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-rw-r--r--doc/src/images/FaceDown.gifbin6681 -> 0 bytes
-rw-r--r--doc/src/images/FaceUp.gifbin6736 -> 0 bytes
-rw-r--r--doc/src/images/LeftUp.gifbin7210 -> 0 bytes
-rw-r--r--doc/src/images/RightUp.gifbin7146 -> 0 bytes
-rw-r--r--doc/src/images/TopDown.gifbin7455 -> 0 bytes
-rw-r--r--doc/src/images/TopUp.gifbin7172 -> 0 bytes
-rw-r--r--doc/src/imports/qtsensors5.qdoc6
-rw-r--r--examples/sensors/maze/Maze.qml11
-rw-r--r--examples/sensors/qmlqtsensors5/main.qml131
-rw-r--r--src/imports/sensors2/qsensor2tilt.cpp362
-rw-r--r--src/imports/sensors2/qsensor2tilt.h68
-rw-r--r--tests/auto/sensors2qmlapi/qdeclaccelerometer.h2
-rw-r--r--tests/auto/sensors2qmlapi/tst_sensors2qmlapi.cpp214
13 files changed, 431 insertions, 363 deletions
diff --git a/doc/src/images/FaceDown.gif b/doc/src/images/FaceDown.gif
deleted file mode 100644
index 9236a8a..0000000
--- a/doc/src/images/FaceDown.gif
+++ /dev/null
Binary files differ
diff --git a/doc/src/images/FaceUp.gif b/doc/src/images/FaceUp.gif
deleted file mode 100644
index a53894f..0000000
--- a/doc/src/images/FaceUp.gif
+++ /dev/null
Binary files differ
diff --git a/doc/src/images/LeftUp.gif b/doc/src/images/LeftUp.gif
deleted file mode 100644
index 2c8d57a..0000000
--- a/doc/src/images/LeftUp.gif
+++ /dev/null
Binary files differ
diff --git a/doc/src/images/RightUp.gif b/doc/src/images/RightUp.gif
deleted file mode 100644
index 8e29cbc..0000000
--- a/doc/src/images/RightUp.gif
+++ /dev/null
Binary files differ
diff --git a/doc/src/images/TopDown.gif b/doc/src/images/TopDown.gif
deleted file mode 100644
index 6314fc9..0000000
--- a/doc/src/images/TopDown.gif
+++ /dev/null
Binary files differ
diff --git a/doc/src/images/TopUp.gif b/doc/src/images/TopUp.gif
deleted file mode 100644
index f6747c4..0000000
--- a/doc/src/images/TopUp.gif
+++ /dev/null
Binary files differ
diff --git a/doc/src/imports/qtsensors5.qdoc b/doc/src/imports/qtsensors5.qdoc
index 80fde89..97acacf 100644
--- a/doc/src/imports/qtsensors5.qdoc
+++ b/doc/src/imports/qtsensors5.qdoc
@@ -54,9 +54,9 @@
\qml
TiltSensor {
id: tilt
- radian: false
- measureFrom: TiltSensor.FaceUp
- running: false
+ enabled: false
+ unit: TiltSensor.Degrees
+ accuracy: 1.0
}
\endqml
diff --git a/examples/sensors/maze/Maze.qml b/examples/sensors/maze/Maze.qml
index b529f08..9a79e0f 100644
--- a/examples/sensors/maze/Maze.qml
+++ b/examples/sensors/maze/Maze.qml
@@ -155,14 +155,15 @@ Rectangle {
//Start the Tilt reader timer
tiltTimer.running = true;
+ tiltSensor.calibrate();
}
}
TiltSensor{
id: tiltSensor
- radian: false
- measureFrom: TiltSensor.FaceUp
- running: true
+ unit: TiltSensor.Degrees
+ enabled: true
+ accuracy: 5.0
}
//Timer to read out the x and y rotation of the TiltSensor
@@ -170,8 +171,8 @@ Rectangle {
id: tiltTimer
interval: 50; running: false; repeat: true
onTriggered: {
- if (!tiltSensor.running)
- tiltSensor.running = true;
+ if (!tiltSensor.enabled)
+ tiltSensor.enabled = true;
if (mouseCtrl === null)
return;
diff --git a/examples/sensors/qmlqtsensors5/main.qml b/examples/sensors/qmlqtsensors5/main.qml
index e1de104..75cb450 100644
--- a/examples/sensors/qmlqtsensors5/main.qml
+++ b/examples/sensors/qmlqtsensors5/main.qml
@@ -45,13 +45,14 @@ import QtSensors 5.0
/* Layout
tiltrect
/
-------------------------------/
-| @ Facing Up <-------------------- selButtonFacingUp
-| O Left Up <-------------------- selButtonLeftUp
-| O Top Down <-------------------- selButtonTopDown
-| O Face Down <-------------------- selButtonFaceDown
-| O Right Up <-------------------- selButtonRightUp
-| O Top Up <-------------------- selButtonTopUp
+-----------------------------------------------------------/
+| Accuracy <----- textAccuracy
+| @ 0 Degree <- selButton0DegreeAccuracy
+| O 1 Degree <- selButton1DegreeAccuracy
+| O 5 Degree <- selButton5DegreeAccuracy
+| -----------
+| |calibrate| <------------------ calibrate
+| -----------
| ---------
| |degree | <-------------------- useRadian
| ---------
@@ -72,7 +73,7 @@ import QtSensors 5.0
| ---------
| |start | <-------------------- proxiStart
| ---------
-------------------------------
+------------------------------------------------------------
*/
@@ -90,99 +91,74 @@ Rectangle {
TiltSensor {
id: tilt
- radian: false
- measureFrom: TiltSensor.FaceUp
- running: false
+ unit: TiltSensor.Degrees
+ enabled: false
+ accuracy: 1.0
}
-
- SelectionButton{
