qt-everywhere-src-5.14.1/qtsensors/src/plugins/sensors/android/androidrotation.cpp

/****************************************************************************
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** Copyright (C) 2019 BogDan Vatra <bogdan@kde.org>
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#include "androidrotation.h"

#include <QtCore/qmath.h>

AndroidRotation::AndroidRotation(int type, QSensor *sensor, QObject *parent)
    : SensorEventQueue<QRotationReading>(type, sensor, parent)
{}


void AndroidRotation::dataReceived(const ASensorEvent &event)
{
    // ### Check me, at first look it seems wrong,
    // here https://developer.android.com/reference/android/hardware/SensorEvent.html#sensor.type_rotation_vector:
    // are the Android values
    qreal rz = -qRadiansToDegrees(qreal(event.data[0])); // event.data[0] corresponds to x
    qreal rx = -qRadiansToDegrees(qreal(event.data[1])); // event.data[1] corresponds to y
    qreal ry =  qRadiansToDegrees(qreal(event.data[2])); // event.data[2] corresponds to z
    if (sensor()->skipDuplicates() && qFuzzyCompare(m_reader.x(), rx) &&
            qFuzzyCompare(m_reader.y(), ry) &&
            qFuzzyCompare(m_reader.z(), rz)) {
        return;
    }
    m_reader.setTimestamp(uint64_t(event.timestamp / 1000));
    m_reader.setFromEuler(rx, ry, rz);
    newReadingAvailable();
}