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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 "qslamgesturerecognizer.h"
#include "qtsensorgesturesensorhandler.h"
#include <QtCore/qmath.h>
QT_BEGIN_NAMESPACE
QSlamSensorGestureRecognizer::QSlamSensorGestureRecognizer(QObject *parent) :
QSensorGestureRecognizer(parent),
orientationReading(0),
accelRange(0),
active(0),
lastX(0),
lastY(0),
lastZ(0),
detectedX(0),
detecting(0),
accelX(0),
roll(0),
resting(0),
lastTimestamp(0),
lapsedTime(0),
timerActive(0)
{
}
QSlamSensorGestureRecognizer::~QSlamSensorGestureRecognizer()
{
}
void QSlamSensorGestureRecognizer::create()
{
}
QString QSlamSensorGestureRecognizer::id() const
{
return QString("QtSensors.slam");
}
bool QSlamSensorGestureRecognizer::start()
{
if (QtSensorGestureSensorHandler::instance()->startSensor(QtSensorGestureSensorHandler::Accel)) {
if (QtSensorGestureSensorHandler::instance()->startSensor(QtSensorGestureSensorHandler::Orientation)) {
active = true;
accelRange = QtSensorGestureSensorHandler::instance()->accelRange;
connect(QtSensorGestureSensorHandler::instance(),SIGNAL(orientationReadingChanged(QOrientationReading*)),
this,SLOT(orientationReadingChanged(QOrientationReading*)));
connect(QtSensorGestureSensorHandler::instance(),SIGNAL(accelReadingChanged(QAccelerometerReading*)),
this,SLOT(accelChanged(QAccelerometerReading*)));
} else {
QtSensorGestureSensorHandler::instance()->stopSensor(QtSensorGestureSensorHandler::Accel);
active = false;
}
} else {
active = false;
}
return active;
}
bool QSlamSensorGestureRecognizer::stop()
{
QtSensorGestureSensorHandler::instance()->stopSensor(QtSensorGestureSensorHandler::Accel);
QtSensorGestureSensorHandler::instance()->stopSensor(QtSensorGestureSensorHandler::Orientation);
disconnect(QtSensorGestureSensorHandler::instance(),SIGNAL(orientationReadingChanged(QOrientationReading*)),
this,SLOT(orientationReadingChanged(QOrientationReading*)));
disconnect(QtSensorGestureSensorHandler::instance(),SIGNAL(accelReadingChanged(QAccelerometerReading*)),
this,SLOT(accelChanged(QAccelerometerReading*)));
detecting = false;
restingList.clear();
active = false;
return active;
}
bool QSlamSensorGestureRecognizer::isActive()
{
return active;
}
void QSlamSensorGestureRecognizer::orientationReadingChanged(QOrientationReading *reading)
{
orientationReading = reading;
}
#define SLAM_DETECTION_FACTOR 0.3 // 11.7
#define SLAM_RESTING_FACTOR 2.5
#define SLAM_RESTING_COUNT 5
#define SLAM_ZERO_FACTOR .02
void QSlamSensorGestureRecognizer::accelChanged(QAccelerometerReading *reading)
{
const qreal x = reading->x();
const qreal y = reading->y();
const qreal z = reading->z();
quint64 timestamp = reading->timestamp();
if (qAbs(lastX - x) < SLAM_RESTING_FACTOR
&& qAbs(lastY - y) < SLAM_RESTING_FACTOR
&& qAbs(lastZ - z) < SLAM_RESTING_FACTOR) {
resting = true;
} else {
resting = false;
}
if (restingList.count() > SLAM_RESTING_COUNT)
restingList.removeLast();
restingList.insert(0, resting);
if (timerActive && lastTimestamp > 0)
lapsedTime += (timestamp - lastTimestamp )/1000;
if (timerActive && lapsedTime >= 250) {
doSlam();
}
lastTimestamp = timestamp;
if (orientationReading == 0) {
return;
}
const qreal difference = lastX - x;
if (!detecting
&& orientationReading->orientation() == QOrientationReading::TopUp
&& resting
&& hasBeenResting()) {
detectedX = x;
// start of gesture
detecting = true;
if (difference > 0)
wasNegative = false;
else
wasNegative = true;
restingList.clear();
}
if (detecting
&& qAbs(difference) > (accelRange * SLAM_DETECTION_FACTOR)) {
timerActive = true;
}
if (detecting &&
(qAbs(difference) < SLAM_ZERO_FACTOR && qAbs(difference) > 0)) {
detecting = false;
}
lastX = x;
lastY = y;
lastZ = z;
}
bool QSlamSensorGestureRecognizer::hasBeenResting()
{
for (int i = 0; i < restingList.count() - 1; i++) {
if (!restingList.at(i)) {
return false;
}
}
return true;
}
void QSlamSensorGestureRecognizer::doSlam()
{
if (detecting && (orientationReading->orientation() == QOrientationReading::RightUp
|| orientationReading->orientation() == QOrientationReading::LeftUp)) {
Q_EMIT slam();
Q_EMIT detected("slam");
restingList.clear();
detecting = false;
}
timerActive = false;
lapsedTime = 0;
}
QT_END_NAMESPACE
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