Add blackberry backend

sensor.h is a temporary copy until this file is available
in the Blackberry NDK.

Change-Id: I6a47ee4c8ccc0cc3603ea2df3c9fd61259e8ffac
Reviewed-by: Lincoln Ramsay <lincoln.ramsay@nokia.com>

1 files changed, 114 insertions, 0 deletions

diff --git a/src/plugins/sensors/blackberry/bbrotationsensor.cpp b/src/plugins/sensors/blackberry/bbrotationsensor.cpp
new file mode 100644
index 00000000..fe34ea4e
--- /dev/null
+++ b/src/plugins/sensors/blackberry/bbrotationsensor.cpp
@@ -0,0 +1,114 @@
+/****************************************************************************
+**
+** Copyright (C) 2012 Research In Motion
+** Contact: http://www.qt-project.org/
+**
+** This file is part of the QtSensors module of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:LGPL$
+** GNU Lesser General Public License Usage
+** 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, Nokia gives you certain additional
+** rights. These rights are described in the Nokia 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.
+**
+** Other Usage
+** Alternatively, this file may be used in accordance with the terms and
+** conditions contained in a signed written agreement between you and Nokia.
+**
+**
+**
+**
+**
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+#include "bbrotationsensor.h"
+
+#include "bbutil.h"
+#include <QtCore/qmath.h>
+
+BbRotationSensor::BbRotationSensor(QSensor *sensor)
+    : BbSensorBackend<QRotationReading>(devicePath(), SENSOR_TYPE_ROTATION_MATRIX, sensor)
+{
+    setDescription(QLatin1String("Device rotation in degrees"));
+}
+
+QString BbRotationSensor::devicePath()
+{
+    return QLatin1String("/dev/sensor/rotMatrix");
+}
+
+void BbRotationSensor::additionalDeviceInit()
+{
+    addOutputRange(-180, 180, 0 /* ? */);
+}
+
+bool BbRotationSensor::addDefaultRange()
+{
+    // The range we get from the OS service is only -1 to 1, which are the values of the matrix.
+    // We need the values of the axes in degrees.
+    return false;
+}
+
+static float getMatrixElement(const float matrix[3*3], int index0, int index1)
+{
+    return matrix[index0 * 3 + index1];
+}
+
+static void matrixToEulerZXY(const float matrix[3*3],
+                             float &thetaX, float &thetaY, float& thetaZ)
+{
+    thetaX = asin( getMatrixElement(matrix, 2, 1));
+    if ( thetaX < M_PI_2 ) {
+        if ( thetaX > -M_PI_2 ) {
+            thetaZ = atan2( -getMatrixElement(matrix, 0, 1),
+                             getMatrixElement(matrix, 1, 1) );
+            thetaY = atan2( -getMatrixElement(matrix, 2, 0),
+                             getMatrixElement(matrix, 2, 2) );
+        } else {
+            // Not a unique solution
+            thetaZ = -atan2( getMatrixElement(matrix, 0, 2),
+                             getMatrixElement(matrix, 0, 0) );
+            thetaY = 0.0;
+        }
+    } else {
+        // Not a unique solution
+        thetaZ = atan2( getMatrixElement(matrix, 0, 2),
+                        getMatrixElement(matrix, 0, 0) );
+        thetaY = 0.0;
+    }
+}
+
+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;
+    matrixToEulerZXY(event.rotation_matrix, xRad, yRad, zRad);
+    reading->setX(radiansToDegrees(xRad));
+    reading->setY(radiansToDegrees(yRad));
+    reading->setZ(radiansToDegrees(zRad));
+    return true;
+}
+
+qreal BbRotationSensor::convertValue(float bbValueInRad)
+{
+    return radiansToDegrees(bbValueInRad);
+}