[cj]: support cj api

Signed-off-by: zj94 <zhoujing106@huawei.com>
Change-Id: Ib9fc4016d36637c8665356760850990b8899111f

bundle.json

@@ -41,6 +41,7 @@
         "base_group": [],
         "fwk_group": [
           "//base/sensors/sensor/frameworks/js/napi:sensor_js_target",
+          "//base/sensors/sensor/frameworks/cj:cj_sensor_ffi",
           "//base/sensors/sensor/frameworks/native:sensor_target",
           "//base/sensors/sensor/frameworks/native:ohsensor",
           "//base/sensors/sensor/utils:sensor_utils_target"

frameworks/cj/BUILD.gn

@@ -0,0 +1,55 @@
+# Copyright (c) 2024 Huawei Device Co., Ltd.
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import("//build/ohos.gni")
+import("./../../sensor.gni")
+
+ohos_shared_library("cj_sensor_ffi") {
+  branch_protector_ret = "pac_ret"
+  sanitize = {
+    cfi = true
+    cfi_cross_dso = true
+    debug = false
+  }
+
+  cflags = [
+    "-fdata-sections",
+    "-ffunction-sections",
+    "-fvisibility=hidden",
+  ]
+
+  include_dirs = [
+    "$SUBSYSTEM_DIR/frameworks/native/include",
+    "$SUBSYSTEM_DIR/interfaces/inner_api",
+    "$SUBSYSTEM_DIR/utils/common/include",
+    "include",
+  ]
+
+  sources = [
+    "src/cj_sensor_ffi.cpp",
+    "src/cj_sensor_impl.cpp",
+  ]
+
+  deps = [ "$SUBSYSTEM_DIR/frameworks/native:sensor_interface_native" ]
+
+  external_deps = [
+    "c_utils:utils",
+    "hilog:libhilog",
+    "napi:cj_bind_ffi",
+    "napi:cj_bind_native",
+  ]
+
+  innerapi_tags = [ "platformsdk" ]
+  part_name = "sensor"
+  subsystem_name = "sensors"
+}

frameworks/cj/include/cj_sensor_ffi.h

@@ -0,0 +1,105 @@
+/*
+ * Copyright (c) 2024 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef OHOS_CJ_SENSOR_FFI_H
+#define OHOS_CJ_SENSOR_FFI_H
+
+#include <cstdint>
+
+#include "cj_sensor_visibility.h"
+#include "sensor_agent_type.h"
+
+#ifdef __cplusplus
+#if __cplusplus
+extern "C" {
+#endif
+#endif
+
+typedef struct {
+    float latitude;
+    float longitude;
+    float altitude;
+} CLocationOptions;
+
+typedef struct {
+    float x;
+    float y;
+    float z;
+    float geomagneticDip;
+    float deflectionAngle;
+    float levelIntensity;
+    float totalIntensity;
+} CGeomagneticData;
+
+typedef struct {
+    float *head;
+    int64_t size;
+} CArrFloat32;
+
+typedef struct {
+    int32_t x;
+    int32_t y;
+} CCoordinatesOptions;
+
+typedef struct {
+    CArrFloat32 rotation;
+    CArrFloat32 inclination;
+} CRotationMatrixResponse;
+
+typedef struct CSensor {
+    char *sensorName;
+    char *vendorName;
+    char *firmwareVersion;
+    char *hardwareVersion;
+    int32_t sensorTypeId;
+    float maxRange;
+    int64_t minSamplePeriod;
+    int64_t maxSamplePeriod;
+    float precision;
+    float power;
+} CSensor;
+
+typedef struct {
+    CSensor *head;
+    int64_t size;
+} CSensorArray;
+
+SENSOR_FFI_EXPORT int32_t FfiSensorSubscribeSensor(int32_t sensorId, int64_t interval,
+                                                   void (*callback)(SensorEvent *event));
+
+SENSOR_FFI_EXPORT int32_t FfiSensorUnSubscribeSensor(int32_t sensorId);
+SENSOR_FFI_EXPORT CGeomagneticData FfiSensorGetGeomagneticInfo(CLocationOptions location, int64_t timeMillis);
+SENSOR_FFI_EXPORT int32_t FfiSensorGetDeviceAltitude(float seaPressure, float currentPressure, float *altitude);
+SENSOR_FFI_EXPORT int32_t FfiSensorGetInclination(CArrFloat32 inclinationMatrix, float *inclination);
+SENSOR_FFI_EXPORT int32_t FfiSensorGetAngleVariation(CArrFloat32 currentRotationMatrix, CArrFloat32 preRotationMatrix,
+                                                     CArrFloat32 *angleChange);
+SENSOR_FFI_EXPORT int32_t FfiSensorGetRotationMatrix(CArrFloat32 rotationVector, CArrFloat32 *rotation);
+SENSOR_FFI_EXPORT int32_t FfiSensorTransformRotationMatrix(CArrFloat32 inRotationVector,
+                                                           CCoordinatesOptions coordinates,
+                                                           CArrFloat32 *rotationMatrix);
+SENSOR_FFI_EXPORT int32_t FfiSensorGetQuaternion(CArrFloat32 rotationVector, CArrFloat32 *quaternion);
+SENSOR_FFI_EXPORT int32_t FfiSensorGetOrientation(CArrFloat32 rotationMatrix, CArrFloat32 *rotationAngle);
+SENSOR_FFI_EXPORT int32_t FfiSensorGetRotationMatrixByGravityAndGeomagnetic(CArrFloat32 gravity,
+                                                                            CArrFloat32 geomagnetic,
+                                                                            CRotationMatrixResponse *rotationMaxtrix);
+SENSOR_FFI_EXPORT int32_t FfiSensorGetAllSensors(CSensorArray *sensors);
+
+#ifdef __cplusplus
+#if __cplusplus
+}
+#endif
+#endif
+#endif /* OHOS_CJ_SENSOR_FFI_H */
+/**< @} */

