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#include "iosaccelerometer.h"
#include "iosmotionmanager.h"

#include <UIKit/UIAccelerometer.h>
#include <CoreMotion/CMMotionManager.h>

char const * const IOSAccelerometer::id("ios.accelerometer");

QT_BEGIN_NAMESPACE

IOSAccelerometer::IOSAccelerometer(QSensor *sensor)
    : QSensorBackend(sensor)
    , m_updateQueue([[NSOperationQueue alloc] init])
{
    setReading<QAccelerometerReading>(&m_reading);
    addDataRate(1, 100); // 100Hz
    addOutputRange(-22.418, 22.418, 0.17651); // 2G
}

IOSAccelerometer::~IOSAccelerometer()
{
    [m_updateQueue release];
}

void IOSAccelerometer::start()
{
    CMMotionManager *motionManager = [QIOSMotionManager sharedManager];
    // Convert from Hz to NSTimeInterval:
    int hz = sensor()->dataRate();
    motionManager.accelerometerUpdateInterval = (hz == 0) ? 0 : 1. / hz;

    [motionManager startAccelerometerUpdatesToQueue:m_updateQueue withHandler:^(CMAccelerometerData *data, NSError *error) {
        dispatch_async(dispatch_get_main_queue(), ^{
            Q_UNUSED(error);
            // Convert from NSTimeInterval to microseconds and G to m/s2, and flip axes:
            CMAcceleration acc = data.acceleration;
            const qreal G = 9.8066;
            m_reading.setTimestamp(quint64(data.timestamp * 1000000));
            m_reading.setX(qreal(acc.x) * G * -1);
            m_reading.setY(qreal(acc.y) * G * -1);
            m_reading.setZ(qreal(acc.z) * G * -1);
            newReadingAvailable();
        });
    }];
}

void IOSAccelerometer::stop()
{
    [[QIOSMotionManager sharedManager] stopAccelerometerUpdates];
}

QT_END_NAMESPACE