Merge remote-tracking branch 'origin/5.4' into dev

Change-Id: I4a589c2f9005f6bfd9242e335387ec690e97210a

28 files changed, 485 insertions, 80 deletions

diff --git a/src/plugins/sensors/android/jar/src/org/qtproject/qt5/android/sensors/QtSensors.java b/src/plugins/sensors/android/jar/src/org/qtproject/qt5/android/sensors/QtSensors.java
index efd1ff6..e7e309e 100644
--- a/src/plugins/sensors/android/jar/src/org/qtproject/qt5/android/sensors/QtSensors.java
+++ b/src/plugins/sensors/android/jar/src/org/qtproject/qt5/android/sensors/QtSensors.java
@@ -153,6 +153,25 @@ public class QtSensors implements SensorEventListener
         return angles;
     }
 
+    private static float[] mRotation = new float[9];
+    private static float[] mOrientation = new float[3];
+    private static float[] mAcc = new float[3];
+    private static float[] mMag = new float[3];
+
+    private static float getCompassAzimuth(float a0, float a1, float a2, float m0, float m1, float m2)
+    {
+        mAcc[0] = a0;
+        mAcc[1] = a1;
+        mAcc[2] = a2;
+        mMag[0] = m0;
+        mMag[1] = m1;
+        mMag[2] = m2;
+
+        SensorManager.getRotationMatrix(mRotation, null, mAcc, mMag);
+        SensorManager.getOrientation(mRotation, mOrientation);
+        return mOrientation[0];
+    }
+
     public static native void accuracyChanged(int sensorType, int accuracy);
     public static native void sensorChanged(int sensorType, long timestamp, float[] values);
 
