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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 "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
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