- id: selButtonFacingUp
+ Text{
+ id: textAccuracy
x: 5
y: 20
- checked: true
- text: "Facing Up"
- onClicked:{
- selButtonLeftUp.setCheck(false);
- selButtonTopDown.setCheck(false);
- selButtonFaceDown.setCheck(false);
- selButtonRightUp.setCheck(false);
- selButtonTopUp.setCheck(false);
- tilt.measureFrom=TiltSensor.FaceUp;
- }
+ text: "Accuracy"
}
SelectionButton{
- id: selButtonLeftUp
+ id: selButton0DegreeAccuracy
x: 5
y: 45
- checked: false
- text: "Left Up"
+ checked: true
+ text: "0 Degree"
onClicked:{
- selButtonFacingUp.setCheck(false);
- selButtonTopDown.setCheck(false);
- selButtonFaceDown.setCheck(false);
- selButtonRightUp.setCheck(false);
- selButtonTopUp.setCheck(false);
- tilt.measureFrom=TiltSensor.LeftUp;
+ selButton1DegreeAccuracy.setCheck(false);
+ selButton5DegreeAccuracy.setCheck(false);
+ tilt.accuracy = 0.0;
}
}
SelectionButton{
- id: selButtonTopDown
+ id: selButton1DegreeAccuracy
x: 5
y: 70
checked: false
- text: "Top Down"
+ text: "1 Degree"
onClicked:{
- selButtonFacingUp.setCheck(false);
- selButtonLeftUp.setCheck(false);
- selButtonFaceDown.setCheck(false);
- selButtonRightUp.setCheck(false);
- selButtonTopUp.setCheck(false);
- tilt.measureFrom=TiltSensor.TopDown;
+ selButton0DegreeAccuracy.setCheck(false);
+ selButton5DegreeAccuracy.setCheck(false);
+ tilt.accuracy = (tilt.unit == TiltSensor.Degrees ? 1.0 : (3.14 / 180.0));
}
}
SelectionButton{
- id: selButtonFaceDown
+ id: selButton5DegreeAccuracy
x: 5
y: 95
checked: false
- text: "Face Down"
- onClicked:{
- selButtonFacingUp.setCheck(false);
- selButtonLeftUp.setCheck(false);
- selButtonTopDown.setCheck(false);
- selButtonRightUp.setCheck(false);
- selButtonTopUp.setCheck(false);
- tilt.measureFrom=TiltSensor.FaceDown;
- }
- }
- SelectionButton{
- id: selButtonRightUp
- x: 5
- y: 120
- checked: false
- text: "Right Up"
+ text: "5 Degree"
onClicked:{
- selButtonFacingUp.setCheck(false);
- selButtonLeftUp.setCheck(false);
- selButtonTopDown.setCheck(false);
- selButtonFaceDown.setCheck(false);
- selButtonTopUp.setCheck(false);
- tilt.measureFrom=TiltSensor.RightUp;
+ selButton0DegreeAccuracy.setCheck(false);
+ selButton1DegreeAccuracy.setCheck(false);
+ tilt.accuracy = (tilt.unit == TiltSensor.Degrees ? 5.0 : (5.0 * 3.14 / 180.0));
}
}
- SelectionButton{
- id: selButtonTopUp
+
+ Button{
+ id: calibrate
x: 5
y: 145
+ text: "calibrate"
+ checkColor: "lightblue"
+ unCheckColor: "lightyellow"
checked: false
- text: "Top Up"
+ color: "lightyellow"
+
onClicked:{
- selButtonFacingUp.setCheck(false);
- selButtonLeftUp.setCheck(false);
- selButtonTopDown.setCheck(false);
- selButtonFaceDown.setCheck(false);
- selButtonRightUp.setCheck(false);
- tilt.measureFrom=TiltSensor.TopUp;
+ tilt.calibrate();
+ unchecktimer.running = true;
+ }
+ Timer {
+ id: unchecktimer
+ interval: 1000; running: false; repeat: false
+ onTriggered: {
+ calibrate.checked = false;
+ calibrate.color = "lightyellow";
+ }
}
}
@@ -193,11 +169,11 @@ Rectangle {
text: "degree"
checkColor: "lightblue"
unCheckColor: "lightyellow"
- checked: tilt.radian
+ checked: (tilt.unit == TiltSensor.Radians ? true : false)
color: "lightyellow"
onClicked:{
- tilt.radian = useRadian.checked;
+ tilt.unit = (useRadian.checked ? TiltSensor.Radians : TiltSensor.Degrees);
if (useRadian.checked)
useRadian.text = "radian";
else
@@ -224,11 +200,11 @@ Rectangle {
text: "start"
checkColor: "lightblue"
unCheckColor: "lightyellow"
- checked: tilt.running
+ checked: tilt.enabled
color: "lightyellow"
onClicked:{
- tilt.running = tiltStart.checked;
+ tilt.enabled = tiltStart.checked;
if (tiltStart.checked)
tiltStart.text = "running";
else
@@ -327,4 +303,3 @@ Rectangle {
}
}
}
-
diff --git a/src/imports/sensors2/qsensor2tilt.cpp b/src/imports/sensors2/qsensor2tilt.cpp
index b950759..4af6e01 100644
--- a/src/imports/sensors2/qsensor2tilt.cpp
+++ b/src/imports/sensors2/qsensor2tilt.cpp
@@ -42,8 +42,8 @@
#include "qsensor2tilt.h"
#define _USE_MATH_DEFINES
#include <math.h>
-#include <errno.h>
#include <QtCore/QDebug>
+#include <QtCore/QStringList>
QT_BEGIN_NAMESPACE
@@ -55,53 +55,17 @@ QT_BEGIN_NAMESPACE
\brief The TiltSensor element provides tilt datas from x and y rotation of the device using the accelerometer sensor.
This element is part of the \bold{QtSensors 5} module.
-
- \target tiltreferenceenum
- \section1 Enums
- \section2 TiltSensor::TiltReference
-
- This enum describes the orientation of the device.
