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
|
/****************************************************************************
**
** Copyright (C) 2015 The Qt Company Ltd.
** Contact: http://www.qt.io/licensing/
**
** This file is part of the QtSensors module of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:LGPL21$
** 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 http://www.qt.io/terms-conditions. For further
** information use the contact form at http://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 2.1 or version 3 as published by the Free
** Software Foundation and appearing in the file LICENSE.LGPLv21 and
** LICENSE.LGPLv3 included in the packaging of this file. Please review the
** following information to ensure the GNU Lesser General Public License
** requirements will be met: https://www.gnu.org/licenses/lgpl.html and
** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
**
** As a special exception, The Qt Company gives you certain additional
** rights. These rights are described in The Qt Company LGPL Exception
** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
**
** $QT_END_LICENSE$
**
****************************************************************************/
#include "sensorfwgyroscope.h"
char const * const SensorfwGyroscope::id("sensorfw.gyroscope");
const float SensorfwGyroscope::MILLI = 0.001;
SensorfwGyroscope::SensorfwGyroscope(QSensor *sensor)
: SensorfwSensorBase(sensor)
, m_initDone(false)
{
init();
setDescription(QLatin1String("angular velocities around x, y, and z axis in degrees per second"));
setRanges(MILLI);
setReading<QGyroscopeReading>(&m_reading);
addDataRate(10, 10);
addDataRate(50, 50);
sensor->setDataRate(50);//set a default rate
}
void SensorfwGyroscope::slotDataAvailable(const XYZ& data)
{
m_reading.setX((qreal)(data.x()*MILLI));
m_reading.setY((qreal)(data.y()*MILLI));
m_reading.setZ((qreal)(data.z()*MILLI));
m_reading.setTimestamp(data.XYZData().timestamp_);
newReadingAvailable();
}
void SensorfwGyroscope::slotFrameAvailable(const QVector<XYZ>& frame)
{
for (int i=0, l=frame.size(); i<l; i++) {
slotDataAvailable(frame.at(i));
}
}
bool SensorfwGyroscope::doConnect()
{
Q_ASSERT(m_sensorInterface);
if (m_bufferSize==1)
return QObject::connect(m_sensorInterface, SIGNAL(dataAvailable(XYZ)), this, SLOT(slotDataAvailable(XYZ)));
return QObject::connect(m_sensorInterface, SIGNAL(frameAvailable(QVector<XYZ>)),this, SLOT(slotFrameAvailable(QVector<XYZ>)));
}
QString SensorfwGyroscope::sensorName() const
{
return "gyroscopesensor";
}
qreal SensorfwGyroscope::correctionFactor() const
{
return MILLI;
}
void SensorfwGyroscope::init()
{
m_initDone = false;
initSensor<GyroscopeSensorChannelInterface>(m_initDone);
}
void SensorfwGyroscope::start()
{
if (reinitIsNeeded)
init();
SensorfwSensorBase::start();
}
|
