diff options
| -rw-r--r-- | .qmake.conf | 2 | ||||
| -rw-r--r-- | dist/changes-5.15.2 | 28 | ||||
| -rw-r--r-- | examples/sensors/grue/lib/lib.pri | 3 | ||||
| -rw-r--r-- | examples/sensors/grue/lib/lib.pro | 1 | ||||
| -rw-r--r-- | src/plugins/sensors/android/androidrotation.cpp | 41 | ||||
| -rw-r--r-- | src/plugins/sensors/android/sensoreventqueue.h | 3 |
6 files changed, 69 insertions, 9 deletions
diff --git a/.qmake.conf b/.qmake.conf index 2b92eda5..3880db6d 100644 --- a/.qmake.conf +++ b/.qmake.conf @@ -1,3 +1,3 @@ load(qt_build_config) -MODULE_VERSION = 5.15.3 +MODULE_VERSION = 5.15.13 diff --git a/dist/changes-5.15.2 b/dist/changes-5.15.2 new file mode 100644 index 00000000..3f584aec --- /dev/null +++ b/dist/changes-5.15.2 @@ -0,0 +1,28 @@ +Qt 5.15.2 is a bug-fix release. It maintains both forward and backward +compatibility (source and binary) with Qt 5.15.1. + +For more details, refer to the online documentation included in this +distribution. The documentation is also available online: + + https://doc.qt.io/qt-5.15/index.html + +The Qt version 5.15 series is binary compatible with the 5.14.x series. +Applications compiled for 5.14 will continue to run with 5.15. + +Some of the changes listed in this file include issue tracking numbers +corresponding to tasks in the Qt Bug Tracker: + + https://bugreports.qt.io/ + +Each of these identifiers can be entered in the bug tracker to obtain more +information about a particular change. + +**************************************************************************** +* Important Behavior Changes * +**************************************************************************** + +**************************************************************************** +* Library * +**************************************************************************** + + diff --git a/examples/sensors/grue/lib/lib.pri b/examples/sensors/grue/lib/lib.pri index 0e3da252..675914bc 100644 --- a/examples/sensors/grue/lib/lib.pri +++ b/examples/sensors/grue/lib/lib.pri @@ -3,4 +3,5 @@ INCLUDEPATH += $$PWD macos: LIBS += -L$$OUT_PWD/../grue_app.app/Contents/Frameworks else: LIBS += -L$$OUT_PWD/.. -LIBS += -lgruesensor +android: LIBS += -lgruesensor_$${QT_ARCH} +else: LIBS += -lgruesensor diff --git a/examples/sensors/grue/lib/lib.pro b/examples/sensors/grue/lib/lib.pro index cc10e5c4..197d91c8 100644 --- a/examples/sensors/grue/lib/lib.pro +++ b/examples/sensors/grue/lib/lib.pro @@ -1,5 +1,6 @@ TEMPLATE = lib TARGET = gruesensor +android: TARGET = gruesensor_$${QT_ARCH} macos: DESTDIR = ../grue_app.app/Contents/Frameworks else: DESTDIR = $$OUT_PWD/.. diff --git a/src/plugins/sensors/android/androidrotation.cpp b/src/plugins/sensors/android/androidrotation.cpp index c1d141a0..068d305f 100644 --- a/src/plugins/sensors/android/androidrotation.cpp +++ b/src/plugins/sensors/android/androidrotation.cpp @@ -48,12 +48,41 @@ AndroidRotation::AndroidRotation(int type, QSensor *sensor, QObject *parent) void AndroidRotation::dataReceived(const ASensorEvent &event) { - // ### Check me, at first look it seems wrong, - // here https://developer.android.com/reference/android/hardware/SensorEvent.html#sensor.type_rotation_vector: - // are the Android values - qreal rz = -qRadiansToDegrees(qreal(event.data[0])); // event.data[0] corresponds to x - qreal rx = -qRadiansToDegrees(qreal(event.data[1])); // event.data[1] corresponds to y - qreal ry = qRadiansToDegrees(qreal(event.data[2])); // event.data[2] corresponds to z + // From android documentation, the rotation sensor values are: + // values[0]: x*sin(θ/2) + // values[1]: y*sin(θ/2) + // values[2]: z*sin(θ/2) + // values[3]: cos(θ/2) + + // The mathematics below is adapted from + // https://android.googlesource.com/platform/frameworks/base/+/master/core/java/android/hardware/SensorManager.java#1644 + // and + // https://android.googlesource.com/platform/frameworks/base/+/master/core/java/android/hardware/SensorManager.java#1469 + // (getRotationMatrixFromVector() followed by getOrientation()) + qreal angles[3]; + qreal q1 = qreal(event.data[0]); + qreal q2 = qreal(event.data[1]); + qreal q3 = qreal(event.data[2]); + qreal q0 = qreal(event.data[3]); + + qreal sq_q1 = 2 * q1 * q1; + qreal sq_q2 = 2 * q2 * q2; + qreal sq_q3 = 2 * q3 * q3; + qreal q1_q2 = 2 * q1 * q2; + qreal q3_q0 = 2 * q3 * q0; + qreal q1_q3 = 2 * q1 * q3; + qreal q2_q0 = 2 * q2 * q0; + qreal q2_q3 = 2 * q2 * q3; + qreal q1_q0 = 2 * q1 * q0; + + angles[0] = std::atan2((q1_q2 - q3_q0), (1 - sq_q1 - sq_q3)); + angles[1] = std::asin(-(q2_q3 + q1_q0)); + angles[2] = std::atan2(-(q1_q3 - q2_q0), (1 - sq_q1 - sq_q2)); + + qreal rz = -qRadiansToDegrees(angles[0]); + qreal rx = -qRadiansToDegrees(angles[1]); + qreal ry = qRadiansToDegrees(angles[2]); + if (sensor()->skipDuplicates() && qFuzzyCompare(m_reader.x(), rx) && qFuzzyCompare(m_reader.y(), ry) && qFuzzyCompare(m_reader.z(), rz)) { diff --git a/src/plugins/sensors/android/sensoreventqueue.h b/src/plugins/sensors/android/sensoreventqueue.h index 77bf05c6..e6087059 100644 --- a/src/plugins/sensors/android/sensoreventqueue.h +++ b/src/plugins/sensors/android/sensoreventqueue.h @@ -125,8 +125,9 @@ public: void start() override { ASensorEventQueue_enableSensor(m_sensorEventQueue, m_sensor); + // The QSensor datarate is in Hz (frequency), whereas the setEventRate expects microseconds if (sensor()->dataRate() > 0) - ASensorEventQueue_setEventRate(m_sensorEventQueue, m_sensor, std::max(ASensor_getMinDelay(m_sensor), sensor()->dataRate())); + ASensorEventQueue_setEventRate(m_sensorEventQueue, m_sensor, std::max(ASensor_getMinDelay(m_sensor), 1000000/sensor()->dataRate())); m_started = true; } void stop() override |