-
- \table
- \row
- \o TiltSensor::TopUp
- \o The top of the device points up
- \o
- \image TopUp.gif
- \row
- \o TiltSensor::TopDown
- \o The top of the device points down
- \o
- \image TopDown.gif
- \row
- \o TiltSensor::LeftUp
- \o The left site of the device points up
- \o
- \image LeftUp.gif
- \row
- \o TiltSensor::RightUp
- \o The right site of the device points up
- \o
- \image RightUp.gif
- \row
- \o TiltSensor::FaceUp
- \o The screen of the device points up
- \o
- \image FaceUp.gif
- \row
- \o TiltSensor::FaceDown
- \o The screen of the device points down
- \o
- \image FaceDown.gif
- \endtable
-
*/
QSensor2Tilt::QSensor2Tilt(QObject* parent)
: QObject(parent)
- , _measureFrom(QSensor2Tilt::FaceUp)
, _yRotation(0)
, _xRotation(0)
- , _useRadian(true)
+ , _radAccuracy(M_PI / 180)
+ , _unit(QSensor2Tilt::Radians)
+ , _pitch(0)
+ , _roll(0)
+ , _calibratedPitch(0)
+ , _calibratedRoll(0)
{
_accel = new QAccelerometer(this);
_accel->addFilter(this);
@@ -115,10 +79,6 @@ QSensor2Tilt::~QSensor2Tilt()
\qmlproperty bool QtSensors5::TiltSensor::dataRate
Holds the data rate that the sensor should be run at.
*/
-/*!
- \qmlsignal QtSensors5::TiltSensor::onDataRateChanged()
- This signal is emitted whenever the value of the property dataRate has been changed.
-*/
int QSensor2Tilt::dataRate()
{
return _accel->dataRate();
@@ -133,21 +93,17 @@ void QSensor2Tilt::setDataRate(int val)
}
/*!
- \qmlproperty bool QtSensors5::TiltSensor::running
- Holds the identication if the sensor runs or not.
-*/
-/*!
- \qmlsignal QtSensors5::TiltSensor::onRunningChanged()
- This signal is emitted whenever the value of the property running has been changed.
+ \qmlproperty bool QtSensors5::QSensor2Tilt::enabled
+ This property can be used to activate or deactivate the sensor.
*/
-bool QSensor2Tilt::running()
+bool QSensor2Tilt::enabled()
{
return _accel->isActive();
}
-void QSensor2Tilt::setRunning(bool val)
+void QSensor2Tilt::setEnabled(bool val)
{
- bool active = running();
+ bool active = enabled();
if (active != val){
if (val){
bool ret = _accel->start();
@@ -156,49 +112,39 @@ void QSensor2Tilt::setRunning(bool val)
}
else
_accel->stop();
- emit runningChanged();
+ emit enabledChanged();
}
}
/*!
- \qmlproperty QSensor2Tilt::TiltReference QtSensors5::TiltSensor::measureFrom
- Holds the orientation in which the rotation should be calculated.
- \sa {tiltreferenceenum} {TiltReference::TiltReference}
-*/
-/*!
- \qmlsignal QtSensors5::TiltSensor::onMeasureFromChanged()
- This signal is emitted whenever the value of the property measureFrom has been changed.
+ \target unit_property
+ \qmlproperty enumeration QtSensors5::TiltSensor::unit
+ Returns the unit of the rotation which can be one of:
+ \table
+ \row
+ \o TiltSensor.Radians
+ \o The unit of the rotation angle is radians.
+ \row
+ \o TiltSensor.Degrees
+ \o The unit of the rotation angle is degrees.
+ \endtable
*/
-QSensor2Tilt::TiltReference QSensor2Tilt::measureFrom()
+QSensor2Tilt::Unit QSensor2Tilt::unit()
{
- return _measureFrom;
+ return _unit;
}
-void QSensor2Tilt::setMeasureFrom(QSensor2Tilt::TiltReference val)
+void QSensor2Tilt::setUnit(const QSensor2Tilt::Unit val)
{
- if (val != _measureFrom){
- _measureFrom = val;
- emit measureFromChanged();
+ if (_unit != val){
+ _unit = val;
+ emit unitChanged();
}
}
-/*!
- \qmlproperty bool QtSensors5::TiltSensor::radian
- Holds the unit of the rotation. True is rad otherwise deg. true = report values in radians. false = report values in degrees.
-*/
-bool QSensor2Tilt::radian()
-{
- return _useRadian;
-}
-
-void QSensor2Tilt::setRadian(bool val)
-{
- _useRadian = val;
-}
-
/*!
- \qmlproperty float QtSensors5::TiltSensor::yRotation
+ \qmlproperty qreal QtSensors5::TiltSensor::yRotation
Holds the rotation arround the y axis.
\table
@@ -209,17 +155,16 @@ void QSensor2Tilt::setRadian(bool val)
\image YAngleNegative.gif
\endtable
*/
-/*!
- \qmlsignal QtSensors5::TiltSensor::onYRotationChanged()
- This signal is emitted whenever the value of the property yRotation has been changed.
-*/
-float QSensor2Tilt::yRotation()
+qreal QSensor2Tilt::yRotation()
{
+ if (_unit == QSensor2Tilt::Degrees)
+ return _yRotation * 180 / M_PI;
+
return _yRotation;
}
/*!
- \qmlproperty float QtSensors5::TiltSensor::xRotation
+ \qmlproperty qreal QtSensors5::TiltSensor::xRotation
Holds the rotation arround the x axis.
\table
\row
@@ -229,12 +174,11 @@ float QSensor2Tilt::yRotation()
\image XAngleNegative.gif
\endtable
*/
-/*!
- \qmlsignal QtSensors5::TiltSensor::onXRotationChanged()
- This signal is emitted whenever the value of the property XRotation has been changed.
