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| ** This file is part of the QtSensors module of the Qt Toolkit. |
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| |
| #include "iosmotionmanager.h" |
| #include "iosgyroscope.h" |
| |
| #import <CoreMotion/CoreMotion.h> |
| #import <QtCore/qmath.h> |
| |
| char const * const IOSGyroscope::id("ios.gyroscope"); |
| |
| QT_BEGIN_NAMESPACE |
| |
| int IOSGyroscope::s_startCount = 0; |
| |
| 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() |
| { |
| if (m_timer != 0) |
| return; |
| |
| int hz = sensor()->dataRate(); |
| m_timer = startTimer(1000 / (hz == 0 ? 60 : hz)); |
| if (++s_startCount == 1) |
| [m_motionManager startGyroUpdates]; |
| } |
| |
| void IOSGyroscope::stop() |
| { |
| if (m_timer == 0) |
| return; |
| |
| killTimer(m_timer); |
| m_timer = 0; |
| if (--s_startCount == 0) |
| [m_motionManager stopGyroUpdates]; |
| } |
| |
| void IOSGyroscope::timerEvent(QTimerEvent *) |
| { |
| // Convert NSTimeInterval to microseconds and radians to degrees: |
| CMGyroData *data = m_motionManager.gyroData; |
| CMRotationRate rate = data.rotationRate; |
| // skip update if NaN |
| if (rate.x != rate.x || rate.y != rate.y || rate.z != rate.z) |
| return; |
| m_reading.setTimestamp(quint64(data.timestamp * 1e6)); |
| m_reading.setX(qRadiansToDegrees(qreal(rate.x))); |
| m_reading.setY(qRadiansToDegrees(qreal(rate.y))); |
| m_reading.setZ(qRadiansToDegrees(qreal(rate.z))); |
| newReadingAvailable(); |
| } |
| |
| QT_END_NAMESPACE |