Compass sensor implementation for Android

Change-Id: Ic13d2d1e400a92b2f0c3c83e279c58b799f9d06b
Reviewed-by: Lorn Potter <lorn.potter@jollamobile.com>

7 files changed, 298 insertions, 0 deletions

diff --git a/src/plugins/sensors/android/jar/src/org/qtproject/qt5/android/sensors/QtSensors.java b/src/plugins/sensors/android/jar/src/org/qtproject/qt5/android/sensors/QtSensors.java
index efd1ff6d..e7e309ed 100644
--- a/src/plugins/sensors/android/jar/src/org/qtproject/qt5/android/sensors/QtSensors.java
+++ b/src/plugins/sensors/android/jar/src/org/qtproject/qt5/android/sensors/QtSensors.java
@@ -153,6 +153,25 @@ public class QtSensors implements SensorEventListener
         return angles;
     }
 
+    private static float[] mRotation = new float[9];
+    private static float[] mOrientation = new float[3];
+    private static float[] mAcc = new float[3];
+    private static float[] mMag = new float[3];
+
+    private static float getCompassAzimuth(float a0, float a1, float a2, float m0, float m1, float m2)
+    {
+        mAcc[0] = a0;
+        mAcc[1] = a1;
+        mAcc[2] = a2;
+        mMag[0] = m0;
+        mMag[1] = m1;
+        mMag[2] = m2;
+
+        SensorManager.getRotationMatrix(mRotation, null, mAcc, mMag);
+        SensorManager.getOrientation(mRotation, mOrientation);
+        return mOrientation[0];
+    }
+
     public static native void accuracyChanged(int sensorType, int accuracy);
     public static native void sensorChanged(int sensorType, long timestamp, float[] values);
 
