X-Git-Url: http://git.maemo.org/git/?a=blobdiff_plain;f=Client%2Faccelerometer.cpp;h=5c16c9890b45d51012ee71f638c1dff14ed372c4;hb=f73389530ce2e0cd73cf6dda7b09a5ba86e60f13;hp=6f642f9801956ac2e63edbeb575a8e1ea98afcd8;hpb=0c54e49a827d3398115cd986293f17bd99db829a;p=speedfreak

diff --git a/Client/accelerometer.cpp b/Client/accelerometer.cpp
index 6f642f9..5c16c98 100644
--- a/Client/accelerometer.cpp
+++ b/Client/accelerometer.cpp
@@ -1,3 +1,12 @@
+/*
+ * Accelerometer class to access the device accelerometer
+ *
+ * @author      Rikhard Kuutti <rikhard.kuutti@fudeco.com>
+ * @author      Kai Rasilainen 
+ * @copyright   (c) 2010 Speed Freak team
+ * @license     http://opensource.org/licenses/gpl-license.php GNU Public License
+ */
+
 #include "accelerometer.h"
 #include "math.h"
 
@@ -26,6 +35,11 @@ Accelerometer::Accelerometer()
     initValues();
 }
 
+/**
+ * Constructor for Accelerometer class that takes accelerometer sample rate as parameter
+ *
+ * @param p_SampleRate the desired sample rate of accelerometer in milliseconds
+ */
 Accelerometer::Accelerometer(int p_SampleRate)
 {
     calculate = new Calculate();
@@ -40,14 +54,16 @@ Accelerometer::Accelerometer(int p_SampleRate)
  * Default destructor for Accelerometer class
  *
  */
-Accelerometer::~Accelerometer() {
+Accelerometer::~Accelerometer()
+{
 }
 
 /**
  * Start measuring
  *
  */
-void Accelerometer::start() {
+void Accelerometer::start()
+{
     initValues();
     calibrate();
     timer->start(sampleRate);
@@ -58,28 +74,33 @@ void Accelerometer::start() {
  * Init class members
  *
  */
-void Accelerometer::initValues() {
-    accelerationX=0;
-    accelerationY=0;
-    accelerationZ=0;
-    trueAccelerationX=0;
-    trueAccelerationY=0;
-    trueAccelerationZ=0;
-    previousAccelerationX=0;
-    previousAccelerationY=0;
-    previousAccelerationZ=0;
-    previousSpeed=0;
-    currentSpeed=0;
-    currentAcceleration=0;
-    previousAcceleration=0;
-    totalAcceleration=0;
-    intervalTime=0;
-    totalTime=0;
-    distanceTraveled=0;
-    lastDistanceTraveled=0;
-    averageSpeed=0;
-    sampleRate=0;
-    reverseAcceleration = false;
+void Accelerometer::initValues()
+{
+    calculate->reset();
+    accelerationX = 0;
+    accelerationY = 0;
+    accelerationZ = 0;
+    trueAccelerationX = 0;
+    trueAccelerationY = 0;
+    trueAccelerationZ = 0;
+    previousAccelerationX = 0;
+    previousAccelerationY = 0;
+    previousAccelerationZ = 0;
+    previousSpeed = 0;
+    currentSpeed = 0;
+    currentAcceleration = 0;
+    previousAcceleration = 0;
+    totalAcceleration = 0;
+    intervalTime = 0;
+    totalTime = 0;
+    distanceTraveled = 0;
+    lastDistanceTraveled = 0;
+    averageSpeed = 0;
+    sampleRate = 0;
+    firstRun = true;
+    calibrationX = 0;
+    calibrationY = 0;
+    calibrationZ = 0;
 }
 
 /**
@@ -87,137 +108,204 @@ void Accelerometer::initValues() {
   * accelerometer when stationary.
   *
   */
-void Accelerometer::calibrate(void) {
-    QFile file(kFileName);
-    if(!file.open(QIODevice::ReadOnly | QIODevice::Text)) return;
+void Accelerometer::calibrate(void)
+{
+    unsigned int iteration = 0;
 
-    unsigned int iteration;
-    iteration = 0;
-    QByteArray line;
-    QRegExp rx("([0-9-]+) ([0-9-]+) ([0-9-]+)");
+    do {
+        // Opening the file must be done inside the loop
+        // or else the values obtained from file.readLine();
+        // will be empty for all but the first iteration
+        QFile file(kFileName);
+        if(!file.open(QIODevice::ReadOnly | QIODevice::Text))
+        {
+            return;
+        }
+
+        QByteArray line;
+        QRegExp rx("([0-9-]+) ([0-9-]+) ([0-9-]+)");
 
-    do{
         // Read data, parse with regular expressions and process it
         line = file.readLine();
         rx.indexIn(line);
 
