传感器分类：感知环境的、感知距离的、感知运动的、感知方位的.zip

package com.yesway.drivingbehaviorcollect.service; import android.annotation.SuppressLint; import android.app.AlertDialog; import android.app.ProgressDialog; import android.app.Service; import android.content.Context; import android.content.DialogInterface; import android.content.Intent; import android.hardware.Sensor; import android.hardware.SensorEvent; import android.hardware.SensorEventListener; import android.hardware.SensorManager; import android.location.Location; import android.location.LocationListener; import android.location.LocationManager; import android.location.LocationProvider; import android.media.AudioManager; import android.media.SoundPool; import android.os.Binder; import android.os.Bundle; import android.os.Environment; import android.os.Handler; import android.os.IBinder; import android.os.Message; import android.os.Messenger; import android.os.RemoteException; import android.os.SystemClock; import android.text.TextUtils; import android.util.Log; import android.widget.Toast; import com.yesway.drivingbehaviorcollect.activity.MyApplication; import com.yesway.drivingbehaviorcollect.activity.R; import com.yesway.drivingbehaviorcollect.entity.AcceleratedSpeed; import com.yesway.drivingbehaviorcollect.entity.AngleSpeed; import com.yesway.drivingbehaviorcollect.filter.MeanFilter; import java.io.BufferedWriter; import java.io.File; import java.io.FileWriter; import java.io.IOException; import java.io.PrintWriter; import java.text.DecimalFormat; import java.util.ArrayList; import java.util.Date; import java.util.HashMap; import java.util.List; import java.util.Objects; import java.util.Timer; import java.util.TimerTask; public class DataCollectService extends Service implements SensorEventListener, LocationListener { private static final String TAG = "DataCollectService"; private LocationManager locationManager; private SensorManager sensorManager; private String collectFileNameGyro = "gyrodata.csv"; private String collectFileNameAccel = "acceldata.csv"; private String headerTableGyro = "x axis,y axis,z axis,speed,x anagle,y anagle,z anagle,angle,date,time,calculateResult"; private String headerTableAccel = "x axis,y axis,z axis,speed,timestamp,currtime,result"; private PrintWriter printWriterGyro; private PrintWriter printWriterAccel; private List<AngleSpeed> listAngleSpeed = new ArrayList<AngleSpeed>(); private List<AcceleratedSpeed> listAcceleratedSpeed = new ArrayList<AcceleratedSpeed>(); // 偏心率 public static final float EPSILON = 0.000000001f; // 10亿纳秒=1秒 private static final float NS2S = 1.0f / 1000000000.0f; // 均值滤波窗口 private static final int MEAN_FILTER_WINDOW = 10; // 最小样本计数 private static final int MIN_SAMPLE_COUNT = 30; // 是否初始化了方位 private boolean hasInitialOrientation = false; // 是否初始化了校准 private boolean stateInitializedCalibrated = false; private int accelerationSampleCount = 0; private int magneticSampleCount = 0; private long timestampOldCalibrated = 0; private float lastXAxisAngle = -1; private float lastXAxisAngleByRotationVector = -1; private long currTimeGyro; private long lastTimeGyro; private long currTimeAccel; private long lastTimeAccel; private DecimalFormat df; private float[] rotationVectorMatrix; // Calibrated maths. private float[] currentRotationMatrixCalibrated; private float[] deltaRotationMatrixCalibrated; private float[] deltaRotationVectorCalibrated; private float[] gyroscopeOrientationCalibrated; private float[] initialRotationMatrix; private float[] acceleration; private float[] magnetic; // 均值过滤器 private MeanFilter accelerationFilter; private MeanFilter magneticFilter; private float[] gravity; private static final float ALPHA = 0.8f; private float azimuthGPS = -1; // private DataCollectBinder dataCollectBinder; private float xAngle; private float yAngle; private float zAngle; private static int turnLeft; private static int turnRight; private static int addSpeed; private static int cutSpeed; private Intent intentReceiver; private Messenger messengerActivity; private Messenger messagerService; private SoundPool soundPool; private HashMap<Integer, Integer> soundMap = new HashMap<Integer, Integer>(); private Toast toast; private Handler handlerService = new Handler() { public void handleMessage(Message msg) { switch (msg.what) { case 0: messengerActivity = msg.replyTo; break; case 1: ++turnLeft; soundPool.play(soundMap.get(1), 0.1f, 0.1f, 0, 0, 1); //TTSController.getInstance(DataCollectService.this).playTextFromLinkedList("亲，左转弯了"); sendMsg(); toast = Toast.makeText(DataCollectService.this, "左转弯了", Toast.LENGTH_SHORT); toast.show(); break; case 2: ++turnRight; soundPool.play(soundMap.get(2), 0.1f, 0.1f, 0, 0, 1); // TTSController.getInstance(DataCollectService.this).playTextFromLinkedList("亲，右转弯了"); sendMsg(); toast = Toast.makeText(DataCollectService.this, "右转弯了", Toast.LENGTH_SHORT); toast.show(); break; case 3: ++addSpeed; soundPool.play(soundMap.get(3), 0.1f, 0.1f, 0, 0, 1); //TTSController.getInstance(DataCollectService.this).playTextFromLinkedList("亲，急加速了"); sendMsg(); toast = Toast.makeText(DataCollectService.this, "急加速了", Toast.LENGTH_SHORT); toast.show(); break; case 4: ++cutSpeed; soundPool.play(soundMap.get(4), 0.1f, 0.1f, 0, 0, 1); //TTSController.getInstance(DataCollectService.this).playTextFromLinkedList("亲，急减速了"); sendMsg(); toast = Toast.makeText(DataCollectService.this, "急减速了", Toast.LENGTH_SHORT); toast.show(); break; default: break; } } }; public void sendMsg() { if (messengerActivity == null) return; Bundle bundle; Message msg1; bundle = new Bundle(); bundle.putInt("turnLeft", turnLeft); bundle.putInt("turnRight", turnRight); bundle.putInt("addSpeed", addSpeed); bundle.putInt("cutSpeed", cutSpeed); msg1 = new Message(); msg1.what = 1; msg1.setData(bundle); try { messengerActivity.send(msg1); } catch (RemoteException e) { e.printStackTrace(); } } private Timer timer; private TimerTask timerTask = new TimerTask() { @Override public void run() { if (messengerActivity == null) return; Bundle bundle; Message msg1; bundle = new Bundle(); bundle.putFloat("x", gyroscopeOrientationCalibrated[0]); bundle.putFloat("y", gyroscopeOrientationCalibrated[1]); bundle.putFloat("z", gyroscopeOrientationCalibrated[2]); bundle.putFloat("g", azimuthGPS); msg1 = new Message(); msg1.what = 0; try { msg1.setData(bundle); messengerActivity.send(msg1); } catch (RemoteException e) { e.printStackTrace(); } } }; public Messenger getMessag