-*/
-float QSensor2Tilt::xRotation()
+qreal QSensor2Tilt::xRotation()
{
+ if (_unit == QSensor2Tilt::Degrees)
+ return _xRotation * 180 / M_PI;
+
return _xRotation;
}
@@ -244,32 +188,96 @@ float QSensor2Tilt::xRotation()
pitch = arctan| ----------------------- |
| sqrt(Ay * Ay + Az * Az)|
*/
-inline float calcPitch(double Ax, double Ay, double Az)
+inline qreal calcPitch(double Ax, double Ay, double Az)
{
- errno = 0;
- float ret = (float)-atan(Ax / (sqrt(Ay * Ay + Az * Az)));
- if (errno == EDOM){
- ret = 0.0;
- errno = 0;
- }
- return ret;
+ return (float)-atan2(Ax, sqrt(Ay * Ay + Az * Az));
}
/*
Angle between Ground and Y
| Ay |
- pitch = arctan| ----------------------- |
+ roll = arctan| ----------------------- |
| sqrt(Ax * Ax + Az * Az)|
*/
-inline float calcRoll(double Ax, double Ay, double Az)
+inline qreal calcRoll(double Ax, double Ay, double Az)
{
- errno = 0;
- float ret = (float)atan(Ay / (sqrt(Ax * Ax + Az * Az)));
- if (errno == EDOM){
- ret = 0.0;
- errno = 0;
+ return (float)atan2(Ay, (sqrt(Ax * Ax + Az * Az)));
+}
+
+/*
+ Angle between Z Axis relative to the Gravity
+ | sqrt(Ax * Ax + Ay* Ay) |
+ theta = arctan| ----------------------- |
+ | Az |
+*/
+inline qreal calcTheta(double Ax, double Ay, double Az)
+{
+ return (float)atan2((sqrt(Ax * Ax + Ay * Ay)), Az);
+}
+
+/*!
+ \qmlproperty qreal QtSensors5::TiltSensor::accuracy
+ This property contains the accuracy (in degrees) in which the rotation should be measured.
+ This can be used to minimize signal emiting and therefore saving of performance.
+ Default value is 1 degree.
+*/
+/*!
+ \qmlsignal QtSensors5::TiltSensor::tiltChanged(qreal deltaX, qreal deltaY)
+ This signal is emitted whenever the change from at leat one of the rotation values was higher than the accuracy.
+ The angle value is based on the specified unit (Degree or Radian) \sa {unit_property} {TiltSensor.unit}.
+*/
+qreal QSensor2Tilt::accuracy()
+{
+ //return in degree
+ return 180 * _radAccuracy / M_PI;
+}
+
+void QSensor2Tilt::setAccuracy(qreal val)
+{
+ //save in rad to save convertion calc in filter function
+ _radAccuracy = M_PI * val / 180;
+}
+
+/*!
+ \qmlproperty void QtSensors5::TiltSensor::calibrate
+ The call of this function calibrates the tilt from x and y to the current position.
+*/
+void QSensor2Tilt::calibrate()
+{
+ _calibratedPitch = _pitch;
+ _calibratedRoll = _roll;
+#ifdef LOGCALIBRATION
+ qDebug() << "--------- calibrate --------";
+ qDebug() << "_calibratedPitch: " << _calibratedPitch;
+ qDebug() << "_calibratedRoll: " << _calibratedRoll;
+ qDebug() << "----------------------------";
+#endif
+}
+
+/*!
+ \qmlproperty qreal QtSensors5::TiltSensor::settings
+ This property contains the setting of the current state.
+ It can be used for saving and reloading previously saved calibrations.
+*/
+QByteArray QSensor2Tilt::settings() const
+{
+ QByteArray arr;
+ arr.append(QString::number((double)_calibratedPitch));
+ arr.append(";");
+ arr.append(QString::number((double)_calibratedRoll));
+ return arr;
+}
+
+void QSensor2Tilt::setSettings(const QByteArray val)
+{
+ QString str(val);
+ if (str.indexOf(";") > 0){
+ QStringList strlist = str.split(";");
+ if (strlist.length() == 2){
+ _calibratedPitch = strlist.at(0).toDouble();
+ _calibratedRoll = strlist.at(1).toDouble();
+ }
}
- return ret;
}
bool QSensor2Tilt::filter(QAccelerometerReading* reading)
@@ -280,86 +288,68 @@ bool QSensor2Tilt::filter(QAccelerometerReading* reading)
|/___ x
*/
- int x = reading->x();
- int y = reading->y();
- int z = reading->z();
- float xrot = 0;
- float yrot = 0;
-
- switch (_measureFrom)
- {
- case QSensor2Tilt::FaceUp:
- /*
- y
- | => Ax = x, Ay = y, Az = z
- |___ x
- */
- yrot = calcPitch(x, y, z);
- xrot = calcRoll(x, y, z);
- break;
- case QSensor2Tilt::LeftUp:
- /*
- z
- | => Ax = y, Ay = z, Az = x
- |___ y
- */
- yrot = calcPitch(y, z, x);
- xrot = -calcRoll(y, z, x);
- break;
- case QSensor2Tilt::TopDown:
- /*
- z
- | => Ax = -x, Ay = z, Az = y
- |___ -x
- */
- yrot = -calcPitch(x, z, y);
- xrot = -calcRoll(x, z, y);
- break;
- case QSensor2Tilt::FaceDown:
- /*
- -y
- | => Ax = x, Ay = -y, Az = -z
- |___ x
- */
- yrot = calcPitch(-x, -y, z);
- xrot = -calcRoll(-x, -y, z);
- break;
- case QSensor2Tilt::RightUp:
- /*
- z
- | => Ax = -y, Ay = z, Az = -x
- |___ -y
- */
- yrot = calcPitch(-y, z, -x);