-        int Sample_X = rx.cap(1).toInt();
-        int Sample_Y = rx.cap(2).toInt();
-        int Sample_Z = rx.cap(3).toInt();
+        int sampleX = rx.cap(1).toInt();
+        int sampleY = rx.cap(2).toInt();
+        int sampleZ = rx.cap(3).toInt();
 
-        sstatex += Sample_X; // Accumulate Samples
-        sstatey += Sample_Y; // for all axes.
-        sstatez += Sample_Z;
+        calibrationX = calibrationX + sampleX; // Accumulate Samples
+        calibrationY = calibrationY + sampleY; // for all axes.
+        calibrationZ = calibrationZ + sampleZ;
 
         iteration++;
-    }while(iteration!=1024);       // 1024 times
 
-    sstatex = sstatex>>10;           // division by 1024
-    sstatey = sstatey>>10;
-    sstatez = sstatez>>10;
+        file.close();
+    } while(iteration != 1024);       // 1024 times
 
-    file.close();
+    calibrationX = calibrationX>>10;  // division by 1024
+    calibrationY = calibrationY>>10;
+    calibrationZ = calibrationZ>>10;
 }
 
 /**
  * Stop measuring
  *
  */
-void Accelerometer::stop() {
+void Accelerometer::stop()
+{
     timer->stop();
 }
 
 /**
  * Set the sample rate of accelerometer
  *
- * @param int pSampleRate desired sample rate
+ * @param pSampleRate desired sample rate
  */
-void Accelerometer::setSampleRate(int pSampleRate) {
+void Accelerometer::setSampleRate(int pSampleRate)
+{
     sampleRate = pSampleRate;
 }
 
-int Accelerometer::getSampleRate() {
+/**
+ * Get the sample rate of accelerometer
+ *
+ * @return sampleRate the sample rate of the accelerometer in milliseconds
+ */
+int Accelerometer::getSampleRate()
+{
     return sampleRate;
 }
 
-qreal Accelerometer::getCurrentAcceleration() {
+qreal Accelerometer::getCurrentAcceleration()
+{
     return currentAcceleration;
 }
 
-qreal Accelerometer::getPreviousTotalAcceleration() {
+qreal Accelerometer::getPreviousTotalAcceleration()
+{
     return previousAcceleration;
 }
 
-qreal Accelerometer::getTotalAcceleration() {
+qreal Accelerometer::getTotalAcceleration()
+{
     return totalAcceleration;
 }
 
-qreal Accelerometer::getDistanceTraveled() {
+qreal Accelerometer::getDistanceTraveled()
+{
     return distanceTraveled;
 }
 
-qreal Accelerometer::getLastDistanceTraveled() {
+qreal Accelerometer::getLastDistanceTraveled()
+{
     return lastDistanceTraveled;
 }
 
-qreal Accelerometer::getAverageSpeed() {
+qreal Accelerometer::getAverageSpeed()
+{
     return averageSpeed;
 }
 
-qreal Accelerometer::getTrueAccelerationX() {
+qreal Accelerometer::getTrueAccelerationX()
+{
     return trueAccelerationX;
 }
 
-qreal Accelerometer::getTrueAccelerationY() {
+qreal Accelerometer::getTrueAccelerationY()
+{
     return trueAccelerationY;
 }
 
-qreal Accelerometer::getTrueAccelerationZ() {
+qreal Accelerometer::getTrueAccelerationZ()
+{
     return trueAccelerationZ;
 }
 
-qreal Accelerometer::getPreviousSpeed() {
+qreal Accelerometer::getPreviousSpeed()
+{
     return previousSpeed;
 }
 
-qreal Accelerometer::getCurrentSpeed() {
+qreal Accelerometer::getCurrentSpeed()
+{
     return currentSpeed;
 }
 
-qreal Accelerometer::getIntervalTime() {
+qreal Accelerometer::getIntervalTime()
+{
     return intervalTime;
 }
 
+qreal Accelerometer::getTotalTime()
+{
+    return totalTime;
+}
+
+int Accelerometer::getCalibrationX()
+{
+    return calibrationX;
+}
+
+int Accelerometer::getCalibrationY()
+{
+    return calibrationY;
+}
+
+int Accelerometer::getCalibrationZ()
+{
+    return calibrationZ;
+}
+
 /**
  * Processes Accelerometer data
  *
+ * Opens the accelerometer value file for reading and reads and parses accelerometer values.
+ * Forwards data to Calculate class for processing
+ *
  */
 void Accelerometer::processData()
 {
     QFile file(kFileName);
-    if(!file.open(QIODevice::ReadOnly | QIODevice::Text)) return;
+    if(!file.open(QIODevice::ReadOnly | QIODevice::Text))
+    {
+        return;
+    }
 
     // Read data, parse with regular expressions and process it
     QByteArray line = file.readLine();
-    //QByteArray line;
     QRegExp rx("([0-9-]+) ([0-9-]+) ([0-9-]+)");
     rx.indexIn(line);
 
     smoothData(rx.cap(1).toInt(), rx.cap(2).toInt(), rx.cap(3).toInt());
 
