Blackberry: Implement axes remapping for all axes-based sensors

The remapping code was moved to BbSensorBackend.

Change-Id: I6ede875594a2aaa3745b7deb4aa0ed64c2d9b855
Reviewed-by: Sean Harmer <sean.harmer@kdab.com>

1 files changed, 3 insertions, 55 deletions

diff --git a/src/plugins/sensors/blackberry/bbrotationsensor.cpp b/src/plugins/sensors/blackberry/bbrotationsensor.cpp
index f64844ae..5701c279 100644
--- a/src/plugins/sensors/blackberry/bbrotationsensor.cpp
+++ b/src/plugins/sensors/blackberry/bbrotationsensor.cpp
@@ -42,7 +42,6 @@
 
 #include "bbguihelper.h"
 #include "bbutil.h"
-#include <QtCore/qmath.h>
 
 using namespace BbUtil;
 
@@ -50,8 +49,6 @@ BbRotationSensor::BbRotationSensor(QSensor *sensor)
     : BbSensorBackend<QRotationReading>(devicePath(), SENSOR_TYPE_ROTATION_MATRIX, sensor)
 {
     setDescription(QLatin1String("Device rotation in degrees"));
-    m_mappingMatrix[0] = m_mappingMatrix[2] = 1;
-    m_mappingMatrix[1] = m_mappingMatrix[3] = 0;
 }
 
 QString BbRotationSensor::devicePath()
@@ -59,13 +56,6 @@ QString BbRotationSensor::devicePath()
     return QLatin1String("/dev/sensor/rotMatrix");
 }
 
-void BbRotationSensor::setGuiHelper(BbGuiHelper *guiHelper)
-{
-    BbSensorBackend<QRotationReading>::setGuiHelper(guiHelper);
-    connect(guiHelper, SIGNAL(orientationChanged()), this, SLOT(updateOrientation()));
-    updateOrientation();
-}
-
 void BbRotationSensor::additionalDeviceInit()
 {
     addOutputRange(-180, 180, 0 /* ? */);
@@ -78,40 +68,15 @@ bool BbRotationSensor::addDefaultRange()
     return false;
 }
 
-static void remapMatrix(const float inputMatrix[3*3],
-                        const float mappingMatrix[4],
-                        float outputMatrix[3*3])
-{
-    int i,j,k;
-
-    for (i = 0; i < 3; i++) {
-        for (j = 0; j < 2; j++) { //only goto 2 because last column stays unchanged
-
-            outputMatrix[i*3+j] = 0;
-
-            for (k = 0; k < 2; k++) { //only goto 2 because we know rotation matrix is zero in bottom row
-                outputMatrix[i*3+j] += inputMatrix[i*3+k] * mappingMatrix[k*2+j];
-            }
-        }
-
-        outputMatrix[i*3+2] = inputMatrix[i*3+2];
-    }
-}
-
 bool BbRotationSensor::updateReadingFromEvent(const sensor_event_t &event, QRotationReading *reading)
 {
     // sensor_event_t has euler angles for a Z-Y'-X'' system, but the QtMobility API
     // uses Z-X'-Y''.
     // So extract the euler angles using the Z-X'-Y'' system from the matrix.
     float xRad, yRad, zRad;
-
-    if (isAutoAxisRemappingEnabled() && guiHelper()->currentOrientation() != 0) {
-        float mappedRotationMatrix[3*3];
-        remapMatrix(event.rotation_matrix, m_mappingMatrix, mappedRotationMatrix);
-        matrixToEulerZXY(mappedRotationMatrix, xRad, yRad, zRad);
-    } else {
-        matrixToEulerZXY(event.rotation_matrix, xRad, yRad, zRad);
-    }
+    float mappedRotationMatrix[3*3];
+    remapMatrix(event.rotation_matrix, mappedRotationMatrix);
+    matrixToEulerZXY(mappedRotationMatrix, xRad, yRad, zRad);
 
     reading->setFromEuler(radiansToDegrees(xRad),
                           radiansToDegrees(yRad),
@@ -124,20 +89,3 @@ qreal BbRotationSensor::convertValue(float bbValueInRad)
 {
     return radiansToDegrees(bbValueInRad);
 }
-
-bool BbRotationSensor::isAutoAxisRemappingEnabled() const
-{
-    return sensor()->property("automaticAxisRemapping").toBool();
-}
-
-void BbRotationSensor::updateOrientation()
-{
-    // ### I can't really test this, the rotation matrix has too many glitches and drifts over time,
-    // making any measurement quite hard
-    const int rotationAngle = guiHelper()->currentOrientation();
-
-    m_mappingMatrix[0] = cos(rotationAngle*M_PI/180);
-    m_mappingMatrix[1] = sin(rotationAngle*M_PI/180);
-    m_mappingMatrix[2] = -sin(rotationAngle*M_PI/180);
-    m_mappingMatrix[3] = cos(rotationAngle*M_PI/180);
-}