frameworks/cj/include/cj_sensor_impl.h

@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2024 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef OHOS_CJ_SENSOR_IMPL_H
+#define OHOS_CJ_SENSOR_IMPL_H
+
+#include <functional>
+#include <map>
+#include <optional>
+
+#include "cj_sensor_ffi.h"
+#include "sensor_agent_type.h"
+#include "singleton.h"
+
+namespace OHOS {
+namespace Sensors {
+using SensorCallbackType = std::function<void(SensorEvent *)>;
+
+class CJSensorImpl {
+    DECLARE_DELAYED_SINGLETON(CJSensorImpl);
+
+public:
+    DISALLOW_COPY_AND_MOVE(CJSensorImpl);
+    int32_t OnSensorChange(int32_t sensorId, int64_t interval, void (*callback)(SensorEvent *event));
+    int32_t OffSensorChange(int32_t sensorId);
+    void EmitCallBack(SensorEvent *event);
+
+    CGeomagneticData GetGeomagneticInfo(CLocationOptions location, int64_t timeMillis);
+    int32_t GetAltitude(float seaPressure, float currentPressure, float *altitude);
+    int32_t GetGeomagneticDip(CArrFloat32 inclinationMatrix, float *geomagneticDip);
+    int32_t GetAngleModify(const CArrFloat32 &curRotationMatrix, const CArrFloat32 &preRotationMatrix,
+                           CArrFloat32 *angleChange);
+    int32_t GetRotationMatrix(const CArrFloat32 &rotationCArr, CArrFloat32 &rotation);
+    int32_t TransformRotationMatrix(const CArrFloat32 &rotationCArr, int32_t axisX, int32_t axisY,
+                                    CArrFloat32 &outRotationMatrix);
+    int32_t GetQuaternion(const CArrFloat32 &rotationVector, CArrFloat32 &quaternionOut);
+    int32_t GetOrientation(const CArrFloat32 &rotationMatrix, CArrFloat32 &rotationAngleOut);
+    int32_t GetRotationMatrixByGraityAndGeomagnetic(const CArrFloat32 gravity, const CArrFloat32 geomagnetic,
+                                                    CArrFloat32 &rotationMatrix, CArrFloat32 &inclinationMatrix);
+    int32_t GetAllSensorList(CSensorArray &sensorList);
+
+private:
+    std::map<int32_t, SensorCallbackType> eventMap_;
+    std::mutex mutex_;
+
+    int32_t SubscribeSensorImpl(int32_t sensorId, int64_t interval);
+    int32_t UnsubscribeSensorImpl(int32_t sensorTypeId);
+
+    void DelCallback(int32_t type);
+    void AddCallback2Map(int32_t type, SensorCallbackType callback);
+    std::optional<SensorCallbackType> FindCallback(int32_t type);
+
+    char *MallocCString(const std::string origin);
+    void Transform2CSensor(const SensorInfo &in, CSensor &out);
+    std::vector<float> ConvertCArr2Vector(const CArrFloat32 &in);
+    CArrFloat32 ConvertVector2CArr(const std::vector<float> &in);
+
+    static void CJDataCallbackImpl(SensorEvent *event);
+    const SensorUser cjUser_ = {.callback = CJDataCallbackImpl};
+};
+
+#define CJ_SENSOR_IMPL OHOS::DelayedSingleton<CJSensorImpl>::GetInstance()
+
+} // namespace Sensors
+} // namespace OHOS
+
+#endif // OHOS_CJ_SENSOR_IMPL_H