diff --git a/src/plugins/sensors/android/src/androidcompass.cpp b/src/plugins/sensors/android/src/androidcompass.cpp
new file mode 100644
index 0000000..f2b4bd2
--- /dev/null
+++ b/src/plugins/sensors/android/src/androidcompass.cpp
@@ -0,0 +1,173 @@
+/****************************************************************************
+**
+** Copyright (C) 2014 Digia Plc and/or its subsidiary(-ies).
+** Contact: http://www.qt-project.org/legal
+**
+** 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 Digia.  For licensing terms and
+** conditions see http://qt.digia.com/licensing.  For further information
+** use the contact form at http://qt.digia.com/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 as published by the Free Software
+** Foundation and appearing in the file LICENSE.LGPL included in the
+** packaging of this file.  Please review the following information to
+** ensure the GNU Lesser General Public License version 2.1 requirements
+** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+**
+** In addition, as a special exception, Digia gives you certain additional
+** rights.  These rights are described in the Digia Qt LGPL Exception
+** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
+**
+** GNU General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU
+** General Public License version 3.0 as published by the Free Software
+** Foundation and appearing in the file LICENSE.GPL included in the
+** packaging of this file.  Please review the following information to
+** ensure the GNU General Public License version 3.0 requirements will be
+** met: http://www.gnu.org/copyleft/gpl.html.
+**
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#include "androidcompass.h"
+
+#include <QDebug>
+#include <qmath.h>
+#include "androidjnisensors.h"
+
+
+class AndroidAccelerometerListener : public AndroidSensors::AndroidSensorsListenerInterface
+{
+public:
+
+    AndroidAccelerometerListener(AndroidCompass *parent)
+        : m_compass(parent)
+    {
+    }
+
+    void start(int dataRate)
+    {
+        AndroidSensors::registerListener(AndroidSensors::TYPE_ACCELEROMETER, this, dataRate);
+    }
+
+    void stop()
+    {
+        AndroidSensors::unregisterListener(AndroidSensors::TYPE_ACCELEROMETER, this);
+    }
+
+    void onAccuracyChanged(jint accuracy) Q_DECL_OVERRIDE
+    {
+        Q_UNUSED(accuracy);
+    }
+
+    void onSensorChanged(jlong /*timestamp*/, const jfloat *values, uint size) Q_DECL_OVERRIDE
+    {
+        if (size < 3)
+            return;
+        reading[0] = values[0];
+        reading[1] = values[1];
+        reading[2] = values[2];
+        m_compass->testStuff();
+    }
+
+    jfloat reading[3];
+
+private:
+    AndroidCompass *m_compass;
+};
+
+class AndroidMagnetometerListener : public AndroidSensors::AndroidSensorsListenerInterface
+{
+public:
+    AndroidMagnetometerListener(AndroidCompass *parent)
+        :m_compass(parent)
+    {
+
+    }
+
+    void start(int dataRate)
+    {
+        AndroidSensors::registerListener(AndroidSensors::TYPE_MAGNETIC_FIELD, this, dataRate);
+    }
+
+    void stop()
+    {
+        AndroidSensors::unregisterListener(AndroidSensors::TYPE_MAGNETIC_FIELD, this);
+    }
+
+    void onAccuracyChanged(jint accuracy) Q_DECL_OVERRIDE
+    {
+        Q_UNUSED(accuracy);
+    }
+
+    void onSensorChanged(jlong /*timestamp*/, const jfloat *values, uint size) Q_DECL_OVERRIDE
+    {
+        if (size < 3)
+            return;
+        reading[0] = values[0];
+        reading[1] = values[1];
+        reading[2] = values[2];
+        m_compass->testStuff();
+    }
+
+    jfloat reading[3];
+private:
+    AndroidCompass *m_compass;
+};
+
+char const * const AndroidCompass::id("android.synthetic.compass");
+
+AndroidCompass::AndroidCompass(QSensor *sensor)
+    : QSensorBackend(sensor), m_accelerometerListener(0), m_magnetometerListener(0), m_isStarted(false)
+{
+    setReading<QCompassReading>(&m_reading);
+    m_isStarted = false;
+}
+
+AndroidCompass::~AndroidCompass()
+{
+    if (m_isStarted)
+        stop();
+    delete m_accelerometerListener;
+    delete m_magnetometerListener;
+}
+
+void AndroidCompass::start()
+{
+    if (!m_accelerometerListener)
+        m_accelerometerListener = new AndroidAccelerometerListener(this);
+    m_accelerometerListener->start(sensor()->dataRate());
+    if (!m_magnetometerListener)
+        m_magnetometerListener = new AndroidMagnetometerListener(this);
+    m_magnetometerListener->start(sensor()->dataRate());
+
+    m_isStarted = true;
+}
+
+void AndroidCompass::stop()
+{
+    if (m_isStarted) {
+        m_isStarted = false;
+        m_accelerometerListener->stop();
+        m_magnetometerListener->stop();
+    }
+}
+
+void AndroidCompass::testStuff()
+{
+    qreal azimuth = AndroidSensors::getCompassAzimuth(m_accelerometerListener->reading, m_magnetometerListener->reading);
+
+    azimuth = azimuth * 180.0 / M_PI;
+    m_reading.setAzimuth(azimuth);
+    newReadingAvailable();
+}
diff --git a/src/plugins/sensors/android/src/androidcompass.h b/src/plugins/sensors/android/src/androidcompass.h
new file mode 100644
index 0000000..897dd46
--- /dev/null
+++ b/src/plugins/sensors/android/src/androidcompass.h
@@ -0,0 +1,76 @@
+/****************************************************************************
+**
+** Copyright (C) 2014 Digia Plc and/or its subsidiary(-ies).
+** Contact: http://www.qt-project.org/legal
+**
+** 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 Digia.  For licensing terms and
+** conditions see http://qt.digia.com/licensing.  For further information
+** use the contact form at http://qt.digia.com/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 as published by the Free Software
+** Foundation and appearing in the file LICENSE.LGPL included in the
+** packaging of this file.  Please review the following information to
+** ensure the GNU Lesser General Public License version 2.1 requirements
+** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+**
+** In addition, as a special exception, Digia gives you certain additional
+** rights.  These rights are described in the Digia Qt LGPL Exception
+** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
+**
+** GNU General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU
+** General Public License version 3.0 as published by the Free Software
+** Foundation and appearing in the file LICENSE.GPL included in the
+** packaging of this file.  Please review the following information to
+** ensure the GNU General Public License version 3.0 requirements will be
+** met: http://www.gnu.org/copyleft/gpl.html.
+**
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#ifndef ANDROIDCOMPASS_H
+#define ANDROIDCOMPASS_H
+#include <qcompass.h>
+
+#include "androidcommonsensor.h"
+
+class AndroidAccelerometerListener;
+class AndroidMagnetometerListener;
+
+class AndroidCompass : public QSensorBackend
+{
+    Q_OBJECT
+
+public:
+    static char const * const id;
+
+    AndroidCompass(QSensor *sensor);
+    ~AndroidCompass();
+
+    void start() Q_DECL_OVERRIDE;
+    void stop() Q_DECL_OVERRIDE;
+
+private:
+    AndroidAccelerometerListener *m_accelerometerListener;
+    AndroidMagnetometerListener *m_magnetometerListener;
+
+    QCompassReading m_reading;
+    bool m_isStarted;
+
+public Q_SLOTS:
+    void testStuff();
+
+};
+
+#endif // ANDROIDCOMPASS_H
diff --git a/src/plugins/sensors/android/src/androidjnisensors.cpp b/src/plugins/sensors/android/src/androidjnisensors.cpp
index 87889a8..9a7b671 100644
--- a/src/plugins/sensors/android/src/androidjnisensors.cpp
+++ b/src/plugins/sensors/android/src/androidjnisensors.cpp
@@ -54,6 +54,7 @@ static jmethodID registerSensorMethodId;
 static jmethodID unregisterSensorMethodId;
 static jmethodID getSensorDescriptionMethodId;
 static jmethodID getSensorMaximumRangeMethodId;
+static jmethodID getCompassAzimuthId;
 
 static QHash<int, QList<AndroidSensors::AndroidSensorsListenerInterface *> > listenersHash;
 QReadWriteLock listenersLocker;
@@ -166,6 +167,20 @@ namespace AndroidSensors
         }
         return true;
     }
+
+    qreal getCompassAzimuth(jfloat *accelerometerReading, jfloat *magnetometerReading)
+    {
+            AttachedJNIEnv aenv;
+            if (!aenv.jniEnv)
+                return 0.0;
+            return aenv.jniEnv->CallStaticFloatMethod(sensorsClass, getCompassAzimuthId,
+                                                        accelerometerReading[0],
+                                                        accelerometerReading[1],
+                                                        accelerometerReading[2],
+                                                        magnetometerReading[0],
+                                                        magnetometerReading[1],
+                                                        magnetometerReading[2]);
+    }
 }
 
 static const char logTag[] = "Qt";
@@ -227,6 +242,7 @@ static bool registerNatives(JNIEnv *env)
     GET_AND_CHECK_STATIC_METHOD(unregisterSensorMethodId, sensorsClass, "unregisterSensor", "(I)Z");
     GET_AND_CHECK_STATIC_METHOD(getSensorDescriptionMethodId, sensorsClass, "getSensorDescription", "(I)Ljava/lang/String;");
     GET_AND_CHECK_STATIC_METHOD(getSensorMaximumRangeMethodId, sensorsClass, "getSensorMaximumRange", "(I)F");
+    GET_AND_CHECK_STATIC_METHOD(getCompassAzimuthId, sensorsClass, "getCompassAzimuth", "(FFFFFF)F");
 