diff --git a/src/plugins/sensors/android/src/androidcompass.cpp b/src/plugins/sensors/android/src/androidcompass.cpp
new file mode 100644
index 00000000..f2b4bd25
--- /dev/null
+++ b/src/plugins/sensors/android/src/androidcompass.cpp
@@ -0,0 +1,173 @@
+/****************************************************************************
+**
+** Copyright (C) 2014 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 "androidcompass.h"
+
+#include <QDebug>
+#include <qmath.h>
+#include "androidjnisensors.h"
+
+
+class AndroidAccelerometerListener : public AndroidSensors::AndroidSensorsListenerInterface
+{
+public:
+
+    AndroidAccelerometerListener(AndroidCompass *parent)
+        : m_compass(parent)
+    {
+    }
+
+    void start(int dataRate)
+    {
+        AndroidSensors::registerListener(AndroidSensors::TYPE_ACCELEROMETER, this, dataRate);
+    }
+
+    void stop()
+    {
+        AndroidSensors::unregisterListener(AndroidSensors::TYPE_ACCELEROMETER, this);
+    }
+
+    void onAccuracyChanged(jint accuracy) Q_DECL_OVERRIDE
+    {
+        Q_UNUSED(accuracy);
+    }
+
+    void onSensorChanged(jlong /*timestamp*/, const jfloat *values, uint size) Q_DECL_OVERRIDE
+    {
+        if (size < 3)
+            return;
+        reading[0] = values[0];
+        reading[1] = values[1];
+        reading[2] = values[2];
+        m_compass->testStuff();
+    }
+
+    jfloat reading[3];
+
+private:
+    AndroidCompass *m_compass;
+};
+
+class AndroidMagnetometerListener : public AndroidSensors::AndroidSensorsListenerInterface
+{
+public:
+    AndroidMagnetometerListener(AndroidCompass *parent)
+        :m_compass(parent)
+    {
+
+    }
+
+    void start(int dataRate)
+    {
+        AndroidSensors::registerListener(AndroidSensors::TYPE_MAGNETIC_FIELD, this, dataRate);
+    }
+
+    void stop()
+    {
+        AndroidSensors::unregisterListener(AndroidSensors::TYPE_MAGNETIC_FIELD, this);
+    }
+
+    void onAccuracyChanged(jint accuracy) Q_DECL_OVERRIDE
+    {
+        Q_UNUSED(accuracy);
+    }
+
+    void onSensorChanged(jlong /*timestamp*/, const jfloat *values, uint size) Q_DECL_OVERRIDE
+    {
+        if (size < 3)
+            return;
+        reading[0] = values[0];
+        reading[1] = values[1];
+        reading[2] = values[2];
+        m_compass->testStuff();
+    }
+
+    jfloat reading[3];
+private:
+    AndroidCompass *m_compass;
+};
+
+char const * const AndroidCompass::id("android.synthetic.compass");
+
+AndroidCompass::AndroidCompass(QSensor *sensor)
+    : QSensorBackend(sensor), m_accelerometerListener(0), m_magnetometerListener(0), m_isStarted(false)
+{
+    setReading<QCompassReading>(&m_reading);
+    m_isStarted = false;
+}
+
+AndroidCompass::~AndroidCompass()
+{
+    if (m_isStarted)
+        stop();
+    delete m_accelerometerListener;
+    delete m_magnetometerListener;
+}
+
+void AndroidCompass::start()
+{
+    if (!m_accelerometerListener)
+        m_accelerometerListener = new AndroidAccelerometerListener(this);
+    m_accelerometerListener->start(sensor()->dataRate());
+    if (!m_magnetometerListener)
+        m_magnetometerListener = new AndroidMagnetometerListener(this);
+    m_magnetometerListener->start(sensor()->dataRate());
+
+    m_isStarted = true;
+}
+
+void AndroidCompass::stop()
+{
+    if (m_isStarted) {
+        m_isStarted = false;
+        m_accelerometerListener->stop();
+        m_magnetometerListener->stop();
+    }
+}
+
+void AndroidCompass::testStuff()
+{
+    qreal azimuth = AndroidSensors::getCompassAzimuth(m_accelerometerListener->reading, m_magnetometerListener->reading);
+
+    azimuth = azimuth * 180.0 / M_PI;
+    m_reading.setAzimuth(azimuth);
+    newReadingAvailable();
+}
diff --git a/src/plugins/sensors/android/src/androidcompass.h b/src/plugins/sensors/android/src/androidcompass.h
new file mode 100644
index 00000000..897dd463
--- /dev/null
+++ b/src/plugins/sensors/android/src/androidcompass.h
@@ -0,0 +1,76 @@
+/****************************************************************************
+**
+** Copyright (C) 2014 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 ANDROIDCOMPASS_H
+#define ANDROIDCOMPASS_H
+#include <qcompass.h>
+
+#include "androidcommonsensor.h"
+
+class AndroidAccelerometerListener;
+class AndroidMagnetometerListener;
+
+class AndroidCompass : public QSensorBackend
+{
+    Q_OBJECT
+
+public:
+    static char const * const id;
+
+    AndroidCompass(QSensor *sensor);
+    ~AndroidCompass();
+
+    void start() Q_DECL_OVERRIDE;
+    void stop() Q_DECL_OVERRIDE;
+
+private:
+    AndroidAccelerometerListener *m_accelerometerListener;
+    AndroidMagnetometerListener *m_magnetometerListener;
+
+    QCompassReading m_reading;
+    bool m_isStarted;
+
+public Q_SLOTS:
+    void testStuff();
+
+};
+
+#endif // ANDROIDCOMPASS_H
diff --git a/src/plugins/sensors/android/src/androidjnisensors.cpp b/src/plugins/sensors/android/src/androidjnisensors.cpp
index 87889a89..9a7b671a 100644
--- a/src/plugins/sensors/android/src/androidjnisensors.cpp
+++ b/src/plugins/sensors/android/src/androidjnisensors.cpp
@@ -54,6 +54,7 @@ static jmethodID registerSensorMethodId;
 static jmethodID unregisterSensorMethodId;
 static jmethodID getSensorDescriptionMethodId;
 static jmethodID getSensorMaximumRangeMethodId;
+static jmethodID getCompassAzimuthId;
 
 static QHash<int, QList<AndroidSensors::AndroidSensorsListenerInterface *> > listenersHash;
 QReadWriteLock listenersLocker;
@@ -166,6 +167,20 @@ namespace AndroidSensors
         }
         return true;
     }
+
+    qreal getCompassAzimuth(jfloat *accelerometerReading, jfloat *magnetometerReading)
+    {
+            AttachedJNIEnv aenv;
+            if (!aenv.jniEnv)
+                return 0.0;
+            return aenv.jniEnv->CallStaticFloatMethod(sensorsClass, getCompassAzimuthId,
+                                                        accelerometerReading[0],
+                                                        accelerometerReading[1],
+                                                        accelerometerReading[2],
+                                                        magnetometerReading[0],
+                                                        magnetometerReading[1],
+                                                        magnetometerReading[2]);
+    }
 }
 