frameworks/cj/include/cj_sensor_visibility.h

@@ -0,0 +1,23 @@
+/*
+ * Copyright (C) 2024 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef OHOS_CJ_SENSOR_VISIBILITY_H
+#define OHOS_CJ_SENSOR_VISIBILITY_H
+
+#ifndef SENSOR_FFI_EXPORT
+#define SENSOR_FFI_EXPORT __attribute__((visibility("default")))
+#endif
+
+#endif // OHOS_CJ_SENSOR_VISIBILITY_H

frameworks/cj/src/cj_sensor_ffi.cpp

@@ -0,0 +1,118 @@
+/*
+ * Copyright (c) 2024 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "cj_sensor_ffi.h"
+
+#include "cj_sensor_impl.h"
+#include "sensor_errors.h"
+
+using OHOS::Sensors::CJSensorImpl;
+using OHOS::Sensors::PARAMETER_ERROR;
+
+extern "C" {
+int32_t FfiSensorSubscribeSensor(int32_t sensorId, int64_t interval, void (*callback)(SensorEvent *event))
+{
+    return CJ_SENSOR_IMPL->OnSensorChange(sensorId, interval, callback);
+}
+
+int32_t FfiSensorUnSubscribeSensor(int32_t sensorId)
+{
+    return CJ_SENSOR_IMPL->OffSensorChange(sensorId);
+}
+
+CGeomagneticData FfiSensorGetGeomagneticInfo(CLocationOptions location, int64_t timeMillis)
+{
+    return CJ_SENSOR_IMPL->GetGeomagneticInfo(location, timeMillis);
+}
+
+int32_t FfiSensorGetDeviceAltitude(float seaPressure, float currentPressure, float *altitude)
+{
+    return CJ_SENSOR_IMPL->GetAltitude(seaPressure, currentPressure, altitude);
+}
+
+int32_t FfiSensorGetInclination(CArrFloat32 inclinationMatrix, float *geomagneticDip)
+{
+    return CJ_SENSOR_IMPL->GetGeomagneticDip(inclinationMatrix, geomagneticDip);
+}
+
+int32_t FfiSensorGetAngleVariation(CArrFloat32 currentRotationMatrix, CArrFloat32 preRotationMatrix,
+                                   CArrFloat32 *angleChange)
+{
+    return CJ_SENSOR_IMPL->GetAngleModify(currentRotationMatrix, preRotationMatrix, angleChange);
+}
+
+int32_t FfiSensorGetRotationMatrix(CArrFloat32 rotationVector, CArrFloat32 *rotation)
+{
+    if (rotation == nullptr) {
+        SEN_HILOGE("Invalid parameter, rotation is nullptr!");
+        return PARAMETER_ERROR;
+    }
+
+    return CJ_SENSOR_IMPL->GetRotationMatrix(rotationVector, *rotation);
+}
+
+int32_t FfiSensorTransformRotationMatrix(CArrFloat32 inRotationVector, CCoordinatesOptions coordinates,
+                                         CArrFloat32 *rotationMatrix)
+{
+    if (rotationMatrix == nullptr) {
+        SEN_HILOGE("Invalid parameter, rotationMatrix is nullptr!");
+        return PARAMETER_ERROR;
+    }
+
+    return CJ_SENSOR_IMPL->TransformRotationMatrix(inRotationVector, coordinates.x, coordinates.y, *rotationMatrix);
+}
+
+int32_t FfiSensorGetQuaternion(CArrFloat32 rotationVector, CArrFloat32 *quaternion)
+{
+    if (quaternion == nullptr) {
+        SEN_HILOGE("Invalid parameter, quaternion is nullptr!");
+        return PARAMETER_ERROR;
+    }
+
+    return CJ_SENSOR_IMPL->GetQuaternion(rotationVector, *quaternion);
+}
+
+int32_t FfiSensorGetOrientation(CArrFloat32 rotationMatrix, CArrFloat32 *rotationAngle)
+{
+    if (rotationAngle == nullptr) {
+        SEN_HILOGE("Invalid parameter, rotationAngle is nullptr!");
+        return PARAMETER_ERROR;
+    }
+
+    return CJ_SENSOR_IMPL->GetOrientation(rotationMatrix, *rotationAngle);
+}
+
+int32_t FfiSensorGetRotationMatrixByGravityAndGeomagnetic(CArrFloat32 gravity, CArrFloat32 geomagnetic,
+                                                          CRotationMatrixResponse *rotationMaxtrix)
+{
+    if (rotationMaxtrix == nullptr) {
+        SEN_HILOGE("Invalid parameter, rotationMaxtrix is nullptr!");
+        return PARAMETER_ERROR;
+    }
+
+    return CJ_SENSOR_IMPL->GetRotationMatrixByGraityAndGeomagnetic(gravity, geomagnetic, rotationMaxtrix->rotation,
+                                                                   rotationMaxtrix->inclination);
+}
+
+int32_t FfiSensorGetAllSensors(CSensorArray *sensors)
+{
+    if (sensors == nullptr) {
+        SEN_HILOGE("Invalid parameter, sensors is nullptr!");
+        return PARAMETER_ERROR;
+    }
+
+    return CJ_SENSOR_IMPL->GetAllSensorList(*sensors);
+}
+}

