| 1 | // Copyright (C) 2016 The Qt Company Ltd. |
|---|---|
| 2 | // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only |
| 3 | |
| 4 | #include "genericrotationsensor.h" |
| 5 | #include <QDebug> |
| 6 | #include <qmath.h> |
| 7 | |
| 8 | char const * const genericrotationsensor::id("generic.rotation"); |
| 9 | |
| 10 | genericrotationsensor::genericrotationsensor(QSensor *sensor) |
| 11 | : QSensorBackend(sensor) |
| 12 | { |
| 13 | accelerometer = new QAccelerometer(this); |
| 14 | accelerometer->addFilter(filter: this); |
| 15 | accelerometer->connectToBackend(); |
| 16 | |
| 17 | setReading<QRotationReading>(&m_reading); |
| 18 | setDataRates(accelerometer); |
| 19 | |
| 20 | QRotationSensor * const rotationSensor = qobject_cast<QRotationSensor *>(object: sensor); |
| 21 | if (rotationSensor) |
| 22 | rotationSensor->setHasZ(false); |
| 23 | } |
| 24 | |
| 25 | void genericrotationsensor::start() |
| 26 | { |
| 27 | accelerometer->setDataRate(sensor()->dataRate()); |
| 28 | accelerometer->setAlwaysOn(sensor()->isAlwaysOn()); |
| 29 | accelerometer->start(); |
| 30 | if (!accelerometer->isActive()) |
| 31 | sensorStopped(); |
| 32 | if (accelerometer->isBusy()) |
| 33 | sensorBusy(); |
| 34 | } |
| 35 | |
| 36 | void genericrotationsensor::stop() |
| 37 | { |
| 38 | accelerometer->stop(); |
| 39 | } |
| 40 | |
| 41 | bool genericrotationsensor::filter(QSensorReading *reading) |
| 42 | { |
| 43 | QAccelerometerReading *ar = qobject_cast<QAccelerometerReading*>(object: reading); |
| 44 | qreal pitch = 0; |
| 45 | qreal roll = 0; |
| 46 | |
| 47 | qreal x = ar->x(); |
| 48 | qreal y = ar->y(); |
| 49 | qreal z = ar->z(); |
| 50 | |
| 51 | // Note that the formula used come from this document: |
| 52 | // http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf |
| 53 | pitch = qRadiansToDegrees(radians: qAtan(v: y / qSqrt(v: x * x + z * z))); |
| 54 | roll = qRadiansToDegrees(radians: qAtan(v: x / qSqrt(v: y * y + z * z))); |
| 55 | // Roll is a left-handed rotation but we need right-handed rotation |
| 56 | roll = -roll; |
| 57 | |
| 58 | // We need to fix up roll to the (-180,180] range required. |
| 59 | // Check for negative theta values and apply an offset as required. |
| 60 | // Note that theta is defined as the angle of the Z axis relative |
| 61 | // to gravity (see referenced document). It's negative when the |
| 62 | // face of the device points downward. |
| 63 | qreal theta = qRadiansToDegrees(radians: qAtan(v: qSqrt(v: x * x + y * y) / z)); |
| 64 | if (theta < 0) { |
| 65 | if (roll > 0) |
| 66 | roll = 180 - roll; |
| 67 | else |
| 68 | roll = -180 - roll; |
| 69 | } |
| 70 | |
| 71 | m_reading.setTimestamp(ar->timestamp()); |
| 72 | m_reading.setFromEuler(x: pitch, y: roll, z: 0); |
| 73 | newReadingAvailable(); |
| 74 | return false; |
| 75 | } |
| 76 | |
| 77 |