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/****************************************************************************
**
** Copyright (C) 2012 Research In Motion
** Contact: http://www.qt.io/licensing/
**
** This file is part of the QtSensors module of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:LGPL21$
** 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 The Qt Company. For licensing terms
** and conditions see http://www.qt.io/terms-conditions. For further
** information use the contact form at http://www.qt.io/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 or version 3 as published by the Free
** Software Foundation and appearing in the file LICENSE.LGPLv21 and
** LICENSE.LGPLv3 included in the packaging of this file. Please review the
** following information to ensure the GNU Lesser General Public License
** requirements will be met: https://www.gnu.org/licenses/lgpl.html and
** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
**
** As a special exception, The Qt Company gives you certain additional
** rights. These rights are described in The Qt Company LGPL Exception
** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
**
** $QT_END_LICENSE$
**
****************************************************************************/
#include "bbrotationsensor.h"
#include "bbguihelper.h"
#include "bbutil.h"
using namespace BbUtil;
BbRotationSensor::BbRotationSensor(QSensor *sensor)
: BbSensorBackend<QRotationReading>(devicePath(), SENSOR_TYPE_ROTATION_MATRIX, sensor)
{
setDescription(QLatin1String("Device rotation in degrees"));
}
QString BbRotationSensor::devicePath()
{
return QLatin1String("/dev/sensor/rotMatrix");
}
void BbRotationSensor::additionalDeviceInit()
{
addOutputRange(-180, 180, 0 /* ? */);
}
bool BbRotationSensor::addDefaultRange()
{
// The range we get from the OS service is only -1 to 1, which are the values of the matrix.
// We need the values of the axes in degrees.
return false;
}
bool BbRotationSensor::updateReadingFromEvent(const sensor_event_t &event, QRotationReading *reading)
{
// sensor_event_t has euler angles for a Z-Y'-X'' system, but the QtSensors API
// uses Z-X'-Y''.
// So extract the euler angles using the Z-X'-Y'' system from the matrix.
float xRad, yRad, zRad;
float mappedRotationMatrix[3*3];
remapMatrix(event.rotation_matrix, mappedRotationMatrix);
matrixToEulerZXY(mappedRotationMatrix, xRad, yRad, zRad);
reading->setFromEuler(radiansToDegrees(xRad),
radiansToDegrees(yRad),
radiansToDegrees(zRad));
return true;
}
qreal BbRotationSensor::convertValue(float bbValueInRad)
{
return radiansToDegrees(bbValueInRad);
}
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