blob: 5310e09b2191251daee463915ff0f5648adb1931 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
|
// Copyright (C) 2016 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
#include "iosmotionmanager.h"
#include "iosgyroscope.h"
#import <CoreMotion/CoreMotion.h>
#import <QtCore/qmath.h>
char const * const IOSGyroscope::id("ios.gyroscope");
QT_BEGIN_NAMESPACE
int IOSGyroscope::s_startCount = 0;
IOSGyroscope::IOSGyroscope(QSensor *sensor)
: QSensorBackend(sensor)
, m_motionManager([QIOSMotionManager sharedManager])
, m_timer(0)
{
setReading<QGyroscopeReading>(&m_reading);
addDataRate(1, 100); // 100Hz is max it seems
addOutputRange(-360, 360, 0.01);
}
void IOSGyroscope::start()
{
if (m_timer != 0)
return;
int hz = sensor()->dataRate();
m_timer = startTimer(1000 / (hz == 0 ? 60 : hz));
if (++s_startCount == 1)
[m_motionManager startGyroUpdates];
}
void IOSGyroscope::stop()
{
if (m_timer == 0)
return;
killTimer(m_timer);
m_timer = 0;
if (--s_startCount == 0)
[m_motionManager stopGyroUpdates];
}
void IOSGyroscope::timerEvent(QTimerEvent *)
{
// Convert NSTimeInterval to microseconds and radians to degrees:
CMGyroData *data = m_motionManager.gyroData;
CMRotationRate rate = data.rotationRate;
// skip update if NaN
if (rate.x != rate.x || rate.y != rate.y || rate.z != rate.z)
return;
m_reading.setTimestamp(quint64(data.timestamp * 1e6));
m_reading.setX(qRadiansToDegrees(qreal(rate.x)));
m_reading.setY(qRadiansToDegrees(qreal(rate.y)));
m_reading.setZ(qRadiansToDegrees(qreal(rate.z)));
newReadingAvailable();
}
QT_END_NAMESPACE
|
