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keel::mobile — Cross-Platform Mobile & Embedded Hardware Abstraction Layer

keel::mobile is a lightweight, zero-STL-header C++20 hardware abstraction library built on top of keel for mobile, embedded, and desktop-simulated applications:

  • 9-DOF IMU & Environmental Sensors (keel::SensorManager):
    • Accelerometer ($\text{m/s}^2$), Linear Acceleration, Gravity Vector, 3-Axis Gyroscope ($\text{rad/s}$), 3-Axis Magnetometer ($\mu\text{T}$), Barometric Pressure ($\text{hPa}$) + ISA Barometric Altitude ($\text{m}$), Ambient Light ($\text{lux}$), Proximity ($\text{cm}$), and Pedometer Step Counter.
    • Quaternion & Euler attitude estimation (FlatTable and Handheld reference frames) with one-tap orientation tare (tare_orientation()) and zero-allocation history buffers.
    • Native Android NDK ASensorManager / ALooper backend + deterministic 6-DOF desktop physics simulator.
  • GNSS Location & Satellite Skyplot (keel::LocationService):
    • WGS-84 position fixes (GeoCoord), altitude, ground speed, course bearing, horizontal/vertical accuracy, Haversine great-circle distance (distance_meters), initial forward azimuth (bearing_degrees), breadcrumb route history, and 12-channel multi-constellation (GPS / GLONASS / Galileo / BeiDou) skyplot telemetry.
    • Native Android JNI LocationManager backend + figure-8 test route simulator.
  • Real-Time Audio Capture & 1024-Point FFT (keel::AudioCapture):
    • Lock-free PCM capture, RMS / Peak / dBFS level metering, Hann-windowed 1024-point Radix-2 Cooley-Tukey FFT (kSpectrumBins = 512), exponential spectral smoothing, peak-hold envelope, dominant frequency detection, and multi-harmonic + white-noise signal synthesis.
  • Mobile Camera & Real-Time Histograms (keel::CameraService):
    • Native Android Camera2 NDK (ACameraManager / AImageReader) low-latency YUV_420_888 to RGB888/RGBA8888 conversion with sensor orientation rotation and selfie mirroring, torch/flashlight control, EV exposure compensation, tap-to-focus, digital zoom, external frame injection, procedural SMPTE/Siemens optical test camera, and real-time 256-bin R/G/B/Luminance histograms.
  • Mobile OS System Bridge (keel::SystemBridge):
    • Runtime permissions (Camera, RecordAudio, FineLocation, BodySensors, Bluetooth, Notifications), tactile haptics (HapticStyle + Android JNI Vibrator), display safe-area insets (SafeAreaInsets), and battery/thermal telemetry.

Building & Running Tests

cmake -B build
cmake --build build
ctest --test-dir build --output-on-failure