInformation("FUS %!FUNC! Data did NOT meet the threshold"); + } + + SENSOR_FunctionExit(Status); + +Exit: + return Status; +} + + + +// This callback is called when interval wait time has expired and driver is ready +// to collect new sample. The callback reads current value, compare value to threshold, +// pushes it up to CLX framework, and schedule next wake up time. +VOID +FusionSensorDevice::OnTimerExpire( + _In_ WDFTIMER Timer // WDF timer object + ) +{ + PFusionSensorDevice pDevice = nullptr; + NTSTATUS Status = STATUS_SUCCESS; + + SENSOR_FunctionEnter(); + + pDevice = GetFusionSensorContextFromSensorInstance(WdfTimerGetParentObject(Timer)); + if (nullptr == pDevice) + { + Status = STATUS_INSUFFICIENT_RESOURCES; + TraceError("FUS %!FUNC! GetFusionSensorContextFromSensorInstance failed %!STATUS!", Status); + goto Exit; + } + + // Get data and push to clx + WdfWaitLockAcquire(pDevice->m_Lock, NULL); + Status = pDevice->GetData(); + if (!NT_SUCCESS(Status) && Status != STATUS_DATA_NOT_ACCEPTED) + { + TraceError("FUS %!FUNC! GetData Failed %!STATUS!", Status); + } + WdfWaitLockRelease(pDevice->m_Lock); + + // Schedule next wake up time + if (FALSE != pDevice->m_PoweredOn && + FALSE != pDevice->m_Started) + { + LONGLONG WaitTimeHundredNanoseconds = 0; // in unit of 100ns + + if (0 == pDevice->m_StartTime) + { + // in case we fail to get sensor start time, use static wait time + WaitTimeHundredNanoseconds = WDF_REL_TIMEOUT_IN_MS(pDevice->m_Interval); + } + else + { + ULONG CurrentTimeMs = 0; + + // dynamically calculate wait time to avoid jitter + Status = GetPerformanceTime (&CurrentTimeMs); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! GetPerformanceTime %!STATUS!", Status); + WaitTimeHundredNanoseconds = WDF_REL_TIMEOUT_IN_MS(pDevice->m_Interval); + } + else + { + pDevice->m_SampleCount++; + if (CurrentTimeMs > (pDevice->m_StartTime + (pDevice->m_Interval * (pDevice->m_SampleCount + 1)))) + { + // If we skipped two or more beats, reschedule the timer with a zero due time to catch up on missing samples + WaitTimeHundredNanoseconds = 0; + } + else + { + WaitTimeHundredNanoseconds = (pDevice->m_StartTime + + (pDevice->m_Interval * (pDevice->m_SampleCount + 1))) - CurrentTimeMs; + } + WaitTimeHundredNanoseconds = WDF_REL_TIMEOUT_IN_MS(WaitTimeHundredNanoseconds); + } + } + WdfTimerStart(pDevice->m_Timer, WaitTimeHundredNanoseconds); + } + +Exit: + + SENSOR_FunctionExit(Status); +} + + + +// Called by Sensor CLX to begin continuously sampling the sensor. +NTSTATUS +FusionSensorDevice::OnStart( + _In_ SENSOROBJECT SensorInstance // Sensor device object + ) +{ + PHardwareSimulator pSimulator = nullptr; + PFusionSensorDevice pDevice = GetFusionSensorContextFromSensorInstance(SensorInstance); + NTSTATUS Status = STATUS_SUCCESS; + + SENSOR_FunctionEnter(); + + if (nullptr == pDevice) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! Sensor(0x%p) parameter is invalid. Failed %!STATUS!", SensorInstance, Status); + goto Exit; + } + + // Get the simulator context + pSimulator = GetHardwareSimulatorContextFromInstance(pDevice->m_SimulatorInstance); + if (nullptr == pSimulator) + { + Status = STATUS_INSUFFICIENT_RESOURCES; + TraceError("FUS %!FUNC! GetHardwareSimulatorContextFromInstance failed %!STATUS!", Status); + } + + if (NT_SUCCESS(Status)) + { + // Start the simulator + pSimulator->Start(); + + pDevice->m_FirstSample = TRUE; + + // Start polling + + pDevice->m_Started = TRUE; + + InitPropVariantFromUInt32(SensorState_Active, + &(pDevice->m_pProperties->List[SENSOR_PROPERTY_STATE].Value)); + + // Start the sample polling timer. + // + // Note: The polling timer is configured to allow for the first sample to be reported immediately. + // Some hardware may want to delay the first sample report a little to account for hardware start time. + WdfTimerStart(pDevice->m_Timer, WDF_REL_TIMEOUT_IN_MS(FusionSensor_Default_MinDataInterval_Ms)); + } +Exit: + SENSOR_FunctionExit(Status); + return Status; +} + + + +// Called by Sensor CLX to stop continuously sampling the sensor. +NTSTATUS +FusionSensorDevice::OnStop( + _In_ SENSOROBJECT SensorInstance // Sensor device object + ) +{ + PHardwareSimulator pSimulator = nullptr; + PFusionSensorDevice pDevice = GetFusionSensorContextFromSensorInstance(SensorInstance); + NTSTATUS Status = STATUS_SUCCESS; + + SENSOR_FunctionEnter(); + + if (nullptr == pDevice) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! Sensor(0x%p) parameter is invalid. Failed %!STATUS!", SensorInstance, Status); + goto Exit; + } + + // Stop polling + pDevice->m_Started = FALSE; + + // Waiting for the callback to complete, then stopping the timer + WdfTimerStop(pDevice->m_Timer, TRUE); + + InitPropVariantFromUInt32(SensorState_Idle, + &(pDevice->m_pProperties->List[SENSOR_PROPERTY_STATE].Value)); + + // Stop the simulator + pSimulator = GetHardwareSimulatorContextFromInstance(pDevice->m_SimulatorInstance); + if (nullptr == pSimulator) + { + Status = STATUS_INSUFFICIENT_RESOURCES; + TraceError("FUS %!FUNC! GetHardwareSimulatorContextFromInstance failed %!STATUS!", Status); + goto Exit; + } + + pSimulator->Stop(); + +Exit: + SENSOR_FunctionExit(Status); + return Status; +} + +// Called by Sensor CLX to get supported data fields. The typical usage is to call +// this function once with buffer pointer as NULL to acquire the required size +// for the buffer, allocate buffer, then call the function again to retrieve +// sensor information. +NTSTATUS +FusionSensorDevice::OnGetSupportedDataFields( + _In_ SENSOROBJECT SensorInstance, // Sensor device object + _Inout_opt_ PSENSOR_PROPERTY_LIST pFields, // Pointer to a list of supported properties + _Out_ PULONG pSize // Number of bytes for the list of supported properties + ) +{ + PFusionSensorDevice pDevice = GetFusionSensorContextFromSensorInstance(SensorInstance); + NTSTATUS Status = STATUS_SUCCESS; + + SENSOR_FunctionEnter(); + + if (nullptr == pDevice || nullptr == pSize) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! Invalid parameters! %!STATUS!", Status); + goto Exit; + } + + if (nullptr == pFields) + { + // Just return size + *pSize = pDevice->m_pSupportedDataFields->AllocatedSizeInBytes; + } + else + { + if (pFields->AllocatedSizeInBytes < pDevice->m_pSupportedDataFields->AllocatedSizeInBytes) + { + Status = STATUS_INSUFFICIENT_RESOURCES; + TraceError("FUS %!FUNC! Buffer is too small. Failed %!STATUS!", Status); + goto Exit; + } + + // Fill out data + Status = PropertiesListCopy(pFields, pDevice->m_pSupportedDataFields); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! PropertiesListCopy failed %!STATUS!", Status); + goto Exit; + } + + *pSize = pDevice->m_pSupportedDataFields->AllocatedSizeInBytes; + } + +Exit: + if (!NT_SUCCESS(Status)) + { + *pSize = 0; + } + SENSOR_FunctionExit(Status); + return Status; +} + + + +// Called by Sensor CLX to get sensor properties. The typical usage is to call +// this function once with buffer pointer as NULL to acquire the required size +// for the buffer, allocate buffer, then call the function again to retrieve +// sensor information. +NTSTATUS +FusionSensorDevice::OnGetProperties( + _In_ SENSOROBJECT SensorInstance, // Sensor device object + _Inout_opt_ PSENSOR_COLLECTION_LIST pProperties, // Pointer to a list of sensor properties + _Out_ PULONG pSize // Number of bytes for the list of sensor properties + ) +{ + PFusionSensorDevice pDevice = GetFusionSensorContextFromSensorInstance(SensorInstance); + NTSTATUS Status = STATUS_SUCCESS; + + SENSOR_FunctionEnter(); + + if (nullptr == pDevice || nullptr == pSize) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! Invalid parameters! %!STATUS!", Status); + goto Exit; + } + + if (nullptr == pProperties) + { + // Just return size + *pSize = CollectionsListGetMarshalledSize(pDevice->m_pProperties); + } + else + { + if (pProperties->AllocatedSizeInBytes < + CollectionsListGetMarshalledSize(pDevice->m_pProperties)) + { + Status = STATUS_INSUFFICIENT_RESOURCES; + TraceError("FUS %!FUNC! Buffer is too small. Failed %!STATUS!", Status); + goto Exit; + } + + // Fill out all data + Status = CollectionsListCopyAndMarshall(pProperties, pDevice->m_pProperties); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! CollectionsListCopyAndMarshall failed %!STATUS!", Status); + goto Exit; + } + + *pSize = CollectionsListGetMarshalledSize(pDevice->m_pProperties); + } + +Exit: + if (!NT_SUCCESS(Status)) + { + *pSize = 0; + } + SENSOR_FunctionExit(Status); + return Status; +} + + +// Called by Sensor CLX to get data field properties. The typical usage is to call +// this function once with buffer pointer as NULL to acquire the required size +// for the buffer, allocate buffer, then call the function again to retrieve +// sensor information. +NTSTATUS +FusionSensorDevice::OnGetDataFieldProperties( + _In_ SENSOROBJECT SensorInstance, // Sensor device object + _In_ const PROPERTYKEY *DataField, // Pointer to the propertykey of requested property + _Inout_opt_ PSENSOR_COLLECTION_LIST pProperties, // Pointer to a list of sensor properties + _Out_ PULONG pSize // Number of bytes for the list of sensor properties + ) +{ + PFusionSensorDevice pDevice = GetFusionSensorContextFromSensorInstance(SensorInstance); + NTSTATUS Status = STATUS_SUCCESS; + + SENSOR_FunctionEnter(); + + if (nullptr == pDevice || nullptr == pSize || nullptr == DataField) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! Invalid parameters! %!STATUS!", Status); + goto Exit; + } + + + if ((*DataField == PKEY_SensorData_LinearAccelerationX_Gs) || + (*DataField == PKEY_SensorData_LinearAccelerationY_Gs) || + (*DataField == PKEY_SensorData_LinearAccelerationZ_Gs)) + { + // Linear Acceleration + if (nullptr == pProperties) + { + // Just return size + *pSize = CollectionsListGetMarshalledSize(pDevice->m_pAccDataFieldProperties); + } + else + { + if (pProperties->AllocatedSizeInBytes < + CollectionsListGetMarshalledSize(pDevice->m_pAccDataFieldProperties)) + { + Status = STATUS_INSUFFICIENT_RESOURCES; + TraceError("FUS %!FUNC! Buffer is too small. Failed %!STATUS!", Status); + goto Exit; + } + + // Fill out all data + Status = CollectionsListCopyAndMarshall(pProperties, pDevice->m_pAccDataFieldProperties); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! CollectionsListCopyAndMarshall failed %!STATUS!", Status); + goto Exit; + } + + *pSize = CollectionsListGetMarshalledSize(pDevice->m_pAccDataFieldProperties); + } + } + else if ((*DataField == PKEY_SensorData_CorrectedAngularVelocityX_DegreesPerSecond) || + (*DataField == PKEY_SensorData_CorrectedAngularVelocityY_DegreesPerSecond) || + (*DataField == PKEY_SensorData_CorrectedAngularVelocityZ_DegreesPerSecond)) + { + // Rotation Rate + if (nullptr == pProperties) + { + // Just return size + *pSize = CollectionsListGetMarshalledSize(pDevice->m_pGyrDataFieldProperties); + } + else + { + if (pProperties->AllocatedSizeInBytes < + CollectionsListGetMarshalledSize(pDevice->m_pGyrDataFieldProperties)) + { + Status = STATUS_INSUFFICIENT_RESOURCES; + TraceError("FUS %!FUNC! Buffer is too small. Failed %!STATUS!", Status); + goto Exit; + } + + // Fill out all data + Status = CollectionsListCopyAndMarshall(pProperties, pDevice->m_pGyrDataFieldProperties); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! CollectionsListCopyAndMarshall failed %!STATUS!", Status); + goto Exit; + } + + *pSize = CollectionsListGetMarshalledSize(pDevice->m_pGyrDataFieldProperties); + } + } + else + { + Status = STATUS_NOT_SUPPORTED; + TraceError("FUS %!FUNC! Fusion sensor does NOT have properties for this data field. Failed %!STATUS!", Status); + goto Exit; + } + +Exit: + if (!NT_SUCCESS(Status)) + { + *pSize = 0; + } + SENSOR_FunctionExit(Status); + return Status; +} + + + +// Called by Sensor CLX to get