-    // Add calibration
-    trueAccelerationX = accelerationX - sstatex;
-    trueAccelerationY = accelerationY - sstatey;
-    trueAccelerationZ = accelerationZ - sstatez;
+    // Apply calibration
+    accelerationX = accelerationX - calibrationX;
+    accelerationX = accelerationY - calibrationY;
+    accelerationX = accelerationZ - calibrationZ;
+
+    // If the function is run the first time, make sure that there
+    // are no differences with previous and current acceleration
+    if (firstRun) {
+        previousAccelerationX = accelerationX;
+        previousAccelerationY = accelerationY;
+        previousAccelerationZ = accelerationZ;
+        firstRun = false;
+    }
 
     // Discrimination window for acceleration values
-    if (trueAccelerationX <= 30 && trueAccelerationX >= -30) { trueAccelerationX = 0; }
-    if (trueAccelerationY <= 30 && trueAccelerationY >= -30) { trueAccelerationY = 0; }
-    if (trueAccelerationZ <= 30 && trueAccelerationZ >= -30) { trueAccelerationZ = 0; }
+    /*if ( fabs(accelerationX) < 20 ) { accelerationX = 0; }
+      if ( fabs(accelerationY) < 20 ) { accelerationY = 0; }
+      if ( fabs(accelerationZ) < 20 ) { accelerationZ = 0; }*/
+
+    // Calculate the current acceleration for each axis
+    trueAccelerationX = (accelerationX - previousAccelerationX) /*/ 1000 * kGravity*/;
+    trueAccelerationY = (accelerationY - previousAccelerationY) /*/ 1000 * kGravity*/;
+    trueAccelerationZ = (accelerationZ - previousAccelerationZ) /*/ 1000 * kGravity*/;
 
-    trueAccelerationX = (accelerationX - previousAccelerationX) / 1000 * kGravity;
-    trueAccelerationY = (accelerationY - previousAccelerationY) / 1000 * kGravity;
-    trueAccelerationZ = (accelerationZ - previousAccelerationZ) / 1000 * kGravity;
+    // Discrimination window for acceleration values
+    if ( fabs(trueAccelerationX) < 20 ) { trueAccelerationX = 0; }
+    if ( fabs(trueAccelerationY) < 20 ) { trueAccelerationY = 0; }
+    if ( fabs(trueAccelerationZ) < 20 ) { trueAccelerationZ = 0; }
 
     previousAccelerationX = accelerationX;
     previousAccelerationY = accelerationY;
@@ -227,42 +315,41 @@ void Accelerometer::processData()
                                trueAccelerationY * trueAccelerationY +
                                trueAccelerationZ * trueAccelerationZ );
 
-    totalAcceleration = currentAcceleration - previousAcceleration;
-    previousAcceleration = currentAcceleration;
+    // Discrimination window for currentAcceleration
+    if ( fabs(currentAcceleration) < 20 ) { currentAcceleration = 0; }
 
     // Measure time interval
-    intervalTime = now.restart(); // millisecs to secs
-    intervalTime = intervalTime/1000;
+    intervalTime = now.restart();
+    intervalTime = intervalTime/1000; // millisecs to secs
     totalTime = totalTime + intervalTime;
 
-    // Filter out acceleration caused by noise.
-    if (fabs(currentAcceleration) < 0.09) {
-        return;
-    }
-
     // Using calculate class to calculate velocity and distance etc.
-    calculate->CalculateParameters(currentAcceleration,intervalTime );
+    calculate->calculateParameters(currentAcceleration,intervalTime );
+
+    currentSpeed = calculate->getCurrentSpeed();
+    distanceTraveled = calculate->getDistanceTraveled();
 
-    currentSpeed = calculate->CurrentSpeed();
-    distanceTraveled = calculate->DistanceTraveled();
     file.close();
 }
 
 /**
  * Smooths Accelerometer data
  *
- * @param qreal x Accelerometers x-axis raw input
- * @param qreal y Accelerometers y-axis raw input
- * @param qreal z Accelerometers z-axis raw input
+ * @param x accelerometer's x-axis input
+ * @param y accelerometer's y-axis input
+ * @param z accelerometer's z-axis input
  */
-void Accelerometer::smoothData(qreal x, qreal y, qreal z) {
+void Accelerometer::smoothData(qreal x, qreal y, qreal z)
+{
     accelerationX = x;
     accelerationY = y;
     accelerationZ = z;
-    if(sampleIndex>0) {
+    if (sampleIndex > 0)
+    {
         accelerationX = previousAccelerationX + (accelerationX-previousAccelerationX) * kFilteringFactor;
         accelerationY = previousAccelerationY + (accelerationY-previousAccelerationY) * kFilteringFactor;
         accelerationZ = previousAccelerationZ + (accelerationZ-previousAccelerationZ) * kFilteringFactor;
     }
     sampleIndex++;
 }
+