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
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
|
/****************************************************************************
**
** 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 "iosmotionmanager.h"
#include "iosmagnetometer.h"
#import <CoreMotion/CoreMotion.h>
QT_BEGIN_NAMESPACE
char const * const IOSMagnetometer::id("ios.magnetometer");
int IOSMagnetometer::s_magnetometerStartCount = 0;
int IOSMagnetometer::s_deviceMotionStartCount = 0;
IOSMagnetometer::IOSMagnetometer(QSensor *sensor)
: QSensorBackend(sensor)
, m_motionManager([QIOSMotionManager sharedManager])
, m_timer(0)
, m_returnGeoValues(false)
{
setReading<QMagnetometerReading>(&m_reading);
// Technical information about data rate is not found, but
// seems to be ~70Hz after testing on iPad4:
addDataRate(1, 70);
// Output range is +/- 2 gauss (0.0002 tesla) and can sense magnetic fields less than
// 100 microgauss (1e-08 tesla) Ref: "iOS Sensor Programming", Alasdair, 2012.
addOutputRange(-0.0002, 0.0002, 1e-08);
}
void IOSMagnetometer::start()
{
if (m_timer != 0)
return;
int hz = sensor()->dataRate();
m_timer = startTimer(1000 / (hz == 0 ? 60 : hz));
m_returnGeoValues = static_cast<QMagnetometer *>(sensor())->returnGeoValues();
if (m_returnGeoValues) {
if (++s_deviceMotionStartCount == 1)
[m_motionManager startDeviceMotionUpdates];
} else {
if (++s_magnetometerStartCount == 1)
[m_motionManager startMagnetometerUpdates];
}
}
void IOSMagnetometer::stop()
{
if (m_timer == 0)
return;
killTimer(m_timer);
m_timer = 0;
if (m_returnGeoValues) {
if (--s_deviceMotionStartCount == 0)
[m_motionManager stopDeviceMotionUpdates];
} else {
if (--s_magnetometerStartCount == 0)
[m_motionManager stopMagnetometerUpdates];
}
}
void IOSMagnetometer::timerEvent(QTimerEvent *)
{
CMMagneticField field;
if (m_returnGeoValues) {
CMDeviceMotion *deviceMotion = m_motionManager.deviceMotion;
CMCalibratedMagneticField calibratedField = deviceMotion.magneticField;
field = calibratedField.field;
// skip update if NaN
if (field.x != field.x || field.y != field.y || field.z != field.z)
return;
m_reading.setTimestamp(quint64(deviceMotion.timestamp * 1e6));
switch (calibratedField.accuracy) {
case CMMagneticFieldCalibrationAccuracyUncalibrated:
m_reading.setCalibrationLevel(0.0);
break;
case CMMagneticFieldCalibrationAccuracyLow:
m_reading.setCalibrationLevel(0.3);
break;
case CMMagneticFieldCalibrationAccuracyMedium:
m_reading.setCalibrationLevel(0.6);
break;
case CMMagneticFieldCalibrationAccuracyHigh:
m_reading.setCalibrationLevel(1.0);
break;
}
} else {
CMMagnetometerData *data = m_motionManager.magnetometerData;
field = data.magneticField;
// skip update if NaN
if (field.x != field.x || field.y != field.y || field.z != field.z)
return;
m_reading.setTimestamp(quint64(data.timestamp * 1e6));
m_reading.setCalibrationLevel(1.0);
}
// Convert NSTimeInterval to microseconds and microtesla to tesla:
m_reading.setX(qreal(field.x) / 1e6);
m_reading.setY(qreal(field.y) / 1e6);
m_reading.setZ(qreal(field.z) / 1e6);
newReadingAvailable();
}
QT_END_NAMESPACE
|
