4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | *
8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | *
10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | *
16 | * Modifications copyright (C) 2021 Mobile Robotics Lab. at Skoltech. 17 | */ 18 | 19 | package com.googleresearch.capturesync.softwaresync; 20 | 21 | /** 22 | * Interface for RPC callbacks, the base methods used for communicating between devices. 23 | */ 24 | public interface RpcCallback { 25 | 26 | /** 27 | * The callback method called when an RPC is received. 28 | * 29 | * @param payload Contains the payload sent by the RPC. 30 | */ 31 | void call(String payload); 32 | } 33 | -------------------------------------------------------------------------------- /app/src/main/java/com/googleresearch/capturesync/softwaresync/SntpOffsetResponse.java: -------------------------------------------------------------------------------- 1 | /** 2 | * Copyright 2019 The Google Research Authors. 3 | *
4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | *
8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | *
10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | *
16 | * Modifications copyright (C) 2021 Mobile Robotics Lab. at Skoltech. 17 | */ 18 | 19 | package com.googleresearch.capturesync.softwaresync; 20 | 21 | /** 22 | * AutoValue class for SNTP offsetNs, synchronization accuracy and status. 23 | */ 24 | public final class SntpOffsetResponse { 25 | private final long mOffsetNs; 26 | private final long mSyncAccuracyNs; 27 | private final boolean mStatus; 28 | 29 | static SntpOffsetResponse create(long offset, long syncAccuracy, boolean status) { 30 | return new SntpOffsetResponse(offset, syncAccuracy, status); 31 | } 32 | 33 | private SntpOffsetResponse(long offsetNs, long syncAccuracyNs, boolean status) { 34 | mOffsetNs = offsetNs; 35 | mSyncAccuracyNs = syncAccuracyNs; 36 | mStatus = status; 37 | } 38 | 39 | /** 40 | * The time delta (leader - client) in nanoseconds of the AP SystemClock domain. 41 | * 42 | *
The client can take their local_time to get leader_time via: local_time (leader - client) = 43 | * leader_time. 44 | */ 45 | public long offsetNs() { 46 | return mOffsetNs; 47 | } 48 | 49 | /** 50 | * The worst case error in the clock domains between leader and client for this response, in 51 | * nanoseconds of the AP SystemClock domain. 52 | */ 53 | public long syncAccuracyNs() { 54 | return mSyncAccuracyNs; 55 | } 56 | 57 | /** 58 | * The success status of this response. 59 | */ 60 | public boolean status() { 61 | return mStatus; 62 | } 63 | } 64 | -------------------------------------------------------------------------------- /app/src/main/java/com/googleresearch/capturesync/softwaresync/SystemTicker.java: -------------------------------------------------------------------------------- 1 | /** 2 | * Copyright 2019 The Google Research Authors. 3 | *
4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | *
8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | *
10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | *
16 | * Modifications copyright (C) 2021 Mobile Robotics Lab. at Skoltech. 17 | */ 18 | 19 | package com.googleresearch.capturesync.softwaresync; 20 | 21 | import android.os.SystemClock; 22 | 23 | /** 24 | * Simple implementation of Ticker interface using the SystemClock elapsed realtime clock. 25 | */ 26 | public class SystemTicker implements Ticker { 27 | @Override 28 | public long read() { 29 | return SystemClock.elapsedRealtimeNanos(); 30 | } 31 | } 32 | -------------------------------------------------------------------------------- /app/src/main/java/com/googleresearch/capturesync/softwaresync/Ticker.java: -------------------------------------------------------------------------------- 1 | /** 2 | * Copyright 2019 The Google Research Authors. 3 | *
4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | *
8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | *
10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | *
16 | * Modifications copyright (C) 2021 Mobile Robotics Lab. at Skoltech. 17 | */ 18 | 19 | package com.googleresearch.capturesync.softwaresync; 20 | 21 | /** 22 | * Interface for getting the time in nanoseconds, abstracting out accessing system time. 23 | */ 24 | public interface Ticker { 25 | /* Returns the time in nanoseconds. */ 26 | long read(); 27 | } 28 | -------------------------------------------------------------------------------- /app/src/main/java/com/googleresearch/capturesync/softwaresync/TimeDomainConverter.java: -------------------------------------------------------------------------------- 1 | /** 2 | * Copyright 2019 The Google Research Authors. 3 | *
4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | *
8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | *
10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | *
16 | * Modifications copyright (C) 2021 Mobile Robotics Lab. at Skoltech. 17 | */ 18 | 19 | package com.googleresearch.capturesync.softwaresync; 20 | 21 | /** 22 | * Interface used to manage time domain conversion, implemented by {@link SoftwareSyncBase}. This 23 | * allows {@link ResultProcessor} to convert sensor timestamps to the synchronized time domain 24 | * without needing full access to the softwaresync object. 25 | */ 26 | public interface TimeDomainConverter { 27 | 28 | /** 29 | * Calculates the leader time associated with the given local time in nanoseconds. The local time 30 | * must be in the SystemClock.elapsedRealTimeNanos() localClock domain, nanosecond units. This 31 | * includes timestamps such as the sensor timestamp from the camera. leader_time = 32 | * local_elapsed_time_ns + leader_from_local_ns. 33 | * 34 | * @param localTimeNs given local time (local clock SystemClock.elapsedRealtimeNanos() domain). 35 | * @return leader synchronized time in nanoseconds. 36 | */ 37 | long leaderTimeForLocalTimeNs(long localTimeNs); 38 | 39 | } 40 | -------------------------------------------------------------------------------- /app/src/main/java/com/googleresearch/capturesync/softwaresync/TimeUtils.java: -------------------------------------------------------------------------------- 1 | /** 2 | * Copyright 2019 The Google Research Authors. 3 | *
4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | *
8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | *
10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | *
16 | * Modifications copyright (C) 2021 Mobile Robotics Lab. at Skoltech.
17 | */
18 |
19 | package com.googleresearch.capturesync.softwaresync;
20 |
21 | /**
22 | * Helper conversions between time scales.
23 | */
24 | public final class TimeUtils {
25 |
26 | public static double nanosToMillis(double nanos) {
27 | return nanos / 1_000_000L;
28 | }
29 |
30 | public static long nanosToSeconds(long nanos) {
31 | return nanos / 1_000_000_000L;
32 | }
33 |
34 | public static double nanosToSeconds(double nanos) {
35 | return nanos / 1_000_000_000L;
36 | }
37 |
38 | public static long millisToNanos(long millis) {
39 | return millis * 1_000_000L;
40 | }
41 |
42 | public static long secondsToNanos(int seconds) {
43 | return seconds * 1_000_000_000L;
44 | }
45 |
46 | private TimeUtils() {
47 | }
48 | }
49 |
--------------------------------------------------------------------------------
/app/src/main/java/com/googleresearch/capturesync/softwaresync/phasealign/StreamUtils.java:
--------------------------------------------------------------------------------
1 | package com.googleresearch.capturesync.softwaresync.phasealign;
2 |
3 | import android.os.Build;
4 |
5 | import androidx.annotation.RequiresApi;
6 |
7 | import java.util.Iterator;
8 | import java.util.Objects;
9 | import java.util.Spliterator;
10 | import java.util.Spliterators;
11 | import java.util.function.BiFunction;
12 | import java.util.stream.Stream;
13 | import java.util.stream.StreamSupport;
14 |
15 | /**
16 | * Helper functions to works with {@link java.util.stream.Stream}.
17 | */
18 | public class StreamUtils {
19 |
20 | private StreamUtils() {
21 | }
22 |
23 | /**
24 | * Constructs a new stream with the results of applying the provided function to the contents
25 | * of the provided streams one by one.
26 | * Original implementation: https://stackoverflow.com/a/23529010.
27 | *
28 | * @param a the first stream.
29 | * @param b the second stream.
30 | * @param zipper the function to be applied to the elements of the given streams with the same
31 | * indices.
32 | * @return a stream containing the results of the given function.
33 | */
34 | @RequiresApi(api = Build.VERSION_CODES.N)
35 | public static