frameworks/cj/src/cj_sensor_impl.cpp

@@ -0,0 +1,374 @@
+/*
+ * Copyright (c) 2024 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "cj_sensor_impl.h"
+
+#include <cstddef>
+#include <cstdint>
+#include <optional>
+
+#include "cj_lambda.h"
+#include "cj_sensor_ffi.h"
+#include "errors.h"
+#include "geomagnetic_field.h"
+#include "sensor_agent.h"
+#include "sensor_algorithm.h"
+#include "sensor_errors.h"
+
+namespace OHOS {
+namespace Sensors {
+namespace {
+constexpr int32_t ROTATION_VECTOR_LENGTH = 3;
+constexpr int32_t QUATERNION_LENGTH = 4;
+constexpr int32_t THREE_DIMENSIONAL_MATRIX_LENGTH = 9;
+constexpr int32_t DATA_LENGTH = 16;
+} // namespace
+
+CJSensorImpl::CJSensorImpl() {}
+CJSensorImpl::~CJSensorImpl() {}
+
+void CJSensorImpl::CJDataCallbackImpl(SensorEvent *event)
+{
+    CHKPV(event);
+    CJ_SENSOR_IMPL->EmitCallBack(event);
+}
+
+int32_t CJSensorImpl::SubscribeSensorImpl(int32_t sensorId, int64_t interval)
+{
+    CALL_LOG_ENTER;
+    int32_t ret = SubscribeSensor(sensorId, &cjUser_);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("SubscribeSensor failed");
+        return ret;
+    }
+    ret = SetBatch(sensorId, &cjUser_, interval, 0);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("SetBatch failed");
+        return ret;
+    }
+
+    return ActivateSensor(sensorId, &cjUser_);
+}
+
+int32_t CJSensorImpl::UnsubscribeSensorImpl(int32_t sensorTypeId)
+{
+    CALL_LOG_ENTER;
+    int32_t ret = DeactivateSensor(sensorTypeId, &cjUser_);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("DeactivateSensor failed");
+        return ret;
+    }
+    return UnsubscribeSensor(sensorTypeId, &cjUser_);
+}
+
+char *CJSensorImpl::MallocCString(const std::string origin)
+{
+    if (origin.empty()) {
+        SEN_HILOGD("String is empty.");
+        return nullptr;
+    }
+    auto len = origin.length() + 1;
+    char *res = static_cast<char *>(malloc(sizeof(char) * len));
+    if (res == nullptr) {
+        SEN_HILOGE("Malloc failed.");
+        return nullptr;
+    }
+    return std::char_traits<char>::copy(res, origin.c_str(), len);
+}
+
+void CJSensorImpl::Transform2CSensor(const SensorInfo &in, CSensor &out)
+{
+    out.sensorName = MallocCString(in.sensorName);
+    out.vendorName = MallocCString(in.vendorName);
+    out.firmwareVersion = MallocCString(in.firmwareVersion);
+    out.hardwareVersion = MallocCString(in.hardwareVersion);
+
+    out.sensorTypeId = in.sensorTypeId;
+    out.maxRange = in.maxRange;
+    out.minSamplePeriod = in.minSamplePeriod;
+    out.maxSamplePeriod = in.maxSamplePeriod;
+    out.precision = in.precision;
+    out.power = in.power;
+}
+
+std::vector<float> CJSensorImpl::ConvertCArr2Vector(const CArrFloat32 &in)
+{
+    std::vector<float> res;
+    if (in.head == nullptr || in.size <= 0) {
+        SEN_HILOGD("head is nullptr or size is zero.");
+        return res;
+    }
+
+    for (int64_t i = 0; i < in.size; i++) {
+        res.push_back(in.head[i]);