     return true;
 }
diff --git a/src/plugins/sensors/android/src/androidjnisensors.h b/src/plugins/sensors/android/src/androidjnisensors.h
index 30aab6c..9d2ccf5 100644
--- a/src/plugins/sensors/android/src/androidjnisensors.h
+++ b/src/plugins/sensors/android/src/androidjnisensors.h
@@ -83,6 +83,7 @@ namespace AndroidSensors
     qreal sensorMaximumRange(AndroidSensorType sensor);
     bool registerListener(AndroidSensorType sensor, AndroidSensorsListenerInterface *listener, int dataRate = 0);
     bool unregisterListener(AndroidSensorType sensor, AndroidSensorsListenerInterface *listener);
+    qreal getCompassAzimuth(jfloat *accelerometerReading, jfloat *magnetometerReading);
 }
 
 #endif // ANDROIDJNISENSORS_H
diff --git a/src/plugins/sensors/android/src/main.cpp b/src/plugins/sensors/android/src/main.cpp
index 3d8604f..b8d1496 100644
--- a/src/plugins/sensors/android/src/main.cpp
+++ b/src/plugins/sensors/android/src/main.cpp
@@ -44,7 +44,9 @@
 #include <qsensorbackend.h>
 #include <qsensormanager.h>
 #include <qaccelerometer.h>
+#include <qcompass.h>
 #include "androidaccelerometer.h"
+#include "androidcompass.h"
 #include "androidgyroscope.h"
 #include "androidlight.h"
 #include "androidmagnetometer.h"
@@ -63,10 +65,13 @@ class AndroidSensorPlugin : public QObject, public QSensorPluginInterface, publi
 public:
     void registerSensors()
     {
+        bool accelerometer = false;
+        bool magnetometer = false;
         foreach (AndroidSensorType sensor, availableSensors()) {
             switch (sensor) {
             case TYPE_ACCELEROMETER:
                 QSensorManager::registerBackend(QAccelerometer::type, QByteArray::number(sensor), this);
+                accelerometer = true;
                 break;
             case TYPE_AMBIENT_TEMPERATURE:
             case TYPE_TEMPERATURE:
@@ -84,6 +89,7 @@ public:
                 break; // add the linear acceleration sensor backend
             case TYPE_MAGNETIC_FIELD:
                 QSensorManager::registerBackend(QMagnetometer::type, QByteArray::number(sensor), this);
+                magnetometer = true;
                 break;
             case TYPE_ORIENTATION:
                 break; // add the orientation sensor backend
@@ -106,10 +112,15 @@ public:
                 break; // add backends for API level 18 sensors
             }
         }
+        if (accelerometer && magnetometer)
+            QSensorManager::registerBackend(QCompass::type, AndroidCompass::id, this);
     }
 
     QSensorBackend *createBackend(QSensor *sensor)
     {
+        if (sensor->identifier() == AndroidCompass::id)
+            return new AndroidCompass(sensor);
+
         AndroidSensorType type = static_cast<AndroidSensorType>(sensor->identifier().toInt());
         switch (type) {
         case TYPE_ACCELEROMETER: {
diff --git a/src/plugins/sensors/android/src/src.pro b/src/plugins/sensors/android/src/src.pro
index 21423ef..23a6bea 100644
--- a/src/plugins/sensors/android/src/src.pro
+++ b/src/plugins/sensors/android/src/src.pro
@@ -12,6 +12,7 @@ DEFINES += QT_STATICPLUGIN
 HEADERS = \
     androidjnisensors.h \
     androidaccelerometer.h \
+    androidcompass.h \
     androidcommonsensor.h \
     androidgyroscope.h \
     androidmagnetometer.h \
@@ -25,6 +26,7 @@ SOURCES = \
     main.cpp \
     androidjnisensors.cpp \
     androidaccelerometer.cpp \
+    androidcompass.cpp \
     androidgyroscope.cpp \
     androidmagnetometer.cpp \
     androidpressure.cpp \
diff --git a/src/plugins/sensors/sensorfw/sensorfwaccelerometer.cpp b/src/plugins/sensors/sensorfw/sensorfwaccelerometer.cpp
index d38f1a0..0ac4e90 100644
--- a/src/plugins/sensors/sensorfw/sensorfwaccelerometer.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwaccelerometer.cpp
@@ -74,6 +74,7 @@ void sensorfwaccelerometer::slotFrameAvailable(const QVector<XYZ>&  frame)
 
 bool sensorfwaccelerometer::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>)));
@@ -96,3 +97,10 @@ void sensorfwaccelerometer::init()
     m_initDone = false;
     initSensor<AccelerometerSensorChannelInterface>(m_initDone);
 }
+
+void sensorfwaccelerometer::start()
+{
+    if (reinitIsNeeded)
+        init();
+    SensorfwSensorBase::start();
+}
diff --git a/src/plugins/sensors/sensorfw/sensorfwaccelerometer.h b/src/plugins/sensors/sensorfw/sensorfwaccelerometer.h
index e0e84cc..e3ded24 100644
--- a/src/plugins/sensors/sensorfw/sensorfwaccelerometer.h
+++ b/src/plugins/sensors/sensorfw/sensorfwaccelerometer.h
@@ -60,6 +60,7 @@ protected:
     bool doConnect() Q_DECL_OVERRIDE;
     QString sensorName() const Q_DECL_OVERRIDE;
     qreal correctionFactor() const Q_DECL_OVERRIDE;
+    void start() Q_DECL_OVERRIDE;
     virtual void init();
 
