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/****************************************************************************
**
** Copyright (C) 2021 The Qt Company Ltd.
** Contact: https://www.qt.io/licensing/
**
** This file is part of the QtSensors module of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:COMM$
**
** 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.
**
** $QT_END_LICENSE$
**
**
**
**
**
**
**
**
**
**
**
**
**
**
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**
**
**
****************************************************************************/
#include "generictiltsensor.h"
#include <QDebug>
#include <qmath.h>
char const * const GenericTiltSensor::id("generic.tilt");
GenericTiltSensor::GenericTiltSensor(QSensor *sensor)
: QSensorBackend(sensor)
, radAccuracy(qDegreesToRadians(qreal(1)))
, pitch(0)
, roll(0)
, calibratedPitch(0)
, calibratedRoll(0)
, xRotation(0)
, yRotation(0)
{
accelerometer = new QAccelerometer(this);
accelerometer->addFilter(this);
accelerometer->connectToBackend();
setReading<QTiltReading>(&m_reading);
setDataRates(accelerometer);
}
void GenericTiltSensor::start()
{
accelerometer->setDataRate(sensor()->dataRate());
accelerometer->setAlwaysOn(sensor()->isAlwaysOn());
accelerometer->start();
if (!accelerometer->isActive())
sensorStopped();
if (accelerometer->isBusy())
sensorBusy();
}
void GenericTiltSensor::stop()
{
accelerometer->stop();
}
/*
Angle between Ground and X
*/
static inline qreal calcPitch(double Ax, double Ay, double Az)
{
return qAtan2(-Ax, qSqrt(Ay * Ay + Az * Az));
}
/*
Angle between Ground and Y
*/
static inline qreal calcRoll(double /*Ax*/, double Ay, double Az)
{
return qAtan2(Ay, Az);
}
void GenericTiltSensor::calibrate()
{
calibratedPitch = pitch;
calibratedRoll = roll;
}
bool GenericTiltSensor::filter(QAccelerometerReading *reading)
{
/*
z y
| /
|/___ x
*/
qreal ax = reading->x();
qreal ay = reading->y();
qreal az = reading->z();
#ifdef LOGCALIBRATION
qDebug() << "------------ new value -----------";
qDebug() << "old _pitch: " << pitch;
qDebug() << "old _roll: " << roll;
qDebug() << "_calibratedPitch: " << calibratedPitch;
qDebug() << "_calibratedRoll: " << calibratedRoll;
#endif
pitch = calcPitch(ax, ay, az);
roll = calcRoll (ax, ay, az);
#ifdef LOGCALIBRATION
qDebug() << "_pitch: " << pitch;
qDebug() << "_roll: " << roll;
#endif
qreal xrot = roll - calibratedRoll;
qreal yrot = pitch - calibratedPitch;
//get angle between 0 and 180 or 0 -180
xrot = qAtan2(qSin(xrot), qCos(xrot));
yrot = qAtan2(qSin(yrot), qCos(yrot));
#ifdef LOGCALIBRATION
qDebug() << "new xrot: " << xrot;
qDebug() << "new yrot: " << yrot;
qDebug() << "----------------------------------";
#endif
qreal dxrot = qRadiansToDegrees(xrot) - xRotation;
qreal dyrot = qRadiansToDegrees(yrot) - yRotation;
if (dxrot < 0) dxrot = -dxrot;
if (dyrot < 0) dyrot = -dyrot;
bool setNewReading = false;
if (dxrot >= qRadiansToDegrees(radAccuracy) || !sensor()->skipDuplicates()) {
xRotation = qRadiansToDegrees(xrot);
setNewReading = true;
}
if (dyrot >= qRadiansToDegrees(radAccuracy) || !sensor()->skipDuplicates()) {
yRotation = qRadiansToDegrees(yrot);
setNewReading = true;
}
if (setNewReading || m_reading.timestamp() == 0) {
m_reading.setTimestamp(reading->timestamp());
m_reading.setXRotation(xRotation);
m_reading.setYRotation(yRotation);
newReadingAvailable();
}
return false;
}
bool GenericTiltSensor::isFeatureSupported(QSensor::Feature feature) const
{
return (feature == QSensor::SkipDuplicates);
}
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