- xrot = -calcRoll(-y, z, -x);
- break;
- case QSensor2Tilt::TopUp:
- /*
- z
- | => Ax = x, Ay = z, Az = -y
- |___ x
- */
- yrot = calcPitch(x, z, -y);
- xrot = -calcRoll(x, z, -y);
- break;
- }
-
-
-
- if (!_useRadian){
- yrot = 180 * yrot / M_PI;
- xrot = 180 * xrot / M_PI;
- }
-
- if (xrot != _xRotation){
+ qreal ax = reading->x();
+ qreal ay = reading->y();
+ qreal az = reading->z();
+#ifdef LOGCALIBRATION
+ qDebug() << "------------ new value -----------";
+ qDebug() << "old _pitch: " << _pitch;
+ qDebug() << "old _roll: " << _roll;
+ qDebug() << "_calibratedPitch: " << _calibratedPitch;
+ qDebug() << "_calibratedRoll: " << _calibratedRoll;
+#endif
+ _pitch = calcPitch(ax, ay, az);
+ _roll = calcRoll (ax, ay, az);
+#ifdef LOGCALIBRATION
+ qDebug() << "_pitch: " << _pitch;
+ qDebug() << "_roll: " << _roll;
+#endif
+ qreal xrot = _roll - _calibratedRoll;
+ qreal yrot = _pitch - _calibratedPitch;
+ //get angle beteen 0 and 180 or 0 -180
+ qreal aG = 1 * sin(xrot);
+ qreal aK = 1 * cos(xrot);
+ xrot = atan2(aG, aK);
+ if (xrot > M_PI_2)
+ xrot = M_PI - xrot;
+ else if (xrot < -M_PI_2)
+ xrot = -(M_PI + xrot);
+ aG = 1 * sin(yrot);
+ aK = 1 * cos(yrot);
+ yrot = atan2(aG, aK);
+ if (yrot > M_PI_2)
+ yrot = M_PI - yrot;
+ else if (yrot < -M_PI_2)
+ yrot = -(M_PI + yrot);
+
+
+#ifdef LOGCALIBRATION
+ qDebug() << "new xrot: " << xrot;
+ qDebug() << "new yrot: " << yrot;
+ qDebug() << "----------------------------------";
+#endif
+ qreal dxrot = xrot - _xRotation;
+ qreal dyrot = yrot - _yRotation;
+ if (dxrot < 0) dxrot = -dxrot;
+ if (dyrot < 0) dyrot = -dyrot;
+
+ bool change = false;
+ if (dxrot >= _radAccuracy){
_xRotation = xrot;
emit xRotationChanged();
+ change = true;
}
- if (yrot != _yRotation){
+ if (dyrot >= _radAccuracy){
_yRotation = yrot;
emit yRotationChanged();
+ change = true;
+ }
+ if (change){
+ if (_unit == QSensor2Tilt::Degrees)
+ emit tiltChanged(dxrot * 180 / M_PI, dyrot * 180 / M_PI);
+ else
+ emit tiltChanged(dxrot, dyrot);
}
-
return false;
}
diff --git a/src/imports/sensors2/qsensor2tilt.h b/src/imports/sensors2/qsensor2tilt.h
index 23f2727..8ad0327 100644
--- a/src/imports/sensors2/qsensor2tilt.h
+++ b/src/imports/sensors2/qsensor2tilt.h
@@ -50,59 +50,63 @@ QT_BEGIN_NAMESPACE
class QSensor2Tilt : public QObject, public QAccelerometerFilter
{
Q_OBJECT
- Q_ENUMS(TiltReference)
- Q_PROPERTY(TiltReference measureFrom READ measureFrom WRITE setMeasureFrom NOTIFY measureFromChanged)
- Q_PROPERTY(float yRotation READ yRotation NOTIFY yRotationChanged)
- Q_PROPERTY(float xRotation READ xRotation NOTIFY xRotationChanged)
- Q_PROPERTY(bool radian READ radian WRITE setRadian)
+ Q_ENUMS(Unit)
+ Q_PROPERTY(qreal yRotation READ yRotation NOTIFY yRotationChanged)
+ Q_PROPERTY(qreal xRotation READ xRotation NOTIFY xRotationChanged)
+ Q_PROPERTY(Unit unit READ unit WRITE setUnit NOTIFY unitChanged)
Q_PROPERTY(int dataRate READ dataRate WRITE setDataRate NOTIFY dataRateChanged)
- Q_PROPERTY(bool running READ running WRITE setRunning NOTIFY runningChanged)
+ Q_PROPERTY(bool enabled READ enabled WRITE setEnabled NOTIFY enabledChanged)
+ Q_PROPERTY(qreal accuracy READ accuracy WRITE setAccuracy NOTIFY accuracyChanged)
+ Q_PROPERTY(QByteArray settings READ settings WRITE setSettings)
public:
QSensor2Tilt(QObject* parent = 0);
virtual ~QSensor2Tilt();
+ Q_INVOKABLE void calibrate();
- enum TiltReference{
- TopUp = 0,
- TopDown,
- LeftUp,
- RightUp,
- FaceUp,
- FaceDown
+ enum Unit{
+ Radians = 0
+ , Degrees
};
Q_SIGNALS:
- void measureFromChanged();
+ void unitChanged();
void yRotationChanged();
void xRotationChanged();
void dataRateChanged();
- void runningChanged();
+ void enabledChanged();
+ void tiltChanged(qreal deltaX, qreal deltaY);
+ void accuracyChanged();
private:
// Override of QAcclerometerFilter::filter(QAccelerometerReading*)
bool filter(QAccelerometerReading* reading);
-
- TiltReference measureFrom();
- void setMeasureFrom(TiltReference val);
- float yRotation();
- float xRotation();
- bool radian();
- void setRadian(bool val);
+ qreal yRotation();
+ qreal xRotation();
+ Unit unit();
+ void setUnit(const Unit val);
int dataRate();
- void setDataRate(int val);
- bool running();
- void setRunning(bool val);
+ void setDataRate(const int val);
+ bool enabled();
+ void setEnabled(bool val);