 private:
diff --git a/src/plugins/sensors/sensorfw/sensorfwals.cpp b/src/plugins/sensors/sensorfw/sensorfwals.cpp
index 0de7e71..a061f14 100644
--- a/src/plugins/sensors/sensorfw/sensorfwals.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwals.cpp
@@ -59,6 +59,8 @@ Sensorfwals::Sensorfwals(QSensor *sensor)
 
 void Sensorfwals::start()
 {
+    if (reinitIsNeeded)
+        init();
     if (m_sensorInterface) {
         Unsigned data(((ALSSensorChannelInterface*)m_sensorInterface)->lux());
         m_reading.setLightLevel(getLightLevel(data.x()));
@@ -81,6 +83,7 @@ void Sensorfwals::slotDataAvailable(const Unsigned& data)
 
 bool Sensorfwals::doConnect()
 {
+    Q_ASSERT(m_sensorInterface);
     return QObject::connect(m_sensorInterface, SIGNAL(ALSChanged(Unsigned)),
                             this, SLOT(slotDataAvailable(Unsigned)));
 }
diff --git a/src/plugins/sensors/sensorfw/sensorfwcompass.cpp b/src/plugins/sensors/sensorfw/sensorfwcompass.cpp
index ad41cfe..d2f0288 100644
--- a/src/plugins/sensors/sensorfw/sensorfwcompass.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwcompass.cpp
@@ -70,6 +70,7 @@ void SensorfwCompass::slotDataAvailable(const Compass& data)
 
 bool SensorfwCompass::doConnect()
 {
+    Q_ASSERT(m_sensorInterface);
     return QObject::connect(m_sensorInterface, SIGNAL(dataAvailable(Compass)),
                             this, SLOT(slotDataAvailable(Compass)));
 }
@@ -84,3 +85,10 @@ void SensorfwCompass::init()
     m_initDone = false;
     initSensor<CompassSensorChannelInterface>(m_initDone);
 }
+
+void SensorfwCompass::start()
+{
+    if (reinitIsNeeded)
+        init();
+    SensorfwSensorBase::start();
+}
diff --git a/src/plugins/sensors/sensorfw/sensorfwcompass.h b/src/plugins/sensors/sensorfw/sensorfwcompass.h
index 951435c..aa8e3bd 100644
--- a/src/plugins/sensors/sensorfw/sensorfwcompass.h
+++ b/src/plugins/sensors/sensorfw/sensorfwcompass.h
@@ -59,6 +59,7 @@ public:
 protected:
     bool doConnect() Q_DECL_OVERRIDE;
     QString sensorName() const Q_DECL_OVERRIDE;
+    void start() Q_DECL_OVERRIDE;
     virtual void init();
 private:
     QCompassReading m_reading;
diff --git a/src/plugins/sensors/sensorfw/sensorfwgyroscope.cpp b/src/plugins/sensors/sensorfw/sensorfwgyroscope.cpp
index deca190..f802d0d 100644
--- a/src/plugins/sensors/sensorfw/sensorfwgyroscope.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwgyroscope.cpp
@@ -75,6 +75,7 @@ void SensorfwGyroscope::slotFrameAvailable(const QVector<XYZ>&  frame)
 
 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>)));
@@ -95,3 +96,10 @@ void SensorfwGyroscope::init()
     m_initDone = false;
     initSensor<GyroscopeSensorChannelInterface>(m_initDone);
 }
+
+void SensorfwGyroscope::start()
+{
+    if (reinitIsNeeded)
+        init();
+    SensorfwSensorBase::start();
+}
diff --git a/src/plugins/sensors/sensorfw/sensorfwgyroscope.h b/src/plugins/sensors/sensorfw/sensorfwgyroscope.h
index f489bf6..bfbad62 100644
--- a/src/plugins/sensors/sensorfw/sensorfwgyroscope.h
+++ b/src/plugins/sensors/sensorfw/sensorfwgyroscope.h
@@ -62,6 +62,7 @@ protected:
     bool doConnect() Q_DECL_OVERRIDE;
     QString sensorName() const Q_DECL_OVERRIDE;
     qreal correctionFactor() const Q_DECL_OVERRIDE;
+    void start() Q_DECL_OVERRIDE;
     virtual void init();
 
 private:
diff --git a/src/plugins/sensors/sensorfw/sensorfwirproximitysensor.cpp b/src/plugins/sensors/sensorfw/sensorfwirproximitysensor.cpp
index 4207735..145276e 100644
--- a/src/plugins/sensors/sensorfw/sensorfwirproximitysensor.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwirproximitysensor.cpp
@@ -67,6 +67,7 @@ void SensorfwIrProximitySensor::slotDataAvailable(const Proximity& proximity)
 
 bool SensorfwIrProximitySensor::doConnect()
 {
+    Q_ASSERT(m_sensorInterface);
     return QObject::connect(m_sensorInterface, SIGNAL(reflectanceDataAvailable(Proximity)),
                             this, SLOT(slotDataAvailable(Proximity)));
 }
@@ -83,3 +84,10 @@ void SensorfwIrProximitySensor::init()
     m_initDone = false;
     initSensor<ProximitySensorChannelInterface>(m_initDone);
 }
+
+void SensorfwIrProximitySensor::start()
+{
+    if (reinitIsNeeded)
+        init();
+    SensorfwSensorBase::start();
+}
diff --git a/src/plugins/sensors/sensorfw/sensorfwirproximitysensor.h b/src/plugins/sensors/sensorfw/sensorfwirproximitysensor.h
index 642570d..3c176ff 100644
--- a/src/plugins/sensors/sensorfw/sensorfwirproximitysensor.h
+++ b/src/plugins/sensors/sensorfw/sensorfwirproximitysensor.h
@@ -58,6 +58,7 @@ public:
 protected:
     bool doConnect() Q_DECL_OVERRIDE;
     QString sensorName() const Q_DECL_OVERRIDE;
+    void start() Q_DECL_OVERRIDE;
     virtual void init();
 private:
     QIRProximityReading m_reading;
diff --git a/src/plugins/sensors/sensorfw/sensorfwlightsensor.cpp b/src/plugins/sensors/sensorfw/sensorfwlightsensor.cpp
index 6607433..dda87ea 100644
--- a/src/plugins/sensors/sensorfw/sensorfwlightsensor.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwlightsensor.cpp
@@ -61,6 +61,7 @@ void SensorfwLightSensor::slotDataAvailable(const Unsigned& data)
 