sampling rate of the sensor. +NTSTATUS +FusionSensorDevice::OnGetDataInterval( + _In_ SENSOROBJECT SensorInstance, // Sensor device object + _Out_ PULONG DataRateMs // Sampling rate in ms + ) +{ + PFusionSensorDevice pDevice = GetFusionSensorContextFromSensorInstance(SensorInstance); + NTSTATUS Status = STATUS_SUCCESS; + + SENSOR_FunctionEnter(); + + if (nullptr == pDevice) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! Sensor(0x%p) parameter is invalid. Failed %!STATUS!", SensorInstance, Status); + goto Exit; + } + + if (nullptr == DataRateMs) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! DataRateMs(0x%p) parameter is invalid. Failed %!STATUS!", DataRateMs, Status); + goto Exit; + } + + *DataRateMs = pDevice->m_Interval; + +Exit: + SENSOR_FunctionExit(Status); + return Status; +} + + + +// Called by Sensor CLX to set sampling rate of the sensor. +NTSTATUS +FusionSensorDevice::OnSetDataInterval( + _In_ SENSOROBJECT SensorInstance, // Sensor device object + _In_ ULONG DataRateMs // Sampling rate in ms + ) +{ + PFusionSensorDevice pDevice = GetFusionSensorContextFromSensorInstance(SensorInstance); + NTSTATUS Status = STATUS_SUCCESS; + + SENSOR_FunctionEnter(); + + if (nullptr == pDevice) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! Sensor(0x%p) parameter is invalid. Failed %!STATUS!", SensorInstance, Status); + goto Exit; + } + + if (FusionSensor_Default_MinDataInterval_Ms > DataRateMs) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! DataRateMs(%d) parameter is smaller than the minimum data interval. Failed %!STATUS!", DataRateMs, Status); + goto Exit; + } + + pDevice->m_Interval = DataRateMs; + + // reschedule sample to return as soon as possible if it's started + if (FALSE != pDevice->m_Started) + { + pDevice->m_Started = FALSE; + WdfTimerStop(pDevice->m_Timer, TRUE); + + pDevice->m_Started = TRUE; + pDevice->m_FirstSample = TRUE; + WdfTimerStart(pDevice->m_Timer, WDF_REL_TIMEOUT_IN_MS(FusionSensor_Default_MinDataInterval_Ms)); + } + +Exit: + SENSOR_FunctionExit(Status); + return Status; +} + + + +// Called by Sensor CLX to get data thresholds. The typical usage is to call +// this function once with buffer pointer as NULL to acquire the required size +// for the buffer, allocate buffer, then call the function again to retrieve +// sensor information. +NTSTATUS +FusionSensorDevice::OnGetDataThresholds( + _In_ SENSOROBJECT SensorInstance, // Sensor device object + _Inout_opt_ PSENSOR_COLLECTION_LIST pThresholds, // Pointer to a list of sensor thresholds + _Out_ PULONG pSize // Number of bytes for the list of sensor thresholds + ) +{ + PFusionSensorDevice pDevice = GetFusionSensorContextFromSensorInstance(SensorInstance); + NTSTATUS Status = STATUS_SUCCESS; + + SENSOR_FunctionEnter(); + + if (nullptr == pDevice || nullptr == pSize) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! Invalid parameters! %!STATUS!", Status); + goto Exit; + } + + if (nullptr == pThresholds) + { + // Just return size + *pSize = CollectionsListGetMarshalledSize(pDevice->m_pThresholds); + } + else + { + if (pThresholds->AllocatedSizeInBytes < + CollectionsListGetMarshalledSize(pDevice->m_pThresholds)) + { + Status = STATUS_INSUFFICIENT_RESOURCES; + TraceError("FUS %!FUNC! Buffer is too small. Failed %!STATUS!", Status); + goto Exit; + } + + // Fill out all data + Status = CollectionsListCopyAndMarshall(pThresholds, pDevice->m_pThresholds); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! CollectionsListCopyAndMarshall failed %!STATUS!", Status); + goto Exit; + } + + *pSize = CollectionsListGetMarshalledSize(pDevice->m_pThresholds); + } + +Exit: + if (!NT_SUCCESS(Status)) + { + *pSize = 0; + } + + SENSOR_FunctionExit(Status); + + return Status; +} + + + +// Called by Sensor CLX to set data thresholds. +NTSTATUS +FusionSensorDevice::OnSetDataThresholds( + _In_ SENSOROBJECT SensorInstance, // Sensor device object + _In_ PSENSOR_COLLECTION_LIST