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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 "sensorfwmagnetometer.h"
char const * const SensorfwMagnetometer::id("sensorfw.magnetometer");
const float SensorfwMagnetometer::NANO = 0.000000001;
SensorfwMagnetometer::SensorfwMagnetometer(QSensor *sensor)
: SensorfwSensorBase(sensor)
, m_initDone(false)
{
init();
setDescription(QLatin1String("magnetic flux density in teslas (T)"));
setRanges(NANO);
setReading<QMagnetometerReading>(&m_reading);
sensor->setDataRate(50);//set a default rate
}
void SensorfwMagnetometer::start()
{
if (reinitIsNeeded)
init();
QMagnetometer *const magnetometer = qobject_cast<QMagnetometer *>(sensor());
if (magnetometer)
m_isGeoMagnetometer = magnetometer->returnGeoValues();
SensorfwSensorBase::start();
}
void SensorfwMagnetometer::slotDataAvailable(const MagneticField& data)
{
//nanoTeslas given, divide with 10^9 to get Teslas
m_reading.setX( NANO * (m_isGeoMagnetometer?data.x():data.rx()));
m_reading.setY( NANO * (m_isGeoMagnetometer?data.y():data.ry()));
m_reading.setZ( NANO * (m_isGeoMagnetometer?data.z():data.rz()));
m_reading.setCalibrationLevel(m_isGeoMagnetometer?((float) data.level()) / 3.0 :1);
m_reading.setTimestamp(data.timestamp());
newReadingAvailable();
}
void SensorfwMagnetometer::slotFrameAvailable(const QList<MagneticField> &frame)
{
for (int i=0, l=frame.size(); i<l; i++) {
slotDataAvailable(frame.at(i));
}
}
bool SensorfwMagnetometer::doConnect()
{
Q_ASSERT(m_sensorInterface);
if (m_bufferSize==1)
return QObject::connect(m_sensorInterface, SIGNAL(dataAvailable(MagneticField)),
this, SLOT(slotDataAvailable(MagneticField)));
return QObject::connect(m_sensorInterface, SIGNAL(frameAvailable(QList<MagneticField>)), this,
SLOT(slotFrameAvailable(QList<MagneticField>)));
}
QString SensorfwMagnetometer::sensorName() const
{
return "magnetometersensor";
}
qreal SensorfwMagnetometer::correctionFactor() const
{
return SensorfwMagnetometer::NANO;
}
void SensorfwMagnetometer::init()
{
m_initDone = false;
initSensor<MagnetometerSensorChannelInterface>(m_initDone);
}
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