 static const char logTag[] = "Qt";
@@ -227,6 +242,7 @@ static bool registerNatives(JNIEnv *env)
     GET_AND_CHECK_STATIC_METHOD(unregisterSensorMethodId, sensorsClass, "unregisterSensor", "(I)Z");
     GET_AND_CHECK_STATIC_METHOD(getSensorDescriptionMethodId, sensorsClass, "getSensorDescription", "(I)Ljava/lang/String;");
     GET_AND_CHECK_STATIC_METHOD(getSensorMaximumRangeMethodId, sensorsClass, "getSensorMaximumRange", "(I)F");
+    GET_AND_CHECK_STATIC_METHOD(getCompassAzimuthId, sensorsClass, "getCompassAzimuth", "(FFFFFF)F");
 
     return true;
 }
diff --git a/src/plugins/sensors/android/src/androidjnisensors.h b/src/plugins/sensors/android/src/androidjnisensors.h
index 30aab6cc..9d2ccf55 100644
--- a/src/plugins/sensors/android/src/androidjnisensors.h
+++ b/src/plugins/sensors/android/src/androidjnisensors.h
@@ -83,6 +83,7 @@ namespace AndroidSensors
     qreal sensorMaximumRange(AndroidSensorType sensor);
     bool registerListener(AndroidSensorType sensor, AndroidSensorsListenerInterface *listener, int dataRate = 0);
     bool unregisterListener(AndroidSensorType sensor, AndroidSensorsListenerInterface *listener);
+    qreal getCompassAzimuth(jfloat *accelerometerReading, jfloat *magnetometerReading);
 }
 
 #endif // ANDROIDJNISENSORS_H
diff --git a/src/plugins/sensors/android/src/main.cpp b/src/plugins/sensors/android/src/main.cpp
index 3d8604fe..b8d14960 100644
--- a/src/plugins/sensors/android/src/main.cpp
+++ b/src/plugins/sensors/android/src/main.cpp
@@ -44,7 +44,9 @@
 #include <qsensorbackend.h>
 #include <qsensormanager.h>
 #include <qaccelerometer.h>
+#include <qcompass.h>
 #include "androidaccelerometer.h"
+#include "androidcompass.h"
 #include "androidgyroscope.h"
 #include "androidlight.h"
 #include "androidmagnetometer.h"
@@ -63,10 +65,13 @@ class AndroidSensorPlugin : public QObject, public QSensorPluginInterface, publi
 public:
     void registerSensors()
     {
+        bool accelerometer = false;
+        bool magnetometer = false;
         foreach (AndroidSensorType sensor, availableSensors()) {
             switch (sensor) {
             case TYPE_ACCELEROMETER:
                 QSensorManager::registerBackend(QAccelerometer::type, QByteArray::number(sensor), this);
+                accelerometer = true;
                 break;
             case TYPE_AMBIENT_TEMPERATURE:
             case TYPE_TEMPERATURE:
@@ -84,6 +89,7 @@ public:
                 break; // add the linear acceleration sensor backend
             case TYPE_MAGNETIC_FIELD:
                 QSensorManager::registerBackend(QMagnetometer::type, QByteArray::number(sensor), this);
+                magnetometer = true;
                 break;
             case TYPE_ORIENTATION:
                 break; // add the orientation sensor backend
@@ -106,10 +112,15 @@ public:
                 break; // add backends for API level 18 sensors
             }
         }
+        if (accelerometer && magnetometer)
+            QSensorManager::registerBackend(QCompass::type, AndroidCompass::id, this);
     }
 
     QSensorBackend *createBackend(QSensor *sensor)
     {
+        if (sensor->identifier() == AndroidCompass::id)
+            return new AndroidCompass(sensor);
+
         AndroidSensorType type = static_cast<AndroidSensorType>(sensor->identifier().toInt());
         switch (type) {
         case TYPE_ACCELEROMETER: {
diff --git a/src/plugins/sensors/android/src/src.pro b/src/plugins/sensors/android/src/src.pro
index 21423efb..23a6bead 100644
--- a/src/plugins/sensors/android/src/src.pro
+++ b/src/plugins/sensors/android/src/src.pro
@@ -12,6 +12,7 @@ DEFINES += QT_STATICPLUGIN
 HEADERS = \
     androidjnisensors.h \
     androidaccelerometer.h \
+    androidcompass.h \
     androidcommonsensor.h \
     androidgyroscope.h \
     androidmagnetometer.h \
@@ -25,6 +26,7 @@ SOURCES = \
     main.cpp \
     androidjnisensors.cpp \
     androidaccelerometer.cpp \
+    androidcompass.cpp \
     androidgyroscope.cpp \
     androidmagnetometer.cpp \
     androidpressure.cpp \