+    }
+
+    return res;
+}
+
+CArrFloat32 CJSensorImpl::ConvertVector2CArr(const std::vector<float> &in)
+{
+    CArrFloat32 res = {NULL, 0};
+    if (in.empty()) {
+        SEN_HILOGD("vector is empty.");
+        return res;
+    }
+
+    res.head = static_cast<float *>(malloc(sizeof(float) * in.size()));
+    if (res.head == nullptr) {
+        SEN_HILOGE("Malloc failed.");
+        return res;
+    }
+    size_t i = 0;
+    for (; i < in.size(); ++i) {
+        res.head[i] = in[i];
+    }
+    res.size = i;
+    return res;
+}
+
+int32_t CJSensorImpl::OnSensorChange(int32_t sensorId, int64_t interval, void (*callback)(SensorEvent *event))
+{
+    CALL_LOG_ENTER;
+    int32_t ret = SubscribeSensorImpl(sensorId, interval);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("subscribe sensor failed, %{public}d.", sensorId);
+        return ret;
+    }
+
+    AddCallback2Map(sensorId, CJLambda::Create(callback));
+    return ERR_OK;
+}
+
+int32_t CJSensorImpl::OffSensorChange(int32_t sensorId)
+{
+    CALL_LOG_ENTER;
+    int32_t ret = UnsubscribeSensorImpl(sensorId);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("unsubscribe sensor failed, %{public}d.", sensorId);
+        return ret;
+    }
+
+    DelCallback(sensorId);
+    return ERR_OK;
+}
+
+void CJSensorImpl::EmitCallBack(SensorEvent *event)
+{
+    auto callback = FindCallback(event->sensorTypeId);
+    if (callback == std::nullopt) {
+        SEN_HILOGE("EmitCallBack failed, %{public}d not find.", event->sensorTypeId);
+        return;
+    }
+
+    callback.value()(event);
+}
+
+void CJSensorImpl::AddCallback2Map(int32_t type, SensorCallbackType callback)
+{
+    std::lock_guard<std::mutex> mutex(mutex_);
+    eventMap_[type] = callback;
+}
+
+void CJSensorImpl::DelCallback(int32_t type)
+{
+    std::lock_guard<std::mutex> mutex(mutex_);
+    eventMap_.erase(type);
+}
+
+std::optional<SensorCallbackType> CJSensorImpl::FindCallback(int32_t type)
+{
+    std::lock_guard<std::mutex> mutex(mutex_);
+    auto iter = eventMap_.find(type);
+    if (iter != eventMap_.end()) {
+        return iter->second;
+    }
+
+    return std::nullopt;
+}
+
+CGeomagneticData CJSensorImpl::GetGeomagneticInfo(CLocationOptions location, int64_t timeMillis)
+{
+    GeomagneticField geomagneticField(location.latitude, location.longitude, location.altitude, timeMillis);
+    CGeomagneticData res = {
+        .x = geomagneticField.ObtainX(),
+        .y = geomagneticField.ObtainY(),
+        .z = geomagneticField.ObtainZ(),
+        .geomagneticDip = geomagneticField.ObtainGeomagneticDip(),
+        .deflectionAngle = geomagneticField.ObtainDeflectionAngle(),
+        .levelIntensity = geomagneticField.ObtainLevelIntensity(),
+        .totalIntensity = geomagneticField.ObtainTotalIntensity(),
+    };
+    return res;
+}
+
+int32_t CJSensorImpl::GetAltitude(float seaPressure, float currentPressure, float *altitude)
+{
