blob: 8dfa3a4aaae4ed15dbf24ccb42c18d7d64093dac (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
|
/****************************************************************************
**
** Copyright (C) 2012 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 "iosmotionmanager.h"
#include "iosgyroscope.h"
char const * const IOSGyroscope::id("ios.gyroscope");
QT_BEGIN_NAMESPACE
IOSGyroscope::IOSGyroscope(QSensor *sensor)
: QSensorBackend(sensor)
, m_motionManager([QIOSMotionManager sharedManager])
, m_timer(0)
{
setReading<QGyroscopeReading>(&m_reading);
addDataRate(1, 100); // 100Hz is max it seems
addOutputRange(-360, 360, 0.01);
}
void IOSGyroscope::start()
{
int hz = sensor()->dataRate();
m_timer = startTimer(1000 / (hz == 0 ? 60 : hz));
[m_motionManager startGyroUpdates];
}
void IOSGyroscope::stop()
{
[m_motionManager stopGyroUpdates];
killTimer(m_timer);
m_timer = 0;
}
void IOSGyroscope::timerEvent(QTimerEvent *)
{
// Convert NSTimeInterval to microseconds and radians to degrees:
CMGyroData *data = m_motionManager.gyroData;
CMRotationRate rate = data.rotationRate;
m_reading.setTimestamp(quint64(data.timestamp * 1e6));
m_reading.setX((qreal(rate.x) / M_PI) * 180);
m_reading.setY((qreal(rate.y) / M_PI) * 180);
m_reading.setZ((qreal(rate.z) / M_PI) * 180);
newReadingAvailable();
}
QT_END_NAMESPACE
|