| /**************************************************************************** |
| ** |
| ** Copyright (C) 2016 The Qt Company Ltd. |
| ** Contact: https://www.qt.io/licensing/ |
| ** |
| ** 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 The Qt Company. For licensing terms |
| ** and conditions see https://www.qt.io/terms-conditions. For further |
| ** information use the contact form at https://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 3 as published by the Free Software |
| ** Foundation and appearing in the file LICENSE.LGPL3 included in the |
| ** packaging of this file. Please review the following information to |
| ** ensure the GNU Lesser General Public License version 3 requirements |
| ** will be met: https://www.gnu.org/licenses/lgpl-3.0.html. |
| ** |
| ** GNU General Public License Usage |
| ** Alternatively, this file may be used under the terms of the GNU |
| ** General Public License version 2.0 or (at your option) the GNU General |
| ** Public license version 3 or any later version approved by the KDE Free |
| ** Qt Foundation. The licenses are as published by the Free Software |
| ** Foundation and appearing in the file LICENSE.GPL2 and LICENSE.GPL3 |
| ** included in the packaging of this file. Please review the following |
| ** information to ensure the GNU General Public License requirements will |
| ** be met: https://www.gnu.org/licenses/gpl-2.0.html and |
| ** https://www.gnu.org/licenses/gpl-3.0.html. |
| ** |
| ** $QT_END_LICENSE$ |
| ** |
| ****************************************************************************/ |
| |
| #include "qslamgesturerecognizer.h" |
| #include "qtsensorgesturesensorhandler.h" |
| |
| |
| #include <QtCore/qmath.h> |
| |
| QT_BEGIN_NAMESPACE |
| |
| QSlamSensorGestureRecognizer::QSlamSensorGestureRecognizer(QObject *parent) : |
| QSensorGestureRecognizer(parent), |
| orientationReading(0), |
| accelRange(0), |
| active(0), |
| lastX(0), |
| lastY(0), |
| lastZ(0), |
| detectedX(0), |
| detecting(0), |
| accelX(0), |
| roll(0), |
| resting(0), |
| lastTimestamp(0), |
| lapsedTime(0), |
| timerActive(0) |
| { |
| } |
| |
| QSlamSensorGestureRecognizer::~QSlamSensorGestureRecognizer() |
| { |
| } |
| |
| void QSlamSensorGestureRecognizer::create() |
| { |
| } |
| |
| |
| QString QSlamSensorGestureRecognizer::id() const |
| { |
| return QString("QtSensors.slam"); |
| } |
| |
| bool QSlamSensorGestureRecognizer::start() |
| { |
| if (QtSensorGestureSensorHandler::instance()->startSensor(QtSensorGestureSensorHandler::Accel)) { |
| if (QtSensorGestureSensorHandler::instance()->startSensor(QtSensorGestureSensorHandler::Orientation)) { |
| active = true; |
| accelRange = QtSensorGestureSensorHandler::instance()->accelRange; |
| connect(QtSensorGestureSensorHandler::instance(),SIGNAL(orientationReadingChanged(QOrientationReading*)), |
| this,SLOT(orientationReadingChanged(QOrientationReading*))); |
| |
| connect(QtSensorGestureSensorHandler::instance(),SIGNAL(accelReadingChanged(QAccelerometerReading*)), |
| this,SLOT(accelChanged(QAccelerometerReading*))); |
| } else { |
| QtSensorGestureSensorHandler::instance()->stopSensor(QtSensorGestureSensorHandler::Accel); |
| active = false; |
| } |
| } else { |
| active = false; |
| } |
| return active; |
| } |
| |
| bool QSlamSensorGestureRecognizer::stop() |
| { |
| QtSensorGestureSensorHandler::instance()->stopSensor(QtSensorGestureSensorHandler::Accel); |
| QtSensorGestureSensorHandler::instance()->stopSensor(QtSensorGestureSensorHandler::Orientation); |
| disconnect(QtSensorGestureSensorHandler::instance(),SIGNAL(orientationReadingChanged(QOrientationReading*)), |
| this,SLOT(orientationReadingChanged(QOrientationReading*))); |
| |
| disconnect(QtSensorGestureSensorHandler::instance(),SIGNAL(accelReadingChanged(QAccelerometerReading*)), |
| this,SLOT(accelChanged(QAccelerometerReading*))); |
| detecting = false; |
| restingList.clear(); |
| active = false; |
| return active; |
| } |
| |
| bool QSlamSensorGestureRecognizer::isActive() |
| { |
| return active; |
| } |
| |
| void QSlamSensorGestureRecognizer::orientationReadingChanged(QOrientationReading *reading) |
| { |
| orientationReading = reading; |
| } |
| |
| #define SLAM_DETECTION_FACTOR 0.3 // 11.7 |
| #define SLAM_RESTING_FACTOR 2.5 |
| #define SLAM_RESTING_COUNT 5 |
| #define SLAM_ZERO_FACTOR .02 |
| |
| void QSlamSensorGestureRecognizer::accelChanged(QAccelerometerReading *reading) |
| { |
| const qreal x = reading->x(); |
| const qreal y = reading->y(); |
| const qreal z = reading->z(); |
| quint64 timestamp = reading->timestamp(); |
| |
| if (qAbs(lastX - x) < SLAM_RESTING_FACTOR |
| && qAbs(lastY - y) < SLAM_RESTING_FACTOR |
| && qAbs(lastZ - z) < SLAM_RESTING_FACTOR) { |
| resting = true; |
| } else { |
| resting = false; |
| } |
| |
| if (restingList.count() > SLAM_RESTING_COUNT) |
| restingList.removeLast(); |
| restingList.insert(0, resting); |
| |
| |
| if (timerActive && lastTimestamp > 0) |
| lapsedTime += (timestamp - lastTimestamp )/1000; |
| |
| if (timerActive && lapsedTime >= 250) { |
| doSlam(); |
| } |
| lastTimestamp = timestamp; |
| |
| if (orientationReading == 0) { |
| return; |
| } |
| |
| const qreal difference = lastX - x; |
| |
| if (!detecting |
| && orientationReading->orientation() == QOrientationReading::TopUp |
| && resting |
| && hasBeenResting()) { |
| detectedX = x; |
| // start of gesture |
| detecting = true; |
| if (difference > 0) |
| wasNegative = false; |
| else |
| wasNegative = true; |
| restingList.clear(); |
| } |
| if (detecting |
| && qAbs(difference) > (accelRange * SLAM_DETECTION_FACTOR)) { |
| timerActive = true; |
| } |
| if (detecting && |
| (qAbs(difference) < SLAM_ZERO_FACTOR && qAbs(difference) > 0)) { |
| detecting = false; |
| } |
| lastX = x; |
| lastY = y; |
| lastZ = z; |
| } |
| |
| bool QSlamSensorGestureRecognizer::hasBeenResting() |
| { |
| for (int i = 0; i < restingList.count() - 1; i++) { |
| if (!restingList.at(i)) { |
| return false; |
| } |
| } |
| return true; |
| } |
| |
| void QSlamSensorGestureRecognizer::doSlam() |
| { |
| if (detecting && (orientationReading->orientation() == QOrientationReading::RightUp |
| || orientationReading->orientation() == QOrientationReading::LeftUp)) { |
| Q_EMIT slam(); |
| Q_EMIT detected("slam"); |
| restingList.clear(); |
| detecting = false; |
| } |
| timerActive = false; |
| lapsedTime = 0; |
| } |
| |
| QT_END_NAMESPACE |