iOS: implement gyroscope for iOS

Change-Id: I4a46908a4b4e166c489dce4a034ef68698288419
Reviewed-by: Thomas McGuire <thomas.mcguire@kdab.com>
Reviewed-by: Lorn Potter <lorn.potter@jollamobile.com>

5 files changed, 172 insertions, 5 deletions

diff --git a/src/plugins/sensors/ios/ios.pro b/src/plugins/sensors/ios/ios.pro
index 4242cfca..303c9741 100644
--- a/src/plugins/sensors/ios/ios.pro
+++ b/src/plugins/sensors/ios/ios.pro
@@ -8,10 +8,12 @@ load(qt_plugin)
 OTHER_FILES = plugin.json
 
 HEADERS += iosaccelerometer.h \
-        iosmotionmanager.h
+        iosmotionmanager.h \
+        iosgyroscope.h
 
 OBJECTIVE_SOURCES += main.mm \
     iosaccelerometer.mm \
-    iosmotionmanager.mm
+    iosmotionmanager.mm \
+    iosgyroscope.mm
 
 LIBS += -framework UIKit -framework CoreMotion
diff --git a/src/plugins/sensors/ios/iosgyroscope.h b/src/plugins/sensors/ios/iosgyroscope.h
new file mode 100644
index 00000000..358a7c83
--- /dev/null
+++ b/src/plugins/sensors/ios/iosgyroscope.h
@@ -0,0 +1,68 @@
+/****************************************************************************
+**
+** Copyright (C) 2012 Digia Plc and/or its subsidiary(-ies).
+** Contact: http://www.qt-project.org/legal
+**
+** This file is part of the QtSensors module of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:LGPL$
+** Commercial License Usage
+** Licensees holding valid commercial Qt licenses may use this file in
+** accordance with the commercial license agreement provided with the
+** Software or, alternatively, in accordance with the terms contained in
+** a written agreement between you and Digia.  For licensing terms and
+** conditions see http://qt.digia.com/licensing.  For further information
+** use the contact form at http://qt.digia.com/contact-us.
+**
+** GNU Lesser General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU Lesser
+** General Public License version 2.1 as published by the Free Software
+** Foundation and appearing in the file LICENSE.LGPL included in the
+** packaging of this file.  Please review the following information to
+** ensure the GNU Lesser General Public License version 2.1 requirements
+** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+**
+** In addition, as a special exception, Digia gives you certain additional
+** rights.  These rights are described in the Digia Qt LGPL Exception
+** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
+**
+** GNU General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU
+** General Public License version 3.0 as published by the Free Software
+** Foundation and appearing in the file LICENSE.GPL included in the
+** packaging of this file.  Please review the following information to
+** ensure the GNU General Public License version 3.0 requirements will be
+** met: http://www.gnu.org/copyleft/gpl.html.
+**
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#ifndef IOSGYROSCOPE_H
+#define IOSGYROSCOPE_H
+
+#include <qsensorbackend.h>
+#include <qgyroscope.h>
+
+QT_BEGIN_NAMESPACE
+
+class IOSGyroscope : public QSensorBackend
+{
+public:
+    static char const * const id;
+
+    explicit IOSGyroscope(QSensor *sensor);
+    ~IOSGyroscope();
+
+    void start();
+    void stop();
+
+private:
+    void *m_updateQueue;
+    QGyroscopeReading m_reading;
+};
+QT_END_NAMESPACE
+
+#endif // IOSGYROSCOPE_H
+
diff --git a/src/plugins/sensors/ios/iosgyroscope.mm b/src/plugins/sensors/ios/iosgyroscope.mm
new file mode 100644
index 00000000..987f5688
--- /dev/null
+++ b/src/plugins/sensors/ios/iosgyroscope.mm
@@ -0,0 +1,92 @@
+/****************************************************************************
+**
+** Copyright (C) 2012 Digia Plc and/or its subsidiary(-ies).
+** Contact: http://www.qt-project.org/legal
+**
+** This file is part of the QtSensors module of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:LGPL$
+** Commercial License Usage
+** Licensees holding valid commercial Qt licenses may use this file in
+** accordance with the commercial license agreement provided with the
+** Software or, alternatively, in accordance with the terms contained in
+** a written agreement between you and Digia.  For licensing terms and
+** conditions see http://qt.digia.com/licensing.  For further information
+** use the contact form at http://qt.digia.com/contact-us.
+**
+** GNU Lesser General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU Lesser
+** General Public License version 2.1 as published by the Free Software
+** Foundation and appearing in the file LICENSE.LGPL included in the
+** packaging of this file.  Please review the following information to
+** ensure the GNU Lesser General Public License version 2.1 requirements
+** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+**
+** In addition, as a special exception, Digia gives you certain additional
+** rights.  These rights are described in the Digia Qt LGPL Exception
+** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
+**
+** GNU General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU
+** General Public License version 3.0 as published by the Free Software
+** Foundation and appearing in the file LICENSE.GPL included in the
+** packaging of this file.  Please review the following information to
+** ensure the GNU General Public License version 3.0 requirements will be
+** met: http://www.gnu.org/copyleft/gpl.html.
+**
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#include <CoreMotion/CMMotionManager.h>
+
+#include "iosmotionmanager.h"
+#include "iosgyroscope.h"
+
+char const * const IOSGyroscope::id("ios.gyroscope");
+
+QT_BEGIN_NAMESPACE
+
+IOSGyroscope::IOSGyroscope(QSensor *sensor)
+    : QSensorBackend(sensor)
+    , m_updateQueue([[NSOperationQueue alloc] init])
+{
+    setReading<QGyroscopeReading>(&m_reading);
+    addDataRate(1, 100); // 100Hz is max it seems
+    addOutputRange(-360, 360, 0.01);
+}
+
+IOSGyroscope::~IOSGyroscope()
+{
+    [static_cast<NSOperationQueue *>(m_updateQueue) release];
+}
+
+void IOSGyroscope::start()
+{
+    CMMotionManager *motionManager = [QIOSMotionManager sharedManager];
+    // Convert Hz to NSTimeInterval:
+    int hz = sensor()->dataRate();
+    motionManager.gyroUpdateInterval = (hz == 0) ? 0 : 1. / hz;
+
+    NSOperationQueue *queue = static_cast<NSOperationQueue *>(m_updateQueue);
+    [motionManager startGyroUpdatesToQueue:queue withHandler:^(CMGyroData *data, NSError *error) {
+        dispatch_async(dispatch_get_main_queue(), ^{
+            Q_UNUSED(error);
+            // Convert NSTimeInterval to microseconds and radians to degrees:
+            CMRotationRate rate = data.rotationRate;
+            m_reading.setTimestamp(quint64(data.timestamp * 1000000));
+            m_reading.setX((qreal(rate.x) / M_PI) * 180);
+            m_reading.setY((qreal(rate.y) / M_PI) * 180);
+            m_reading.setZ((qreal(rate.z) / M_PI) * 180);
+            newReadingAvailable();
+        });
+    }];
+}
+
+void IOSGyroscope::stop()
+{
+    [[QIOSMotionManager sharedManager] stopGyroUpdates];
+}
+
+QT_END_NAMESPACE
diff --git a/src/plugins/sensors/ios/main.mm b/src/plugins/sensors/ios/main.mm
index 3c739393..efa5370a 100644
--- a/src/plugins/sensors/ios/main.mm
+++ b/src/plugins/sensors/ios/main.mm
@@ -43,7 +43,9 @@
 #include <qsensorbackend.h>
 #include <qsensormanager.h>
 
