public class MainActivity extends AppCompatActivity implements StepSensorBase.StepCallBack, OrientSensor.OrientCallBack {
    private TextView mStepText;
    private TextView mOrientText;
    private StepView mStepView;
    private StepSensorBase mStepSensor; // 计步传感器
    private OrientSensor mOrientSensor; // 方向传感器
    private int mStepLen = 50; // 步长

    @Override
    public void Step(int stepNum) {
        //  计步回调
        mStepText.setText("步数:" + stepNum);
        mStepView.autoAddPoint(mStepLen);
    }

    @Override
    public void Orient(int orient) {
        // 方向回调
        mOrientText.setText("方向:" + orient);
//        获取手机转动停止后的方向
//        orient = SensorUtil.getInstance().getRotateEndOrient(orient);
        mStepView.autoDrawArrow(orient);
    }

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        SensorUtil.getInstance().printAllSensor(this); // 打印所有可用传感器
        setContentView(R.layout.activity_main);
        mStepText = (TextView) findViewById(R.id.step_text);
        mOrientText = (TextView) findViewById(R.id.orient_text);
        mStepView = (StepView) findViewById(R.id.step_surfaceView);
        // 注册计步监听
//        mStepSensor = new StepSensorPedometer(this, this);
//        if (!mStepSensor.registerStep()) {
        mStepSensor = new StepSensorAcceleration(this, this);
        if (!mStepSensor.registerStep()) {
            Toast.makeText(this, "计步功能不可用！", Toast.LENGTH_SHORT).show();
        }
//        }
        // 注册方向监听
        mOrientSensor = new OrientSensor(this, this);
        if (!mOrientSensor.registerOrient()) {
            Toast.makeText(this, "方向功能不可用！", Toast.LENGTH_SHORT).show();
        }
    }

    @Override
    protected void onDestroy() {
        super.onDestroy();
        // 注销传感器监听
        mStepSensor.unregisterStep();
        mOrientSensor.unregisterOrient();
    }
}

/**
 * 传感器工具类，
 */
public class SensorUtil {
    private static final String TAG = "SensorUtil";
    private static final SensorUtil sensorUtil = new SensorUtil(); // 单例常量
    private SensorManager sensorManager;

    private static final int SENSE = 10; // 方向差值灵敏度
    private static final int STOP_COUNT = 6; // 停止次数
    private int initialOrient = -1; // 初始方向
    private int endOrient = -1; // 转动停止方向

    private boolean isRotating = false; // 是否正在转动
    private int lastDOrient = 0; // 上次方向与初始方向差值
    private Stack<Integer> dOrientStack = new Stack<>(); // 历史方向与初始方向的差值栈

    ···········省略··········

    /**
     * 获取手机转动停止的方向
     * @param orient 手机实时方向
     */
    public int getRotateEndOrient(int orient) {
        if (initialOrient == -1) {
            // 初始化转动
            endOrient = initialOrient = orient;
            Log.i(TAG, "getRotateEndOrient: 初始化，方向：" + initialOrient);
        }

        int currentDOrient = Math.abs(orient - initialOrient); // 当前方向与初始方向差值
        if (!isRotating) {
            // 检测是否开始转动
            lastDOrient = currentDOrient;
            if (lastDOrient >= SENSE) {
                // 开始转动
                isRotating = true;
            }
        } else {
            // 检测是否停止转动
            if (currentDOrient <= lastDOrient) {
                // 至少累计STOP_COUNT次出现当前方向差小于上次方向差
                int size = dOrientStack.size();
                if (size >= STOP_COUNT) {
                    // 只有以前SENSE次方向差距与当前差距的差值都小于等于SENSE，才判断为停止
                    for (int i = 0; i < size; i++) {
                        if (Math.abs(currentDOrient - dOrientStack.pop()) >= SENSE) {
                            isRotating = true;
                            break;
                        }
                        isRotating = false;
                    }
                }

                if (!isRotating) {
                    // 停止转动
                    dOrientStack.clear();
                    initialOrient = -1;
                    endOrient = orient;
                    Log.i(TAG, "getRotateEndOrient: ------停止转动，方向：" + endOrient);
                } else {
                    // 正在转动，把当前方向与初始方向差值入栈
                    dOrientStack.push(currentDOrient);
                    Log.i(TAG, "getRotateEndOrient: 正在转动，方向：" + orient);
                }
            } else {
                lastDOrient = currentDOrient;
            }
        }
        return endOrient;
    }
}