 bool SensorfwLightSensor::doConnect()
 {
+    Q_ASSERT(m_sensorInterface);
     return QObject::connect(m_sensorInterface, SIGNAL(ALSChanged(Unsigned)),
                             this, SLOT(slotDataAvailable(Unsigned)));
 }
@@ -75,3 +76,10 @@ void SensorfwLightSensor::init()
     m_initDone = false;
     initSensor<ALSSensorChannelInterface>(m_initDone);
 }
+
+void SensorfwLightSensor::start()
+{
+    if (reinitIsNeeded)
+        init();
+    SensorfwSensorBase::start();
+}
diff --git a/src/plugins/sensors/sensorfw/sensorfwlightsensor.h b/src/plugins/sensors/sensorfw/sensorfwlightsensor.h
index 244f795..911ec55 100644
--- a/src/plugins/sensors/sensorfw/sensorfwlightsensor.h
+++ b/src/plugins/sensors/sensorfw/sensorfwlightsensor.h
@@ -59,6 +59,7 @@ public:
 protected:
     bool doConnect() Q_DECL_OVERRIDE;
     QString sensorName() const Q_DECL_OVERRIDE;
+    void start() Q_DECL_OVERRIDE;
     virtual void init();
 private:
     QLightReading m_reading;
diff --git a/src/plugins/sensors/sensorfw/sensorfwmagnetometer.cpp b/src/plugins/sensors/sensorfw/sensorfwmagnetometer.cpp
index 10b1afe..913d301 100644
--- a/src/plugins/sensors/sensorfw/sensorfwmagnetometer.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwmagnetometer.cpp
@@ -59,6 +59,8 @@ SensorfwMagnetometer::SensorfwMagnetometer(QSensor *sensor)
 
 void SensorfwMagnetometer::start()
 {
+    if (reinitIsNeeded)
+        init();
     QMagnetometer *const magnetometer = qobject_cast<QMagnetometer *>(sensor());
     if (magnetometer)
         m_isGeoMagnetometer = magnetometer->returnGeoValues();
@@ -86,6 +88,7 @@ void SensorfwMagnetometer::slotFrameAvailable(const QVector<MagneticField>& fram
 
 bool SensorfwMagnetometer::doConnect()
 {
+    Q_ASSERT(m_sensorInterface);
     if (m_bufferSize==1)
         return QObject::connect(m_sensorInterface, SIGNAL(dataAvailable(MagneticField)),
                                 this, SLOT(slotDataAvailable(MagneticField)));
diff --git a/src/plugins/sensors/sensorfw/sensorfworientationsensor.cpp b/src/plugins/sensors/sensorfw/sensorfworientationsensor.cpp
index b45b731..722d61b 100644
--- a/src/plugins/sensors/sensorfw/sensorfworientationsensor.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfworientationsensor.cpp
@@ -57,6 +57,8 @@ SensorfwOrientationSensor::SensorfwOrientationSensor(QSensor *sensor)
 
 void SensorfwOrientationSensor::start()
 {
+    if (reinitIsNeeded)
+        init();
     if (m_sensorInterface) {
         Unsigned data(((OrientationSensorChannelInterface*)m_sensorInterface)->orientation());
         m_reading.setOrientation(SensorfwOrientationSensor::getOrientation(data.x()));
@@ -76,6 +78,7 @@ void SensorfwOrientationSensor::slotDataAvailable(const Unsigned& data)
 
 bool SensorfwOrientationSensor::doConnect()
 {
+    Q_ASSERT(m_sensorInterface);
     return QObject::connect(m_sensorInterface, SIGNAL(orientationChanged(Unsigned)),
                             this, SLOT(slotDataAvailable(Unsigned)));
 }
diff --git a/src/plugins/sensors/sensorfw/sensorfwproximitysensor.cpp b/src/plugins/sensors/sensorfw/sensorfwproximitysensor.cpp
index 76ce38d..8f949ff 100644
--- a/src/plugins/sensors/sensorfw/sensorfwproximitysensor.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwproximitysensor.cpp
@@ -45,8 +45,8 @@ char const * const SensorfwProximitySensor::id("sensorfw.proximitysensor");
 
 SensorfwProximitySensor::SensorfwProximitySensor(QSensor *sensor)
     : SensorfwSensorBase(sensor),
-      m_exClose(false),
       m_initDone(false),
+      m_exClose(false),
       firstRun(true)
 {
     init();
@@ -57,6 +57,8 @@ SensorfwProximitySensor::SensorfwProximitySensor(QSensor *sensor)
 
 void SensorfwProximitySensor::start()
 {
+    if (reinitIsNeeded)
+        init();
     SensorfwSensorBase::start();
 }
 
