X-Git-Url: http://git.maemo.org/git/?p=speedfreak;a=blobdiff_plain;f=Client%2Faccelerometer.cpp;h=c2f0bab6fd04aa88fe3fa0383ded027aad093b8d;hp=0f70d0baefcf203c0309d7089cee57020c0a7c08;hb=191e117d32d1e3e4865f51c84b3a2bbc565a49b3;hpb=b7e5e4f21ee31476d5b9d3ceb3b7070b7f6e7101

diff --git a/Client/accelerometer.cpp b/Client/accelerometer.cpp
index 0f70d0b..c2f0bab 100644
--- a/Client/accelerometer.cpp
+++ b/Client/accelerometer.cpp
@@ -1,199 +1,156 @@
-#include "accelerometer.h"
-#include "math.h"
+/*
+ * Accelerometer class to access the device accelerometer
+ *
+ * @author      Rikhard Kuutti <rikhard.kuutti@fudeco.com>
+ * @author      Kai Rasilainen <kai.rasilainen@fudeco.com>
+ * @author      Jukka Kurttila <jukka.kurttila@fudeco.com>
+ * @copyright   (c) 2010 Speed Freak team
+ * @license     http://opensource.org/licenses/gpl-license.php GNU Public License
+ */
 
-#include <QFile>
-#include <QString>
-#include <QRegExp>
-#include <QTimer>
+#include "accelerometer.h"
 
-#define kFilteringFactor    0.1
-#define kGravity            9.81
+#include <QDBusConnection>
+#include <QDBusInterface>
+#include <QDBusPendingReply>
 
-static int sampleIndex=0;
+#define kFilteringFactor 0.2
+#define kIterations      1024
 
+/**
+ * Default constructor for Accelerometer class
+ *
+ */
 Accelerometer::Accelerometer()
 {
-    QTimer *timer = new QTimer(this);
-    connect(timer, SIGNAL(timeout()), this, SLOT(processData()));
-    sampleRate = 100;
-    timer->start(sampleRate);
-    now.restart();
-
     initValues();
+    calibrateDialog = NULL;
 }
 
-Accelerometer::~Accelerometer() {
-}
-
-void Accelerometer::start() {
-    timer->start(sampleRate);
-    now.restart();
-}
-
-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;
-}
-
-void Accelerometer::stop() {
-    timer->stop();
+/**
+ * Default destructor for Accelerometer class
+ *
+ */
+Accelerometer::~Accelerometer()
+{
+    if(calibrateDialog)
+        delete calibrateDialog;
 }
 
-void Accelerometer::setSampleRate(int pSampleRate) {
-    sampleRate = pSampleRate;
+/**
+ * Init class members
+ *
+ */
+void Accelerometer::initValues()
+{
+    previousAccelerationX = 0;
+    previousAccelerationY = 0;
+    previousAccelerationZ = 0;
+    calibrationX = 0;
+    calibrationY = 0;
+    calibrationZ = 0;
 }
 
-int Accelerometer::getSampleRate() {
-    return sampleRate;
-}
+/**
+  * Calibrate. Purpose of this function is to calibrate
+  * accelerometer when stationary.
+  *
+  */
+void Accelerometer::calibrate(void)
+{
+    unsigned int iteration = 0;
+    qreal sampleX, sampleY, sampleZ;
 
-qreal Accelerometer::getCurrentAcceleration() {
-    return currentAcceleration;
-}
+    calibrateDialog = new CalibrateDialog();
+    calibrateDialog->show();
+    calibrateDialog->resetProgressValue();
+    calibrateDialog->setMaxValue( kIterations + 1 );
 
-qreal Accelerometer::getPreviousTotalAcceleration() {
-    return previousAcceleration;
-}
+    do {
+        calibrateDialog->setProgressValue(iteration);
 
-qreal Accelerometer::getTotalAcceleration() {
-    return totalAcceleration;
-}
+        getAcceleration(sampleX, sampleY, sampleZ);
 
-qreal Accelerometer::getDistanceTraveled() {
-    return distanceTraveled;
-}
+        calibrationX += sampleX; // Accumulate Samples
+        calibrationY += sampleY; // for all axes.
+        calibrationZ += sampleZ;
 
-qreal Accelerometer::getLastDistanceTraveled() {
-    return lastDistanceTraveled;
-}
+        iteration++;
 
-qreal Accelerometer::getAverageSpeed() {
-    return averageSpeed;
-}
+    } while(iteration != kIterations);        // kIterations times
 
-qreal Accelerometer::getTrueAccelerationX() {
-    return trueAccelerationX;
-}
+    calibrationX = calibrationX/kIterations;  // division by kIterations
+    calibrationY = calibrationY/kIterations;
+    calibrationZ = calibrationZ/kIterations;
 
-qreal Accelerometer::getTrueAccelerationY() {
-    return trueAccelerationY;
+    calibrateDialog->close();
 }
 
-qreal Accelerometer::getTrueAccelerationZ() {
-    return trueAccelerationZ;
-}
+/**
+ * Smooths Accelerometer data by applying a low pass filter to data
+ *
+ * @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)
+{
+    x = (previousAccelerationX * (1 - kFilteringFactor)) + (x * kFilteringFactor);
+    y = (previousAccelerationY * (1 - kFilteringFactor)) + (y * kFilteringFactor);
+    z = (previousAccelerationZ * (1 - kFilteringFactor)) + (z * kFilteringFactor);
 
