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// Copyright (C) 2016 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
#include "qpickupsensorgesturerecognizer.h"
#include <QtCore/qmath.h>
#define TIMER_TIMEOUT 250
QT_BEGIN_NAMESPACE
QPickupSensorGestureRecognizer::QPickupSensorGestureRecognizer(QObject *parent)
: QSensorGestureRecognizer(parent)
, accelReading(0)
, active(0)
, pXaxis(0)
, pYaxis(0)
, pZaxis(0)
, lastpitch(0)
, detecting(0)
{
}
QPickupSensorGestureRecognizer::~QPickupSensorGestureRecognizer()
{
}
void QPickupSensorGestureRecognizer::create()
{
}
QString QPickupSensorGestureRecognizer::id() const
{
return QString("QtSensors.pickup");
}
bool QPickupSensorGestureRecognizer::start()
{
if (QtSensorGestureSensorHandler::instance()->startSensor(QtSensorGestureSensorHandler::Accel)) {
active = true;
connect(QtSensorGestureSensorHandler::instance(),SIGNAL(accelReadingChanged(QAccelerometerReading*)),
this,SLOT(accelChanged(QAccelerometerReading*)));
} else {
QtSensorGestureSensorHandler::instance()->stopSensor(QtSensorGestureSensorHandler::Accel);
active = false;
}
clear();
return active;
}
bool QPickupSensorGestureRecognizer::stop()
{
QtSensorGestureSensorHandler::instance()->stopSensor(QtSensorGestureSensorHandler::Accel);
disconnect(QtSensorGestureSensorHandler::instance(),SIGNAL(accelReadingChanged(QAccelerometerReading*)),
this,SLOT(accelChanged(QAccelerometerReading*)));
active = false;
return active;
}
bool QPickupSensorGestureRecognizer::isActive()
{
return active;
}
#define PICKUP_BOTTOM_THRESHOLD 25
#define PICKUP_TOP_THRESHOLD 80
#define PICKUP_ANGLE_THRESHOLD 25
#define PICKUP_ROLL_THRESHOLD 13
void QPickupSensorGestureRecognizer::accelChanged(QAccelerometerReading *reading)
{
accelReading = reading;
const qreal x = reading->x();
const qreal y = reading->y();
const qreal z = reading->z();
const qreal xdiff = pXaxis - x;
const qreal ydiff = pYaxis - y;
const qreal zdiff = pZaxis - z;
qreal pitch = qRadiansToDegrees(qAtan(y / qSqrt(x * x + z * z)));
qreal roll = qRadiansToDegrees(qAtan(x / qSqrt(y * y + z * z)));
if ((qAbs(xdiff) < 0.7 && qAbs(ydiff) < .7 && qAbs(zdiff) < .7)
|| z < 0) {
detecting = false;
} else if (pitch > PICKUP_BOTTOM_THRESHOLD && pitch < PICKUP_TOP_THRESHOLD) {
detecting = true;
}
if ( pitchList.count() > 21) {
pitchList.removeFirst();
}
if ( rollList.count() > 21) {
rollList.removeFirst();
}
if (pitch > 1) {
pitchList.append(pitch);
}
if (roll > 1) {
rollList.append(roll);
}
if (detecting && pitchList.count() > 5 ) {
timeout();
}
lastpitch = pitch;
pXaxis = x;
pYaxis = y;
pZaxis = z;
}
void QPickupSensorGestureRecognizer::timeout()
{
qreal averageRoll = 0;
for (int r = 0; r < rollList.count(); r++) {
averageRoll += rollList.at(r);
}
averageRoll /= rollList.count();
if (averageRoll > PICKUP_ROLL_THRESHOLD) {
clear();
return;
}
if (pitchList.isEmpty()
|| pitchList.at(0) > PICKUP_BOTTOM_THRESHOLD) {
clear();
return;
}
qreal previousPitch = 0;
qreal startPitch = -1.0;
int goodCount = 0;
qreal averagePitch = 0;
for (int i = 0; i < pitchList.count(); i++) {
averagePitch += pitchList.at(i);
if (previousPitch < pitchList.at(i)
&& qAbs(pitchList.at(i)) - qAbs(previousPitch) < 20) {
if (goodCount == 1 && previousPitch != 0) {
startPitch = previousPitch;
}
goodCount++;
}
previousPitch = pitchList.at(i);
}
averagePitch /= pitchList.count();
if (averagePitch < 5) {
clear();
return;
}
if (goodCount >= 3 &&
(pitchList.last() < PICKUP_TOP_THRESHOLD
&& pitchList.last() > PICKUP_BOTTOM_THRESHOLD)
&& startPitch > 0
&& (pitchList.last() - startPitch) > PICKUP_ANGLE_THRESHOLD) {
Q_EMIT pickup();
Q_EMIT detected("pickup");
}
clear();
}
void QPickupSensorGestureRecognizer::clear()
{
pitchList.clear();
detecting = false;
}
QT_END_NAMESPACE
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