pThresholds // Pointer to a list of sensor thresholds + ) +{ + ULONG Element; + BOOLEAN IsLocked = FALSE; + PFusionSensorDevice pDevice = GetFusionSensorContextFromSensorInstance(SensorInstance); + NTSTATUS Status = STATUS_SUCCESS; + + SENSOR_FunctionEnter(); + + if (pDevice == nullptr) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! Sensor(0x%p) parameter is invalid. Failed %!STATUS!", SensorInstance, Status); + goto Exit; + } + + WdfWaitLockAcquire(pDevice->m_Lock, NULL); + IsLocked = TRUE; + + for (Element = 0; Element < pThresholds->Count; Element++) + { + Status = PropKeyFindKeySetPropVariant(pDevice->m_pThresholds, + &(pThresholds->List[Element].Key), + TRUE, + &(pThresholds->List[Element].Value)); + if (!NT_SUCCESS(Status)) + { + Status = STATUS_INVALID_PARAMETER; + TraceError("FUS %!FUNC! FusionSensor driver does NOT have threshold for this data field. Failed %!STATUS!", Status); + goto Exit; + } + } + + // Get data thresholds + Status = PropKeyFindKeyGetFloat(pDevice->m_pThresholds, + &PKEY_SensorData_RotationAngle_Degrees, + &(pDevice->m_CachedThresholds.RotationAngle)); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! PropKeyFindKeyGetFloat for rotation angle failed! %!STATUS!", Status); + goto Exit; + } + + Status = PropKeyFindKeyGetFloat(pDevice->m_pThresholds, + &PKEY_SensorData_LinearAccelerationX_Gs, + &(pDevice->m_CachedThresholds.LinearAcceleration.X)); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! PropKeyFindKeyGetFloat for linear acceleration X failed! %!STATUS!", Status); + goto Exit; + } + + Status = PropKeyFindKeyGetFloat(pDevice->m_pThresholds, + &PKEY_SensorData_LinearAccelerationY_Gs, + &(pDevice->m_CachedThresholds.LinearAcceleration.Y)); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! PropKeyFindKeyGetFloat for linear acceleration Y failed! %!STATUS!", Status); + goto Exit; + } + + Status = PropKeyFindKeyGetFloat(pDevice->m_pThresholds, + &PKEY_SensorData_LinearAccelerationZ_Gs, + &(pDevice->m_CachedThresholds.LinearAcceleration.Z)); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! PropKeyFindKeyGetFloat for linear acceleration Z failed! %!STATUS!", Status); + goto Exit; + } + + Status = PropKeyFindKeyGetFloat(pDevice->m_pThresholds, + &PKEY_SensorData_CorrectedAngularVelocityX_DegreesPerSecond, + &(pDevice->m_CachedThresholds.RotationRate.X)); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! PropKeyFindKeyGetFloat for rotation rate X failed! %!STATUS!", Status); + goto Exit; + } + + Status = PropKeyFindKeyGetFloat(pDevice->m_pThresholds, + &PKEY_SensorData_CorrectedAngularVelocityY_DegreesPerSecond, + &(pDevice->m_CachedThresholds.RotationRate.Y)); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! PropKeyFindKeyGetFloat for rotation rate Y failed! %!STATUS!", Status); + goto Exit; + } + + Status = PropKeyFindKeyGetFloat(pDevice->m_pThresholds, + &PKEY_SensorData_CorrectedAngularVelocityZ_DegreesPerSecond, + &(pDevice->m_CachedThresholds.RotationRate.Z)); + if (!NT_SUCCESS(Status)) + { + TraceError("FUS %!FUNC! PropKeyFindKeyGetFloat for rotation rate Z failed! %!STATUS!", Status); + goto Exit; + } + +Exit: + if (FALSE != IsLocked) + { + WdfWaitLockRelease(pDevice->m_Lock); + IsLocked = FALSE; + } + SENSOR_FunctionExit(Status); + return Status; +} + + +// Called by Sensor CLX to handle IOCTLs that clx does not support +NTSTATUS +FusionSensorDevice::OnIoControl( + _In_ SENSOROBJECT /*SensorInstance*/, // WDF queue object + _In_ WDFREQUEST /*Request*/, // WDF request object + _In_ size_t /*OutputBufferLength*/, // number of bytes to retrieve from output buffer + _In_ size_t /*InputBufferLength*/, // number of bytes to retrieve from input buffer + _In_ ULONG /*IoControlCode*/ // IOCTL control code + ) +{ + NTSTATUS Status = STATUS_NOT_SUPPORTED; + + SENSOR_FunctionEnter(); + + SENSOR_FunctionExit(Status); + return Status; +}
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