-qreal Accelerometer::getPreviousSpeed() {
-    return previousSpeed;
+    previousAccelerationX = x;
+    previousAccelerationY = y;
+    previousAccelerationZ = z;
 }
 
-qreal Accelerometer::getCurrentSpeed() {
-    return currentSpeed;
+/**
+ * Gets the raw acceleration data from accelerometer
+ *
+ * @param x accelerometer's x-axis input
+ * @param y accelerometer's y-axis input
+ * @param z accelerometer's z-axis input
+ */
+void Accelerometer::getAcceleration(qreal &x, qreal &y, qreal &z)
+{
+    QDBusConnection connection(QDBusConnection::systemBus());
+    if (connection.isConnected()) {
+        QDBusInterface interface("com.nokia.mce", "/com/nokia/icd", QString(), connection);
+        QDBusPendingReply<QString, QString, QString, int, int, int> reply;
+        reply = interface.asyncCall("get_device_orientation");
+        reply.waitForFinished();
+        x = static_cast<qreal>(reply.argumentAt<3>()) / 1000;
+        y = static_cast<qreal>(reply.argumentAt<4>()) / 1000;
+        z = static_cast<qreal>(reply.argumentAt<5>()) / 1000;
+    }
 }
 
-qreal Accelerometer::getintervalTime() {
-    return intervalTime;
+/**
+ * Get the x calibration component
+ *
+ * @return calibrationX x calibration component
+ */
+qreal Accelerometer::getCalibrationX()
+{
+    return calibrationX;
 }
 
 /**
- * Processes Accelerometer data
+ * Get the y calibration component
  *
+ * @return calibrationY y calibration component
  */
-void Accelerometer::processData()
+qreal Accelerometer::getCalibrationY()
 {
-    QFile file("/sys/class/i2c-adapter/i2c-3/3-001d/coord");
-    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
-        return;
-
-    // Read data, parse with regular expressions and process it
-    QByteArray line = file.readLine();
-    QRegExp rx("([0-9-]+) ([0-9-]+) ([0-9-]+)");
-    rx.indexIn(line);
-
-    smoothData(rx.cap(1).toInt(), rx.cap(2).toInt(), rx.cap(3).toInt());
-
-    trueAccelerationX = (accelerationX - previousAccelerationX)/1000*kGravity;
-    trueAccelerationY = (accelerationY - previousAccelerationY)/1000*kGravity;
-    trueAccelerationZ = (accelerationZ - previousAccelerationZ)/1000*kGravity;
-
-    previousAccelerationX = accelerationX;
-    previousAccelerationY = accelerationY;
-    previousAccelerationZ = accelerationZ;
-
-    currentAcceleration = sqrt(trueAccelerationX * trueAccelerationX +
-                           trueAccelerationY * trueAccelerationY +
-                           trueAccelerationZ * trueAccelerationZ );
-
-    totalAcceleration = currentAcceleration - previousAcceleration;
-
-    totalAcceleration = fabs(totalAcceleration);
-
-    previousAcceleration = currentAcceleration;
-
-    // v = v0 + at
-    // x = x0 + v0t + (at^2)/2
-    // v = (v + v0)/2
-
-    intervalTime = now.restart();
-    intervalTime = intervalTime/1000; // millisecs to secs
-    totalTime = totalTime + intervalTime;
-
-    // filter noise
-    // TODO: do this in smoothdata: implement a better filter.
-    if (totalAcceleration > 0.02) {
-        currentSpeed = ( previousSpeed + ( totalAcceleration * intervalTime ) / 2 );
-    } else {
-        currentSpeed = 0;
-    }
-
-    // filter noise
-    if (currentSpeed > 0.02) {
-        distanceTraveled = ( lastDistanceTraveled + ( ( currentSpeed + previousSpeed ) * intervalTime) / 2 );
-    } else {
-        //distanceTraveled = 0;
-    }
-
-    averageSpeed = distanceTraveled / totalTime;
-
-    previousSpeed = currentSpeed;
-    lastDistanceTraveled = distanceTraveled;
-
-    file.close();
+    return calibrationY;
 }
 
 /**
- * Smooths Accelerometer data
+ * Get the z calibration component
  *
- * @param x Accelerometers x-axis raw input
- * @param y Accelerometers y-axis raw input
- * @param z Accelerometers z-axis raw input
+ * @return calibrationZ z calibration component
  */
-void Accelerometer::smoothData(qreal x, qreal y, qreal z) {
-    accelerationX = x;
-    accelerationY = y;
-    accelerationZ = z;
-    if(sampleIndex>0) {
-        accelerationX = previousAccelerationX + (accelerationX-previousAccelerationX) * kFilteringFactor;
-        accelerationY = previousAccelerationY + (accelerationY-previousAccelerationY) * kFilteringFactor;
-        accelerationZ = previousAccelerationZ + (accelerationZ-previousAccelerationZ) * kFilteringFactor;
-    }
-    sampleIndex++;
+qreal Accelerometer::getCalibrationZ()
+{
+    return calibrationZ;
 }