@@ -75,6 +77,7 @@ void SensorfwProximitySensor::slotDataAvailable(const Unsigned& data)
 
 bool SensorfwProximitySensor::doConnect()
 {
+    Q_ASSERT(m_sensorInterface);
     return (QObject::connect(m_sensorInterface, SIGNAL(dataAvailable(Unsigned)),
                              this, SLOT(slotDataAvailable(Unsigned))));
 }
diff --git a/src/plugins/sensors/sensorfw/sensorfwrotationsensor.cpp b/src/plugins/sensors/sensorfw/sensorfwrotationsensor.cpp
index c0ba069..87d547c 100644
--- a/src/plugins/sensors/sensorfw/sensorfwrotationsensor.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwrotationsensor.cpp
@@ -71,6 +71,7 @@ void SensorfwRotationSensor::slotFrameAvailable(const QVector<XYZ>&  frame)
 
 bool SensorfwRotationSensor::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>)));
@@ -86,3 +87,10 @@ void SensorfwRotationSensor::init()
     m_initDone = false;
     initSensor<RotationSensorChannelInterface>(m_initDone);
 }
+
+void SensorfwRotationSensor::start()
+{
+    if (reinitIsNeeded)
+        init();
+    SensorfwSensorBase::start();
+}
diff --git a/src/plugins/sensors/sensorfw/sensorfwrotationsensor.h b/src/plugins/sensors/sensorfw/sensorfwrotationsensor.h
index dd41520..944d2c1 100644
--- a/src/plugins/sensors/sensorfw/sensorfwrotationsensor.h
+++ b/src/plugins/sensors/sensorfw/sensorfwrotationsensor.h
@@ -61,6 +61,7 @@ public:
 protected:
     bool doConnect() Q_DECL_OVERRIDE;
     QString sensorName() const Q_DECL_OVERRIDE;
+    void start() Q_DECL_OVERRIDE;
     virtual void init();
 private:
     QRotationReading m_reading;
diff --git a/src/plugins/sensors/sensorfw/sensorfwsensorbase.cpp b/src/plugins/sensors/sensorfw/sensorfwsensorbase.cpp
index 299c20e..b8e4077 100644
--- a/src/plugins/sensors/sensorfw/sensorfwsensorbase.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwsensorbase.cpp
@@ -56,6 +56,7 @@ SensorfwSensorBase::SensorfwSensorBase(QSensor *sensor)
     : QSensorBackend(sensor),
       m_sensorInterface(0),
       m_bufferSize(-1),
+      reinitIsNeeded(false),
       m_prevOutputRange(0),
       m_efficientBufferSize(1),
       m_maxBufferSize(1),
@@ -214,9 +215,16 @@ qreal SensorfwSensorBase::correctionFactor() const
 void SensorfwSensorBase::connectToSensord()
 {
     m_remoteSensorManager = &SensorManagerInterface::instance();
+    if (!m_remoteSensorManager->isValid()) {
+        qWarning() << "SensorManagerInterface is invalid";
+        m_remoteSensorManager = 0;
+        return;
+    }
     if (running) {
         stop();
+        reinitIsNeeded = true;
         start();
+        reinitIsNeeded = false;
     }
 }
 
@@ -225,3 +233,68 @@ void SensorfwSensorBase::sensordUnregistered()
     m_bufferSize = -1;
 }
 
+bool SensorfwSensorBase::initSensorInterface(QString const &name)
+{
+    if (!m_sensorInterface) {
+        sensorError(KErrNotFound);
+        return false;
+    }
+
+    //metadata
+    const QList<DataRange> intervals = m_sensorInterface->getAvailableIntervals();
+
+    for (int i = 0, l = intervals.size(); i < l; i++) {
+        qreal intervalMax = intervals.at(i).max;
+        qreal intervalMin = intervals.at(i).min;
+
+        if (intervalMin == 0 && intervalMax == 0) {
+            // 0 interval has different meanings in e.g. magge/acce
+            // magge -> best-effort
+            // acce -> lowest possible
+            // in Qt API setting 0 means default
+            continue;
+        }
+
+        qreal rateMin = intervalMax < 1 ? 1 : 1 / intervalMax * 1000;
+        rateMin = rateMin < 1 ? 1 : rateMin;
+
+        intervalMin = intervalMin < 1 ? 10: intervalMin;     // do not divide with 0
+        qreal rateMax = 1 / intervalMin * 1000;
+        addDataRate(rateMin, rateMax);
+    }
+
+    //bufferSizes
+    if (m_bufferingSensors.contains(sensor()->identifier())) {
+
+        IntegerRangeList sizes = m_sensorInterface->getAvailableBufferSizes();
+        for (int i = 0; i < sizes.size(); i++) {
+            int second = sizes.at(i).second;
+            m_maxBufferSize = second > m_bufferSize ? second : m_maxBufferSize;
+        }
+        m_maxBufferSize = m_maxBufferSize < 0 ? 1 : m_maxBufferSize;
+        //SensorFW guarantees to provide the most efficient size first
+        //TODO: remove from comments
+        //m_efficientBufferSize  = m_sensorInterface->hwBuffering()? (l>0?sizes.at(0).first:1) : 1;
+    } else {
+        m_maxBufferSize = 1;
+    }
+
+    sensor()->setMaxBufferSize(m_maxBufferSize);
+    sensor()->setEfficientBufferSize(m_efficientBufferSize);
+
+    // TODO deztructor: Leaking abstraction detected. Just copied code
+    // from initSensor<>() here, need to
+    QByteArray type = sensor()->type();
+    if ((type == QAmbientLightSensor::type) // SensorFW returns lux values, plugin enumerated values
+        || (type == QIRProximitySensor::type) // SensorFW returns raw reflectance values, plugin % of max reflectance
+        || (name == "accelerometersensor") // SensorFW returns milliGs, plugin m/s^2
+        || (name == "magnetometersensor") // SensorFW returns nanoTeslas, plugin Teslas
+        || (name == "gyroscopesensor")) // SensorFW returns DSPs, plugin milliDSPs
+        return true;
+
+    setDescription(m_sensorInterface->description());
+
+    if (name == "tapsensor") return true;
+    setRanges();
+    return true;
+}
diff --git a/src/plugins/sensors/sensorfw/sensorfwsensorbase.h b/src/plugins/sensors/sensorfw/sensorfwsensorbase.h
index 769a8cb..39e4147 100644
--- a/src/plugins/sensors/sensorfw/sensorfwsensorbase.h
+++ b/src/plugins/sensors/sensorfw/sensorfwsensorbase.h
@@ -77,10 +77,13 @@ protected:
     template<typename T>
     void initSensor(bool &initDone)
     {
-
         const QString name = sensorName();
 