+    SensorAlgorithm sensorAlgorithm;
+    int32_t ret = sensorAlgorithm.GetAltitude(seaPressure, currentPressure, altitude);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("Get altitude failed, ret:%{public}d", ret);
+    }
+    return ret;
+}
+
+int32_t CJSensorImpl::GetGeomagneticDip(CArrFloat32 inclinationMatrix, float *geomagneticDip)
+{
+    SensorAlgorithm sensorAlgorithm;
+    int32_t ret = sensorAlgorithm.GetGeomagneticDip(ConvertCArr2Vector(inclinationMatrix), geomagneticDip);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("Get geomagnetic dip failed, ret:%{public}d", ret);
+    }
+
+    return ret;
+}
+
+int32_t CJSensorImpl::GetAngleModify(const CArrFloat32 &curRotationMatrix, const CArrFloat32 &preRotationMatrix,
+                                     CArrFloat32 *angleChangeOut)
+{
+    if (angleChangeOut == nullptr) {
+        SEN_HILOGE("Invalid parameter, angleChangeOut is nullptr!");
+        return PARAMETER_ERROR;
+    }
+    std::vector<float> angleChange(ROTATION_VECTOR_LENGTH);
+    SensorAlgorithm sensorAlgorithm;
+    int32_t ret = sensorAlgorithm.GetAngleModify(ConvertCArr2Vector(curRotationMatrix),
+                                                 ConvertCArr2Vector(preRotationMatrix), angleChange);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("Get angle change failed, ret:%{public}d", ret);
+        return ret;
+    }
+
+    *angleChangeOut = ConvertVector2CArr(angleChange);
+    return ret;
+}
+
+int32_t CJSensorImpl::GetRotationMatrix(const CArrFloat32 &rotationCArr, CArrFloat32 &rotation)
+{
+    std::vector<float> rotationMatrix(THREE_DIMENSIONAL_MATRIX_LENGTH);
+    SensorAlgorithm sensorAlgorithm;
+    int32_t ret = sensorAlgorithm.CreateRotationMatrix(ConvertCArr2Vector(rotationCArr), rotationMatrix);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("Get rotation matrix failed, ret:%{public}d", ret);
+        return ret;
+    }
+
+    rotation = ConvertVector2CArr(rotationMatrix);
+    return ret;
+}
+
+int32_t CJSensorImpl::TransformRotationMatrix(const CArrFloat32 &rotationCArr, int32_t axisX, int32_t axisY,
+                                              CArrFloat32 &outRotationMatrix)
+{
+    int64_t length = rotationCArr.size;
+    if ((length != DATA_LENGTH) && (length != THREE_DIMENSIONAL_MATRIX_LENGTH)) {
+        SEN_HILOGE("Transform rotation mastrix failed, invalid parameter.");
+        return PARAMETER_ERROR;
+    }
+    std::vector<float> outRotationVector(length);
+    SensorAlgorithm sensorAlgorithm;
+    int32_t ret =
+        sensorAlgorithm.TransformCoordinateSystem(ConvertCArr2Vector(rotationCArr), axisX, axisY, outRotationVector);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("Transform coordinate system failed, ret:%{public}d", ret);
+        return ret;
+    }
+
+    outRotationMatrix = ConvertVector2CArr(outRotationVector);
+    return ret;
+}
+
+int32_t CJSensorImpl::GetQuaternion(const CArrFloat32 &rotationVector, CArrFloat32 &quaternionOut)