+ qreal accuracy();
+ void setAccuracy(const qreal val);
+ QByteArray settings() const;
+ void setSettings(const QByteArray val);
QAccelerometer* _accel;
- TiltReference _measureFrom;
- float _yRotation;
- float _xRotation;
- bool _useRadian;
- bool _init;
+ qreal _yRotation;
+ qreal _xRotation;
+ qreal _radAccuracy;
+ Unit _unit;
+ qreal _pitch;
+ qreal _roll;
+ qreal _calibratedPitch;
+ qreal _calibratedRoll;
};
-QML_DECLARE_TYPE(QT_PREPEND_NAMESPACE(QSensor2Tilt))
-
QT_END_NAMESPACE
+QML_DECLARE_TYPE(QSensor2Tilt)
+
#endif // QSEONSOR2TILT_H
diff --git a/tests/auto/sensors2qmlapi/qdeclaccelerometer.h b/tests/auto/sensors2qmlapi/qdeclaccelerometer.h
index 0ec2061..a94bd62 100644
--- a/tests/auto/sensors2qmlapi/qdeclaccelerometer.h
+++ b/tests/auto/sensors2qmlapi/qdeclaccelerometer.h
@@ -62,7 +62,7 @@ public:
void stop() { _active = false; }
bool isActive() { return _active; }
- void test(int x, int y, int z)
+ void test(float x, float y, float z)
{
if (sensor()->filters().count() > 0){
QAccelerometerFilter* af = (QAccelerometerFilter*)sensor()->filters().at(0);
diff --git a/tests/auto/sensors2qmlapi/tst_sensors2qmlapi.cpp b/tests/auto/sensors2qmlapi/tst_sensors2qmlapi.cpp
index 9ffafb9..6d27750 100644
--- a/tests/auto/sensors2qmlapi/tst_sensors2qmlapi.cpp
+++ b/tests/auto/sensors2qmlapi/tst_sensors2qmlapi.cpp
@@ -64,6 +64,8 @@ private slots:
void testTilt_data();
void testTilt();
void testTilt_receivedSignalsCount();
+ void testTiltAccuracy();
+ void testTiltCalibration();
void testProximity();
void testAmbientLight();
@@ -143,54 +145,67 @@ void tst_Sensors2QMLAPI::testAmbientLight()
void tst_Sensors2QMLAPI::testTilt_data()
{
- QTest::addColumn<int>("pos");
+ QTest::addColumn<qreal>("pitch");
+ QTest::addColumn<qreal>("roll");
QTest::addColumn<int>("x");
QTest::addColumn<int>("y");
QTest::addColumn<int>("z");
QTest::addColumn<int>("xRotation");
QTest::addColumn<int>("yRotation");
- QTest::newRow("TopUp001") << (int)QSensor2Tilt::TopUp << 0 << 0 << 1 << -90 << 0;
- QTest::newRow("TopDown001") << (int)QSensor2Tilt::TopDown << 0 << 0 << 1 << -90 << 0;
- QTest::newRow("LeftUp001") << (int)QSensor2Tilt::LeftUp << 0 << 0 << 1 << -90 << 0;
- QTest::newRow("RightUp001") << (int)QSensor2Tilt::RightUp << 0 << 0 << 1 << -90 << 0;
- QTest::newRow("FaceUp001") << (int)QSensor2Tilt::FaceUp << 0 << 0 << 1 << 0 << 0;
- QTest::newRow("FaceDown001") << (int)QSensor2Tilt::FaceDown << 0 << 0 << 1 << 0 << 0;
-
- QTest::newRow("TopUp010") << (int)QSensor2Tilt::TopUp << 0 << 1 << 0 << 0 << 0;
- QTest::newRow("TopDown010") << (int)QSensor2Tilt::TopDown << 0 << 1 << 0 << 0 << 0;
- QTest::newRow("LeftUp010") << (int)QSensor2Tilt::LeftUp << 0 << 1 << 0 << 0 << -90;
- QTest::newRow("RightUp010") << (int)QSensor2Tilt::RightUp << 0 << 1 << 0 << 0 << 90;
- QTest::newRow("FaceUp010") << (int)QSensor2Tilt::FaceUp << 0 << 1 << 0 << 90 << 0;
- QTest::newRow("FaceDown010") << (int)QSensor2Tilt::FaceDown << 0 << 1 << 0 << 90 << 0;
-
- QTest::newRow("TopUp100") << (int)QSensor2Tilt::TopUp << 1 << 0 << 0 << 0 << -90;
- QTest::newRow("TopDown100") << (int)QSensor2Tilt::TopDown << 1 << 0 << 0 << 0 << 90;
- QTest::newRow("LeftUp100") << (int)QSensor2Tilt::LeftUp << 1 << 0 << 0 << 0 << 0;
- QTest::newRow("RightUp100") << (int)QSensor2Tilt::RightUp << 1 << 0 << 0 << 0 << 0;
- QTest::newRow("FaceUp100") << (int)QSensor2Tilt::FaceUp << 1 << 0 << 0 << 0 << -90;
- QTest::newRow("FaceDown100") << (int)QSensor2Tilt::FaceDown << 1 << 0 << 0 << 0 << 90;
-
- QTest::newRow("TopUp101") << (int)QSensor2Tilt::TopUp << 1 << 0 << 1 << -45 << -45;
- QTest::newRow("TopDown101") << (int)QSensor2Tilt::TopDown << 1 << 0 << 1 << -45 << 45;
- QTest::newRow("LeftUp101") << (int)QSensor2Tilt::LeftUp << 1 << 0 << 1 << -45 << 0;
- QTest::newRow("RightUp101") << (int)QSensor2Tilt::RightUp << 1 << 0 << 1 << -45 << 0;
- QTest::newRow("FaceUp101") << (int)QSensor2Tilt::FaceUp << 1 << 0 << 1 << 0 << -45;
- QTest::newRow("FaceDown101") << (int)QSensor2Tilt::FaceDown << 1 << 0 << 1 << 0 << 45;
-
- QTest::newRow("TopUp110") << (int)QSensor2Tilt::TopUp << 1 << 1 << 0 << 0 << -45;
- QTest::newRow("TopDown110") << (int)QSensor2Tilt::TopDown << 1 << 1 << 0 << 0 << 45;
- QTest::newRow("LeftUp110") << (int)QSensor2Tilt::LeftUp << 1 << 1 << 0 << 0 << -45;
- QTest::newRow("RightUp110") << (int)QSensor2Tilt::RightUp << 1 << 1 << 0 << 0 << 45;
