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| ** |
| ** Copyright (C) 2016 The Qt Company Ltd. |
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| ** This file is part of the QtSensors module of the Qt Toolkit. |
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| |
| #include "sensorfwmagnetometer.h" |
| |
| |
| char const * const SensorfwMagnetometer::id("sensorfw.magnetometer"); |
| const float SensorfwMagnetometer::NANO = 0.000000001; |
| |
| |
| SensorfwMagnetometer::SensorfwMagnetometer(QSensor *sensor) |
| : SensorfwSensorBase(sensor) |
| , m_initDone(false) |
| { |
| init(); |
| setDescription(QLatin1String("magnetic flux density in teslas (T)")); |
| setRanges(NANO); |
| setReading<QMagnetometerReading>(&m_reading); |
| sensor->setDataRate(50);//set a default rate |
| } |
| |
| void SensorfwMagnetometer::start() |
| { |
| if (reinitIsNeeded) |
| init(); |
| QMagnetometer *const magnetometer = qobject_cast<QMagnetometer *>(sensor()); |
| if (magnetometer) |
| m_isGeoMagnetometer = magnetometer->returnGeoValues(); |
| SensorfwSensorBase::start(); |
| } |
| |
| void SensorfwMagnetometer::slotDataAvailable(const MagneticField& data) |
| { |
| //nanoTeslas given, divide with 10^9 to get Teslas |
| m_reading.setX( NANO * (m_isGeoMagnetometer?data.x():data.rx())); |
| m_reading.setY( NANO * (m_isGeoMagnetometer?data.y():data.ry())); |
| m_reading.setZ( NANO * (m_isGeoMagnetometer?data.z():data.rz())); |
| m_reading.setCalibrationLevel(m_isGeoMagnetometer?((float) data.level()) / 3.0 :1); |
| m_reading.setTimestamp(data.timestamp()); |
| newReadingAvailable(); |
| } |
| |
| |
| void SensorfwMagnetometer::slotFrameAvailable(const QVector<MagneticField>& frame) |
| { |
| for (int i=0, l=frame.size(); i<l; i++) { |
| slotDataAvailable(frame.at(i)); |
| } |
| } |
| |
| bool SensorfwMagnetometer::doConnect() |
| { |
| Q_ASSERT(m_sensorInterface); |
| if (m_bufferSize==1) |
| return QObject::connect(m_sensorInterface, SIGNAL(dataAvailable(MagneticField)), |
| this, SLOT(slotDataAvailable(MagneticField))); |
| return QObject::connect(m_sensorInterface, SIGNAL(frameAvailable(QVector<MagneticField>)), |
| this, SLOT(slotFrameAvailable(QVector<MagneticField>))); |
| } |
| |
| QString SensorfwMagnetometer::sensorName() const |
| { |
| return "magnetometersensor"; |
| } |
| |
| qreal SensorfwMagnetometer::correctionFactor() const |
| { |
| return SensorfwMagnetometer::NANO; |
| } |
| |
| void SensorfwMagnetometer::init() |
| { |
| m_initDone = false; |
| initSensor<MagnetometerSensorChannelInterface>(m_initDone); |
| } |