/**************************************************************************** ** ** Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). ** All rights reserved. ** Contact: Nokia Corporation (qt-info@nokia.com) ** ** This file is part of the plugins 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 "qsensor2tilt.h" #define _USE_MATH_DEFINES #include #include #include QT_BEGIN_NAMESPACE /*! \qmlclass TiltSensor QSensor2Tilt \inqmlmodule QtSensors 5 \ingroup qml-QtSensors5 \since QtSensors 5.0 \brief The TiltSensor element provides tilt datas from x and y rotation of the device using the accelerometer sensor. This element is part of the \bold{QtSensors 5} module. \target tiltreferenceenum \section1 Enums \section2 TiltSensor::TiltReference This enum describes the orientation of the device. \table \row \o TiltSensor::TopUp \o The top of the device points up \o \image TopUp.gif \row \o TiltSensor::TopDown \o The top of the device points down \o \image TopDown.gif \row \o TiltSensor::LeftUp \o The left site of the device points up \o \image LeftUp.gif \row \o TiltSensor::RightUp \o The right site of the device points up \o \image RightUp.gif \row \o TiltSensor::FaceUp \o The screen of the device points up \o \image FaceUp.gif \row \o TiltSensor::FaceDown \o The screen of the device points down \o \image FaceDown.gif \endtable */ QSensor2Tilt::QSensor2Tilt(QObject* parent) : QObject(parent) , _measureFrom(QSensor2Tilt::FaceUp) , _yRotation(0) , _xRotation(0) , _useRadian(true) { _accel = new QAccelerometer(this); _accel->addFilter(this); } QSensor2Tilt::~QSensor2Tilt() { } /*! \qmlproperty bool QtSensors5::TiltSensor::dataRate Holds the data rate that the sensor should be run at. */ /*! \qmlsignal QtSensors5::TiltSensor::onDataRateChanged() This signal is emitted whenever the value of the property dataRate has been changed. */ int QSensor2Tilt::dataRate() { return _accel->dataRate(); } void QSensor2Tilt::setDataRate(int val) { if (val != dataRate()){ _accel->setDataRate(val); emit dataRateChanged(); } } /*! \qmlproperty bool QtSensors5::TiltSensor::running Holds the identication if the sensor runs or not. */ /*! \qmlsignal QtSensors5::TiltSensor::onRunningChanged() This signal is emitted whenever the value of the property running has been changed. */ bool QSensor2Tilt::running() { return _accel->isActive(); } void QSensor2Tilt::setRunning(bool val) { bool active = running(); if (active != val){ if (val){ bool ret = _accel->start(); if (!ret) qWarning() << "couldn't start the sensor."; } else _accel->stop(); emit runningChanged(); } } /*! \qmlproperty QSensor2Tilt::TiltReference QtSensors5::TiltSensor::measureFrom Holds the orientation in which the rotation should be calculated. \sa {tiltreferenceenum} {TiltReference::TiltReference} */ /*! \qmlsignal QtSensors5::TiltSensor::onMeasureFromChanged() This signal is emitted whenever the value of the property measureFrom has been changed. */ QSensor2Tilt::TiltReference QSensor2Tilt::measureFrom() { return _measureFrom; } void QSensor2Tilt::setMeasureFrom(QSensor2Tilt::TiltReference val) { if (val != _measureFrom){ _measureFrom = val; emit measureFromChanged(); } } /*! \qmlproperty bool QtSensors5::TiltSensor::radian Holds the unit of the rotation. True is rad otherwise deg. true = report values in radians. false = report values in degrees. */ bool QSensor2Tilt::radian() { return _useRadian; } void QSensor2Tilt::setRadian(bool val) { _useRadian = val; } /*! \qmlproperty float QtSensors5::TiltSensor::yRotation Holds the rotation arround the y axis. \table \row \o \image YAngle.gif \o \image YAngleNegative.gif \endtable */ /*! \qmlsignal QtSensors5::TiltSensor::onYRotationChanged() This signal is emitted whenever the value of the property yRotation has been changed. */ float QSensor2Tilt::yRotation() { return _yRotation; } /*! \qmlproperty float QtSensors5::TiltSensor::xRotation Holds the rotation arround the x axis. \table \row \o \image XAngle.gif \o \image XAngleNegative.gif \endtable */ /*! \qmlsignal QtSensors5::TiltSensor::onXRotationChanged() This signal is emitted whenever the value of the property XRotation has been changed. */ float QSensor2Tilt::xRotation() { return _xRotation; } /* Angle between Ground and X | Ax | pitch = arctan| ----------------------- | | sqrt(Ay * Ay + Az * Az)| */ inline float calcPitch(double Ax, double Ay, double Az) { errno = 0; float ret = (float)-atan(Ax / (sqrt(Ay * Ay + Az * Az))); if (errno == EDOM){ ret = 0.0; errno = 0; } return ret; } /* Angle between Ground and Y | Ay | pitch = arctan| ----------------------- | | sqrt(Ax * Ax + Az * Az)| */ inline float calcRoll(double Ax, double Ay, double Az) { errno = 0; float ret = (float)atan(Ay / (sqrt(Ax * Ax + Az * Az))); if (errno == EDOM){ ret = 0.0; errno = 0; } return ret; } bool QSensor2Tilt::filter(QAccelerometerReading* reading) { /* z y | / |/___ x */ int x = reading->x(); int y = reading->y(); int z = reading->z(); float xrot = 0; float yrot = 0; switch (_measureFrom) { case QSensor2Tilt::FaceUp: /* y | => Ax = x, Ay = y, Az = z |___ x */ yrot = calcPitch(x, y, z); xrot = calcRoll(x, y, z); break; case QSensor2Tilt::LeftUp: /* z | => Ax = y, Ay = z, Az = x |___ y */ yrot = calcPitch(y, z, x); xrot = -calcRoll(y, z, x); break; case QSensor2Tilt::TopDown: /* z | => Ax = -x, Ay = z, Az = y |___ -x */ yrot = -calcPitch(x, z, y); xrot = -calcRoll(x, z, y); break; case QSensor2Tilt::FaceDown: /* -y | => Ax = x, Ay = -y, Az = -z |___ x */ yrot = calcPitch(-x, -y, z); xrot = -calcRoll(-x, -y, z); break; case QSensor2Tilt::RightUp: /* z | => Ax = -y, Ay = z, Az = -x |___ -y */ yrot = calcPitch(-y, z, -x); xrot = -calcRoll(-y, z, -x); break; case QSensor2Tilt::TopUp: /* z | => Ax = x, Ay = z, Az = -y |___ x */ yrot = calcPitch(x, z, -y); xrot = -calcRoll(x, z, -y); break; } if (!_useRadian){ yrot = 180 * yrot / M_PI; xrot = 180 * xrot / M_PI; } if (xrot != _xRotation){ _xRotation = xrot; emit xRotationChanged(); } if (yrot != _yRotation){ _yRotation = yrot; emit yRotationChanged(); } return false; } QT_END_NAMESPACE