+{
+    std::vector<float> quaternion(QUATERNION_LENGTH);
+    SensorAlgorithm sensorAlgorithm;
+    int32_t ret = sensorAlgorithm.CreateQuaternion(ConvertCArr2Vector(rotationVector), quaternion);
+    if (ret != ERR_OK) {
+        SEN_HILOGE("Get quaternion failed, ret:%{public}d", ret);
+        return ret;
+    }
+
+    quaternionOut = ConvertVector2CArr(quaternion);
+    return ret;
+}
+
+int32_t CJSensorImpl::GetOrientation(const CArrFloat32 &rotationMatrix, CArrFloat32 &rotationAngleOut)
+{
+    std::vector<float> rotationAngle(ROTATION_VECTOR_LENGTH);
+    SensorAlgorithm sensorAlgorithm;
+    int32_t ret = sensorAlgorithm.GetDirection(ConvertCArr2Vector(rotationMatrix), rotationAngle);
+    if (ret != OHOS::ERR_OK) {
+        SEN_HILOGE("Get direction failed, ret:%{public}d", ret);
+        return ret;
+    }
+
+    rotationAngleOut = ConvertVector2CArr(rotationAngle);
+    return ret;
+}
+
+int32_t CJSensorImpl::GetRotationMatrixByGraityAndGeomagnetic(const CArrFloat32 gravity, const CArrFloat32 geomagnetic,
+                                                              CArrFloat32 &rotationMatrix,
+                                                              CArrFloat32 &inclinationMatrix)
+{
+    std::vector<float> rotation(THREE_DIMENSIONAL_MATRIX_LENGTH);
+    std::vector<float> inclination(THREE_DIMENSIONAL_MATRIX_LENGTH);
+    SensorAlgorithm sensorAlgorithm;
+    int32_t ret = sensorAlgorithm.CreateRotationAndInclination(ConvertCArr2Vector(gravity),
+                                                               ConvertCArr2Vector(geomagnetic), rotation, inclination);
+    if (ret != OHOS::ERR_OK) {
+        SEN_HILOGE("Create rotation and inclination failed, ret:%{public}d", ret);
+        return ret;
+    }
+
+    rotationMatrix = ConvertVector2CArr(rotation);
+    inclinationMatrix = ConvertVector2CArr(inclination);
+
+    return ret;
+}
+
+int32_t CJSensorImpl::GetAllSensorList(CSensorArray &sensorList)
+{
+    SensorInfo *sensorInfos = nullptr;
+    int32_t count = 0;
+    int32_t ret = GetAllSensors(&sensorInfos, &count);
+    if (ret != OHOS::ERR_OK) {
+        SEN_HILOGE("Get all sensors failed, ret:%{public}d", ret);
+        return ret;
+    }
+
+    if (count == 0) {
+        return ERR_OK;
+    }
+
+    sensorList.head = static_cast<CSensor *>(malloc(sizeof(CSensor) * count));
+    if (sensorList.head == nullptr) {
+        SEN_HILOGE("Malloc failed.");
+        return ERR_OK;
+    }
+    int32_t i = 0;
+    for (; i < count; ++i) {
+        if ((sensorInfos[i].sensorTypeId == SENSOR_TYPE_ID_AMBIENT_LIGHT1) ||
+            (sensorInfos[i].sensorTypeId == SENSOR_TYPE_ID_PROXIMITY1)) {
+            SEN_HILOGD("This sensor is secondary ambient light");
+            continue;
+        }
+        Transform2CSensor(sensorInfos[i], sensorList.head[i]);
+    }
+    sensorList.size = i;
+
+    return ERR_OK;
+}
+} // namespace Sensors
+} // namespace OHOS