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/****************************************************************************
**
** 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);
}
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