- QTest::newRow("FaceUp110") << (int)QSensor2Tilt::FaceUp << 1 << 1 << 0 << 45 << -45;
- QTest::newRow("FaceDown110") << (int)QSensor2Tilt::FaceDown << 1 << 1 << 0 << 45 << 45;
-
- QTest::newRow("TopUp011") << (int)QSensor2Tilt::TopUp << 0 << 1 << 1 << -45 << 0;
- QTest::newRow("TopDown011") << (int)QSensor2Tilt::TopDown << 0 << 1 << 1 << -45 << 0;
- QTest::newRow("LeftUp011") << (int)QSensor2Tilt::LeftUp << 0 << 1 << 1 << -45 << -45;
- QTest::newRow("RightUp011") << (int)QSensor2Tilt::RightUp << 0 << 1 << 1 << -45 << 45;
- QTest::newRow("FaceUp011") << (int)QSensor2Tilt::FaceUp << 0 << 1 << 1 << 45 << 0;
- QTest::newRow("FaceDown011") << (int)QSensor2Tilt::FaceDown << 0 << 1 << 1 << 45 << 0;
+ //Face up
+ // Pitch Roll x y z xRot yRot
+ QTest::newRow("FaceUp1") << 0.0 << 0.0 << 0 << 0 << 1 << 0 << 0;
+ QTest::newRow("FaceUp2") << 0.0 << 0.0 << 0 << 1 << 0 << 90 << 0;
+ QTest::newRow("FaceUp3") << 0.0 << 0.0 << 1 << 0 << 0 << 0 << -90;
+ QTest::newRow("FaceUp4") << 0.0 << 0.0 << 1 << 0 << 1 << 0 << -45;
+ QTest::newRow("FaceUp5") << 0.0 << 0.0 << 1 << 1 << 0 << 45 << -45;
+ QTest::newRow("FaceUp6") << 0.0 << 0.0 << 0 << 1 << 1 << 45 << 0;
+
+ //top up roll = 90
+ // Pitch Roll x y z xRot yRot
+ QTest::newRow("TopUp1") << 0.0 << 90.0 << 0 << 0 << 1 << -90 << 0;
+ QTest::newRow("TopUp2") << 0.0 << 90.0 << 0 << 1 << 0 << 0 << 0;
+ QTest::newRow("TopUp3") << 0.0 << 90.0 << 1 << 0 << 0 << -90 << -90;
+ QTest::newRow("TopUp4") << 0.0 << 90.0 << 1 << 0 << 1 << -90 << -45;
+ QTest::newRow("TopUp5") << 0.0 << 90.0 << 1 << 1 << 0 << -45 << -45;
+ QTest::newRow("TopUp6") << 0.0 << 90.0 << 0 << 1 << 1 << -45 << 0;
+
+ //top down roll = -90
+ // Pitch Roll x y z xRot yRot
+ QTest::newRow("TopDown1") << 0.0 <<-90.0 << 0 << 0 << 1 << 90 << 0;
+ QTest::newRow("TopDown2") << 0.0 <<-90.0 << 0 << 1 << 0 << 0 << 0;
+ QTest::newRow("TopDown3") << 0.0 <<-90.0 << 1 << 0 << 0 << 90 << -90;
+ QTest::newRow("TopDown4") << 0.0 <<-90.0 << 1 << 0 << 1 << 90 << -45;
+ QTest::newRow("TopDown5") << 0.0 <<-90.0 << 1 << 1 << 0 << 45 << -45;
+ QTest::newRow("TopDown6") << 0.0 <<-90.0 << 0 << 1 << 1 << 45 << 0;
+
+ //Left up Pitch = -90 Roll = 90
+ // Pitch Roll x y z xRot yRot
+ QTest::newRow("LeftUp1") <<-90.0 << 90.0 << 0 << 0 << 1 << -90 << 90;
+ QTest::newRow("LeftUp2") <<-90.0 << 90.0 << 0 << 1 << 0 << 0 << 90;
+ QTest::newRow("LeftUp3") <<-90.0 << 90.0 << 1 << 0 << 0 << -90 << 0;
+ QTest::newRow("LeftUp4") <<-90.0 << 90.0 << 1 << 0 << 1 << -90 << 45;
+ QTest::newRow("LeftUp5") <<-90.0 << 90.0 << 1 << 1 << 0 << -45 << 45;
+ QTest::newRow("LeftUp6") <<-90.0 << 90.0 << 0 << 1 << 1 << -45 << 90;
+
+ //Right up Pitch = -90 Roll = 90
+ // Pitch Roll x y z xRot yRot
+ QTest::newRow("RightUp1") << 90.0 << 90.0 << 0 << 0 << 1 << -90 << -90;
+ QTest::newRow("RightUp2") << 90.0 << 90.0 << 0 << 1 << 0 << 0 << -90;
+ QTest::newRow("RightUp3") << 90.0 << 90.0 << 1 << 0 << 0 << -90 << 0;
+ QTest::newRow("RightUp4") << 90.0 << 90.0 << 1 << 0 << 1 << -90 << -45;
+ QTest::newRow("RightUp5") << 90.0 << 90.0 << 1 << 1 << 0 << -45 << -45;
+ QTest::newRow("RightUp6") << 90.0 << 90.0 << 0 << 1 << 1 << -45 << -90;
+
+ //Face Down Pitch = -180 Roll = -180
+ // Pitch Roll x y z xRot yRot
+ QTest::newRow("FaceDown1") <<-180.0<<-180.0<< 0 << 0 << 1 << 0 << 0;
+ QTest::newRow("FaceDown2") <<-180.0<<-180.0<< 0 << 1 << 0 << -90 << 0;
+ QTest::newRow("FaceDown3") <<-180.0<<-180.0<< 1 << 0 << 0 << 0 << 90;
+ QTest::newRow("FaceDown4") <<-180.0<<-180.0<< 1 << 0 << 1 << 0 << 45;
+ QTest::newRow("FaceDown5") <<-180.0<<-180.0<< 1 << 1 << 0 << -45 << 45;
+ QTest::newRow("FaceDown6") <<-180.0<<-180.0<< 0 << 1 << 1 << -45 << 0;
}
int xrotch = 0;
@@ -198,7 +213,8 @@ int yrotch = 0;
int datarate = 10;
void tst_Sensors2QMLAPI::testTilt()
{
- QFETCH(int, pos);
+ QFETCH(qreal, pitch);
+ QFETCH(qreal, roll);
QFETCH(int, x);
QFETCH(int, y);
QFETCH(int, z);
@@ -208,23 +224,30 @@ void tst_Sensors2QMLAPI::testTilt()
if (!_tilt)
_tilt = new QSensor2Tilt(this);
- QSignalSpy spy(_tilt, SIGNAL(runningChanged()));
- _tilt->setProperty("running", QVariant(true));
+ QSignalSpy spy(_tilt, SIGNAL(enabledChanged()));
+ _tilt->setProperty("enabled", QVariant(true));
QCOMPARE(spy.count() , 1);
spy.clear();
- _tilt->setProperty("running", QVariant(true));
+ _tilt->setProperty("enabled", QVariant(true));
