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39
40#include "qslamgesturerecognizer.h"
41#include "qtsensorgesturesensorhandler.h"
42
43
44#include <QtCore/qmath.h>
45
46QT_BEGIN_NAMESPACE
47
48QSlamSensorGestureRecognizer::QSlamSensorGestureRecognizer(QObject *parent) :
49 QSensorGestureRecognizer(parent),
50 orientationReading(0),
51 accelRange(0),
52 active(0),
53 lastX(0),
54 lastY(0),
55 lastZ(0),
56 detectedX(0),
57 detecting(0),
58 accelX(0),
59 roll(0),
60 resting(0),
61 lastTimestamp(0),
62 lapsedTime(0),
63 timerActive(0)
64{
65}
66
67QSlamSensorGestureRecognizer::~QSlamSensorGestureRecognizer()
68{
69}
70
71void QSlamSensorGestureRecognizer::create()
72{
73}
74
75
76QString QSlamSensorGestureRecognizer::id() const
77{
78 return QString("QtSensors.slam");
79}
80
81bool QSlamSensorGestureRecognizer::start()
82{
83 if (QtSensorGestureSensorHandler::instance()->startSensor(sensor: QtSensorGestureSensorHandler::Accel)) {
84 if (QtSensorGestureSensorHandler::instance()->startSensor(sensor: QtSensorGestureSensorHandler::Orientation)) {
85 active = true;
86 accelRange = QtSensorGestureSensorHandler::instance()->accelRange;
87 connect(sender: QtSensorGestureSensorHandler::instance(),SIGNAL(orientationReadingChanged(QOrientationReading*)),
88 receiver: this,SLOT(orientationReadingChanged(QOrientationReading*)));
89
90 connect(sender: QtSensorGestureSensorHandler::instance(),SIGNAL(accelReadingChanged(QAccelerometerReading*)),
91 receiver: this,SLOT(accelChanged(QAccelerometerReading*)));
92 } else {
93 QtSensorGestureSensorHandler::instance()->stopSensor(sensor: QtSensorGestureSensorHandler::Accel);
94 active = false;
95 }
96 } else {
97 active = false;
98 }
99 return active;
100}
101
102bool QSlamSensorGestureRecognizer::stop()
103{
104 QtSensorGestureSensorHandler::instance()->stopSensor(sensor: QtSensorGestureSensorHandler::Accel);
105 QtSensorGestureSensorHandler::instance()->stopSensor(sensor: QtSensorGestureSensorHandler::Orientation);
106 disconnect(sender: QtSensorGestureSensorHandler::instance(),SIGNAL(orientationReadingChanged(QOrientationReading*)),
107 receiver: this,SLOT(orientationReadingChanged(QOrientationReading*)));
108
109 disconnect(sender: QtSensorGestureSensorHandler::instance(),SIGNAL(accelReadingChanged(QAccelerometerReading*)),
110 receiver: this,SLOT(accelChanged(QAccelerometerReading*)));
111 detecting = false;
112 restingList.clear();
113 active = false;
114 return active;
115}
116
117bool QSlamSensorGestureRecognizer::isActive()
118{
119 return active;
120}
121
122void QSlamSensorGestureRecognizer::orientationReadingChanged(QOrientationReading *reading)
123{
124 orientationReading = reading;
125}
126
127#define SLAM_DETECTION_FACTOR 0.3 // 11.7
128#define SLAM_RESTING_FACTOR 2.5
129#define SLAM_RESTING_COUNT 5
130#define SLAM_ZERO_FACTOR .02
131
132void QSlamSensorGestureRecognizer::accelChanged(QAccelerometerReading *reading)
133{
134 const qreal x = reading->x();
135 const qreal y = reading->y();
136 const qreal z = reading->z();
137 quint64 timestamp = reading->timestamp();
138
139 if (qAbs(t: lastX - x) < SLAM_RESTING_FACTOR
140 && qAbs(t: lastY - y) < SLAM_RESTING_FACTOR
141 && qAbs(t: lastZ - z) < SLAM_RESTING_FACTOR) {
142 resting = true;
143 } else {
144 resting = false;
145 }
146
147 if (restingList.count() > SLAM_RESTING_COUNT)
148 restingList.removeLast();
149 restingList.insert(i: 0, t: resting);
150
151
152 if (timerActive && lastTimestamp > 0)
153 lapsedTime += (timestamp - lastTimestamp )/1000;
154
155 if (timerActive && lapsedTime >= 250) {
156 doSlam();
157 }
158 lastTimestamp = timestamp;
159
160 if (orientationReading == 0) {
161 return;
162 }
163
164 const qreal difference = lastX - x;
165
166 if (!detecting
167 && orientationReading->orientation() == QOrientationReading::TopUp
168 && resting
169 && hasBeenResting()) {
170 detectedX = x;
171 // start of gesture
172 detecting = true;
173 if (difference > 0)
174 wasNegative = false;
175 else
176 wasNegative = true;
177 restingList.clear();
178 }
179 if (detecting
180 && qAbs(t: difference) > (accelRange * SLAM_DETECTION_FACTOR)) {
181 timerActive = true;
182 }
183 if (detecting &&
184 (qAbs(t: difference) < SLAM_ZERO_FACTOR && qAbs(t: difference) > 0)) {
185 detecting = false;
186 }
187 lastX = x;
188 lastY = y;
189 lastZ = z;
190}
191
192bool QSlamSensorGestureRecognizer::hasBeenResting()
193{
194 for (int i = 0; i < restingList.count() - 1; i++) {
195 if (!restingList.at(i)) {
196 return false;
197 }
198 }
199 return true;
200}
201
202void QSlamSensorGestureRecognizer::doSlam()
203{
204 if (detecting && (orientationReading->orientation() == QOrientationReading::RightUp
205 || orientationReading->orientation() == QOrientationReading::LeftUp)) {
206 Q_EMIT slam();
207 Q_EMIT detected("slam");
208 restingList.clear();
209 detecting = false;
210 }
211 timerActive = false;
212 lapsedTime = 0;
213}
214
215QT_END_NAMESPACE
216

source code of qtsensors/src/plugins/sensorgestures/qtsensors/qslamgesturerecognizer.cpp