iOS: implement gyroscope for iOS

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

1 files changed, 92 insertions, 0 deletions

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