QCOMPARE(spy.count() , 0);
- _tilt->setProperty("radian", QVariant(false));
+ _tilt->setProperty("unit", QVariant((int)QSensor2Tilt::Radians));
+ QSignalSpy spyunitch(_tilt, SIGNAL(unitChanged()));
+ _tilt->setProperty("unit", QVariant((int)QSensor2Tilt::Degrees));
+ QCOMPARE(spyunitch.count() , 1);
- QSignalSpy spymf(_tilt, SIGNAL(measureFromChanged()));
- _tilt->setProperty("measureFrom", QVariant(pos));
- QVERIFY((int)_tilt->property("measureFrom").toInt() == pos);
- QCOMPARE(spymf.count() , 1);
- spymf.clear();
- _tilt->setProperty("measureFrom", QVariant(pos));
- QCOMPARE(spymf.count() , 0);
+ QByteArray settings;
+ settings.append(QString::number((double)-5.0));
+ settings.append(";");
+ settings.append(QString::number((double)-5.0));
+ _tilt->setProperty("settings", QVariant((QByteArray)settings));
+
+ QByteArray settings1;
+ settings1.append(QString::number((double)(pitch * M_PI / 180), 'g', 20));
+ settings1.append(";");
+ settings1.append(QString::number((double)(roll * M_PI / 180), 'g', 20));
+ _tilt->setProperty("settings", QVariant((QByteArray)settings1));
QDeclAccelerometer* accel = _plugin.stAccel;
@@ -238,10 +261,11 @@ void tst_Sensors2QMLAPI::testTilt()
QCOMPARE(yRotation, (int)_tilt->property("yRotation").toFloat());
spy.clear();
- _tilt->setProperty("running", QVariant(false));
+ _tilt->setProperty("enabled", QVariant(false));
QCOMPARE(spy.count() , 1);
+
spy.clear();
- _tilt->setProperty("running", QVariant(false));
+ _tilt->setProperty("enabled", QVariant(false));
QCOMPARE(spy.count() , 0);
datarate++;
@@ -250,10 +274,84 @@ void tst_Sensors2QMLAPI::testTilt()
QCOMPARE(spydr.count() , 1);
}
+void tst_Sensors2QMLAPI::testTiltAccuracy()
+{
+ if (!_tilt)
+ _tilt = new QSensor2Tilt(this);
+
+ QByteArray settings;
+ settings.append(QString::number((double)(0)));
+ settings.append(";");
+ settings.append(QString::number((double)(0)));
+ _tilt->setProperty("settings", QVariant((QByteArray)settings));
+ _tilt->setProperty("enable", QVariant(true));
+
+ QDeclAccelerometer* accel = _plugin.stAccel;
+
+ //be sure we set rotation to 0
+ _tilt->setProperty("accuracy", QVariant((double)0));
+ accel->test(0,0,1);
+
+ //now set accuracy a little bigger then Pi / 4 in deg
+ _tilt->setProperty("accuracy", QVariant((double)180 / 4 + 0.1));
+ QSignalSpy spyxrot(_tilt, SIGNAL(xRotationChanged()));
+ QSignalSpy spyyrot(_tilt, SIGNAL(yRotationChanged()));
+
+ accel->test(1, 1, 0);
+ QCOMPARE(spyxrot.count() , 0);
+ QCOMPARE(spyyrot.count() , 0);
+
+ spyxrot.clear();
+ spyyrot.clear();
+ _tilt->setProperty("accuracy", QVariant((double)180 / 4 + 0.1 - 0.1));
+ accel->test(1, 1, 0);
+ QCOMPARE(spyxrot.count() , 1);
+ QCOMPARE(spyyrot.count() , 1);
+
+}
+
void tst_Sensors2QMLAPI::testTilt_receivedSignalsCount()
{
- QCOMPARE(xrotch , 9);
- QCOMPARE(yrotch , 23);
+ QCOMPARE(xrotch , 23);
+ QCOMPARE(yrotch , 21);
+}
+
+void tst_Sensors2QMLAPI::testTiltCalibration()
+{
+ if (!_tilt)
+ _tilt = new QSensor2Tilt(this);
+
+ QByteArray settings;
+ settings.append(QString::number((double)(0)));
+ settings.append(";");
+ settings.append(QString::number((double)(0)));
+ _tilt->setProperty("settings", QVariant((QByteArray)settings));
+ _tilt->setProperty("enable", QVariant(true));
+ _tilt->setProperty("unit", QVariant((int)QSensor2Tilt::Degrees));
+
+ QDeclAccelerometer* accel = _plugin.stAccel;
+
+ //be sure we set rotation to 0
+ _tilt->setProperty("accuracy", QVariant((double)0));
+ accel->test(-3.59904, 5.52114, 7.07059);
+ _tilt->calibrate();
+ accel->test(-3.59904, 5.52114, 7.07059);
+ qreal xRotation = (qreal)_tilt->property("xRotation").toFloat();
+ qreal yRotation = (qreal)_tilt->property("yRotation").toFloat();
+ if (xRotation < 0) xRotation = -xRotation;
+ if (yRotation < 0) yRotation = -yRotation;
+ QVERIFY(xRotation < 0.001);
+ QVERIFY(yRotation < 0.001);
+
+ accel->test(0.519752, 6.82543, 7.06079);
+ _tilt->calibrate();
+ accel->test(0.539366, 6.79601, 7.0804);
+ xRotation = (qreal)_tilt->property("xRotation").toFloat();
+ yRotation = (qreal)_tilt->property("yRotation").toFloat();
+ if (xRotation < 0) xRotation = -xRotation;
+ if (yRotation < 0) yRotation = -yRotation;
+ QVERIFY(xRotation < 0.25);
+ QVERIFY(yRotation < 0.12);
}
QTEST_MAIN(tst_Sensors2QMLAPI)
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