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/****************************************************************************
**
** Copyright (C) 2016 The Qt Company Ltd.
** Contact: https://www.qt.io/licensing/
**
** 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 The Qt Company. For licensing terms
** and conditions see https://www.qt.io/terms-conditions. For further
** information use the contact form at https://www.qt.io/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 3 as published by the Free Software
** Foundation and appearing in the file LICENSE.LGPL3 included in the
** packaging of this file. Please review the following information to
** ensure the GNU Lesser General Public License version 3 requirements
** will be met: https://www.gnu.org/licenses/lgpl-3.0.html.
**
** GNU General Public License Usage
** Alternatively, this file may be used under the terms of the GNU
** General Public License version 2.0 or (at your option) the GNU General
** Public license version 3 or any later version approved by the KDE Free
** Qt Foundation. The licenses are as published by the Free Software
** Foundation and appearing in the file LICENSE.GPL2 and LICENSE.GPL3
** included in the packaging of this file. Please review the following
** information to ensure the GNU General Public License requirements will
** be met: https://www.gnu.org/licenses/gpl-2.0.html and
** https://www.gnu.org/licenses/gpl-3.0.html.
**
** $QT_END_LICENSE$
**
****************************************************************************/
#include "genericrotationsensor.h"
#include <QDebug>
#include <qmath.h>
char const * const genericrotationsensor::id("generic.rotation");
genericrotationsensor::genericrotationsensor(QSensor *sensor)
: QSensorBackend(sensor)
{
accelerometer = new QAccelerometer(this);
accelerometer->addFilter(this);
accelerometer->connectToBackend();
setReading<QRotationReading>(&m_reading);
setDataRates(accelerometer);
QRotationSensor * const rotationSensor = qobject_cast<QRotationSensor *>(sensor);
if (rotationSensor)
rotationSensor->setHasZ(false);
}
void genericrotationsensor::start()
{
accelerometer->setDataRate(sensor()->dataRate());
accelerometer->setAlwaysOn(sensor()->isAlwaysOn());
accelerometer->start();
if (!accelerometer->isActive())
sensorStopped();
if (accelerometer->isBusy())
sensorBusy();
}
void genericrotationsensor::stop()
{
accelerometer->stop();
}
bool genericrotationsensor::filter(QSensorReading *reading)
{
QAccelerometerReading *ar = qobject_cast<QAccelerometerReading*>(reading);
qreal pitch = 0;
qreal roll = 0;
qreal x = ar->x();
qreal y = ar->y();
qreal z = ar->z();
// Note that the formula used come from this document:
// http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf
pitch = qRadiansToDegrees(qAtan(y / qSqrt(x * x + z * z)));
roll = qRadiansToDegrees(qAtan(x / qSqrt(y * y + z * z)));
// Roll is a left-handed rotation but we need right-handed rotation
roll = -roll;
// We need to fix up roll to the (-180,180] range required.
// Check for negative theta values and apply an offset as required.
// Note that theta is defined as the angle of the Z axis relative
// to gravity (see referenced document). It's negative when the
// face of the device points downward.
qreal theta = qRadiansToDegrees(qAtan(qSqrt(x * x + y * y) / z));
if (theta < 0) {
if (roll > 0)
roll = 180 - roll;
else
roll = -180 - roll;
}
m_reading.setTimestamp(ar->timestamp());
m_reading.setFromEuler(pitch, roll, 0);
newReadingAvailable();
return false;
}
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