         if (!initDone) {
+            if (!m_remoteSensorManager) {
+                qDebug() << "There is no sensor manager yet, do not initialize" << name;
+                return;
+            }
             if (!m_remoteSensorManager->loadPlugin(name)) {
                 sensorError(KErrNotFound);
                 return;
@@ -91,71 +94,7 @@ protected:
         if (!m_sensorInterface) {
             m_sensorInterface = const_cast<T*>(T::listenInterface(name));
         }
-        if (!m_sensorInterface) {
-            sensorError(KErrNotFound);
-            return;
-        }
-        if (!m_sensorInterface) {
-            sensorError(KErrNotFound);
-            return;
-        }
-
-        initDone = true;
-
-        //metadata
-        QList<DataRange> intervals = m_sensorInterface->getAvailableIntervals();
-
-        for (int i = 0, l = intervals.size(); i < l; i++) {
-            qreal intervalMax = ((DataRange)(intervals.at(i))).max;
-            qreal intervalMin =((DataRange)(intervals.at(i))).min;
-
-            if (intervalMin == 0 && intervalMax == 0) {
-                // 0 interval has different meanings in e.g. magge/acce
-                // magge -> best-effort
-                // acce -> lowest possible
-                // in Qt API setting 0 means default
-                continue;
-            }
-
-            qreal rateMin = intervalMax < 1 ? 1 : 1 / intervalMax * 1000;
-            rateMin = rateMin < 1 ? 1 : rateMin;
-
-            intervalMin = intervalMin < 1 ? 10: intervalMin;     // do not divide with 0
-            qreal rateMax = 1 / intervalMin * 1000;
-            addDataRate(rateMin, rateMax);
-        }
-
-        //bufferSizes
-        if (m_bufferingSensors.contains(sensor()->identifier())) {
-
-            IntegerRangeList sizes = m_sensorInterface->getAvailableBufferSizes();
-            int l = sizes.size();
-            for (int i = 0; i < l; i++) {
-                int second = sizes.at(i).second;
-                m_maxBufferSize = second > m_bufferSize ? second : m_maxBufferSize;
-            }
-            m_maxBufferSize = m_maxBufferSize < 0 ? 1 : m_maxBufferSize;
-            //SensorFW guarantees to provide the most efficient size first
-            //TODO: remove from comments
-            //m_efficientBufferSize  = m_sensorInterface->hwBuffering()? (l>0?sizes.at(0).first:1) : 1;
-        }
-        else
-            m_maxBufferSize = 1;
-
-        sensor()->setMaxBufferSize(m_maxBufferSize);
-        sensor()->setEfficientBufferSize(m_efficientBufferSize);
-
-        QByteArray type = sensor()->type();
-        if (type == QAmbientLightSensor::type) return;   // SensorFW returns lux values, plugin enumerated values
-        if (type == QIRProximitySensor::type) return;    // SensorFW returns raw reflectance values, plugin % of max reflectance
-        if (name == "accelerometersensor") return;      // SensorFW returns milliGs, plugin m/s^2
-        if (name == "magnetometersensor") return;       // SensorFW returns nanoTeslas, plugin Teslas
-        if (name == "gyroscopesensor") return;          // SensorFW returns DSPs, plugin milliDSPs
-
-        setDescription(m_sensorInterface->description());
-
-        if (name == "tapsensor") return;
-        setRanges();
+        initDone = initSensorInterface(name);
     };
 
 
@@ -163,9 +102,10 @@ protected:
     int m_bufferSize;
     int bufferSize() const;
     virtual qreal correctionFactor() const;
+    bool reinitIsNeeded;
 
 private:
-
+    bool initSensorInterface(QString const &);
     static SensorManagerInterface* m_remoteSensorManager;
     int m_prevOutputRange;
     bool doConnectAfterCheck();
diff --git a/src/plugins/sensors/sensorfw/sensorfwtapsensor.cpp b/src/plugins/sensors/sensorfw/sensorfwtapsensor.cpp
index 1d7e950..01ee778 100644
--- a/src/plugins/sensors/sensorfw/sensorfwtapsensor.cpp
+++ b/src/plugins/sensors/sensorfw/sensorfwtapsensor.cpp
@@ -45,8 +45,8 @@ char const * const SensorfwTapSensor::id("sensorfw.tapsensor");
 
 SensorfwTapSensor::SensorfwTapSensor(QSensor *sensor)
     : SensorfwSensorBase(sensor),
+      m_initDone(false),
       m_isOnceStarted(false)
-    , m_initDone(false)
 {
     init();
     setReading<QTapReading>(&m_reading);
@@ -58,6 +58,9 @@ SensorfwTapSensor::SensorfwTapSensor(QSensor *sensor)
 
 void SensorfwTapSensor::start()
 {
+    if (reinitIsNeeded)
+        init();
+
     QTapSensor * const tapSensor = qobject_cast<QTapSensor *>(sensor());
 
     bool b = tapSensor->returnDoubleTapEvents();
@@ -68,9 +71,14 @@ void SensorfwTapSensor::start()
     }
     else m_isDoubleTapSensor = b;
 
