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// 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 "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 QList<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(QList<XYZ>)), this,
SLOT(slotFrameAvailable(QList<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();
}
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