+#include "iosmotionmanager.h"
 #include "iosaccelerometer.h"
+#include "iosgyroscope.h"
 
 class IOSSensorPlugin : public QObject, public QSensorPluginInterface, public QSensorBackendFactory
 {
@@ -53,14 +55,17 @@ class IOSSensorPlugin : public QObject, public QSensorPluginInterface, public QS
 public:
     void registerSensors()
     {
-        if (!QSensorManager::isBackendRegistered(QAccelerometer::type, IOSAccelerometer::id))
-            QSensorManager::registerBackend(QAccelerometer::type, IOSAccelerometer::id, this);
+        QSensorManager::registerBackend(QAccelerometer::type, IOSAccelerometer::id, this);
+        if ([QIOSMotionManager sharedManager].gyroAvailable)
+            QSensorManager::registerBackend(QGyroscope::type, IOSGyroscope::id, this);
     }
 
     QSensorBackend *createBackend(QSensor *sensor)
     {
         if (sensor->identifier() == IOSAccelerometer::id)
             return new IOSAccelerometer(sensor);
+        if (sensor->identifier() == IOSGyroscope::id)
+            return new IOSGyroscope(sensor);
 
         return 0;
     }
diff --git a/src/sensors/doc/src/compatmap.qdoc b/src/sensors/doc/src/compatmap.qdoc
index 62f94de0..9bb21fea 100644
--- a/src/sensors/doc/src/compatmap.qdoc
+++ b/src/sensors/doc/src/compatmap.qdoc
@@ -110,7 +110,7 @@
     <td bgcolor="green"></td>
     <td bgcolor="green"></td>
     <td bgcolor="gray"></td>
-    <td bgcolor="gray"></td>
+    <td bgcolor="green"></td>
     <td bgcolor="gray"></td>
     <td bgcolor="green"></td>
     </tr>