-    if (!m_isOnceStarted || (m_isOnceStarted && isDoubleTapSensor != m_isDoubleTapSensor))
-        ((TapSensorChannelInterface*)m_sensorInterface)->
-                setTapType(m_isDoubleTapSensor?TapSensorChannelInterface::Double:TapSensorChannelInterface::Single);
+    if (!m_isOnceStarted || (m_isOnceStarted && isDoubleTapSensor != m_isDoubleTapSensor)) {
+        TapSensorChannelInterface *iface = static_cast<TapSensorChannelInterface *>(m_sensorInterface);
+        if (!iface) {
+            qWarning() << "Sensor interface is not initialized";
+            return;
+        }
+        iface->setTapType(m_isDoubleTapSensor?TapSensorChannelInterface::Double:TapSensorChannelInterface::Single);
+    }
 
     SensorfwSensorBase::start();
     // Set tap type (single/double)
@@ -103,6 +111,7 @@ void SensorfwTapSensor::slotDataAvailable(const Tap& data)
 
 bool SensorfwTapSensor::doConnect()
 {
+    Q_ASSERT(m_sensorInterface);
     return QObject::connect(m_sensorInterface, SIGNAL(dataAvailable(Tap)),
                             this, SLOT(slotDataAvailable(Tap)));
 }
diff --git a/src/sensors/qcompass.cpp b/src/sensors/qcompass.cpp
index 8bfca07..468668f 100644
--- a/src/sensors/qcompass.cpp
+++ b/src/sensors/qcompass.cpp
@@ -56,7 +56,8 @@ IMPLEMENT_READING(QCompassReading)
 
     \section2 QCompassReading Units
     The compass returns the azimuth of the device as degrees from
-    magnetic north in a clockwise direction based on the top of the UI.
+    magnetic north in a clockwise direction based on the top of the device,
+    as defined by QPlatformScreen::nativeOrientation.
     There is also a value to indicate the calibration status of the device.
     If the device is not calibrated the azimuth may not be accurate.
 
@@ -74,8 +75,8 @@ IMPLEMENT_READING(QCompassReading)
     \property QCompassReading::azimuth
     \brief the azimuth of the device.
 
-    Measured in degrees from magnetic north in a clockwise direction based
-    the top of the UI.
+    Measured in degrees from magnetic north in a clockwise direction based on
+    the top of the device, as defined by QPlatformScreen::nativeOrientation.
     \sa {QCompassReading Units}
 */
 
diff --git a/src/sensors/qsensormanager.cpp b/src/sensors/qsensormanager.cpp
index 29bd4b5..abe5f85 100644
--- a/src/sensors/qsensormanager.cpp
+++ b/src/sensors/qsensormanager.cpp
@@ -48,12 +48,15 @@
 #include "sensorlog_p.h"
 #include <QTimer>
 #include <QFile>
+#include <QLoggingCategory>
 
 QT_BEGIN_NAMESPACE
 
 typedef QHash<QByteArray,QSensorBackendFactory*> FactoryForIdentifierMap;
 typedef QHash<QByteArray,FactoryForIdentifierMap> BackendIdentifiersForTypeMap;
 
+static QLoggingCategory sensorsCategory("qt.sensors");
+
 class QSensorManagerPrivate : public QObject
 {
     friend class QSensorManager;
@@ -77,7 +80,6 @@ public:
             loadExternalPlugins = false;
         }
     }
-
     bool loadExternalPlugins;
     PluginLoadingState pluginLoadingState;
     QFactoryLoader *loader;
@@ -101,9 +103,16 @@ public:
         if (config.isEmpty()) return; // QStandardPaths is broken?
         config += QLatin1String("/QtProject/Sensors.conf");
 #endif
-        if (!QFile::exists(config)) return;
+        qCDebug(sensorsCategory) << "Loading config from" << config;
+        if (!QFile::exists(config)) {
+            qCWarning(sensorsCategory) << "There is no config file" << config;
+            return;
+        }
         QFile cfgfile(config);
-        if (!cfgfile.open(QFile::ReadOnly)) return;
+        if (!cfgfile.open(QFile::ReadOnly)) {
+            qCWarning(sensorsCategory) << "Can't open config file" << config;
+            return;
+        }
 
         QTextStream stream(&cfgfile);
         QString line;
@@ -169,13 +178,19 @@ Q_GLOBAL_STATIC(QSensorManagerPrivate, sensorManagerPrivate)
 
 static void initPlugin(QObject *o)
 {
-    if (!o) return;
+    qCDebug(sensorsCategory) << "Init plugin" << o;
+    if (!o) {
+        qCWarning(sensorsCategory) << "Null plugin" << o;
+        return;
+    }
 
     QSensorManagerPrivate *d = sensorManagerPrivate();
     if (!d) return; // hardly likely but just in case...
 
-    if (d->seenPlugins.contains(o))
+    if (d->seenPlugins.contains(o)) {
+        qCDebug(sensorsCategory) << "Plugin is seen" << o;
         return;
+    }
 
     QSensorChangesInterface *changes = qobject_cast<QSensorChangesInterface*>(o);
     if (changes)
@@ -184,8 +199,11 @@ static void initPlugin(QObject *o)
     QSensorPluginInterface *plugin = qobject_cast<QSensorPluginInterface*>(o);
 
     if (plugin) {
+        qCDebug(sensorsCategory) << "Register sensors for " << plugin;
         d->seenPlugins.insert(o);
         plugin->registerSensors();
+    } else {
+        qCWarning(sensorsCategory) << "Can't cast to plugin" << o;
     }
 }