X-Git-Url: http://git.maemo.org/git/?p=speedfreak;a=blobdiff_plain;f=Client%2Faccelerometer.cpp;h=ed904f63920911282e3c958a4385806a669c9970;hp=5c16c9890b45d51012ee71f638c1dff14ed372c4;hb=d359e4d19b1a1cb68b8f602f243c68739e09a04c;hpb=ccd1461855b19ed581954e0a02f416b1bda3edb7 diff --git a/Client/accelerometer.cpp b/Client/accelerometer.cpp index 5c16c98..ed904f6 100644 --- a/Client/accelerometer.cpp +++ b/Client/accelerometer.cpp @@ -14,6 +14,9 @@ #include #include #include +#include +#include +#include #define kFilteringFactor 0.1 #define kGravity 9.81 @@ -111,40 +114,23 @@ void Accelerometer::initValues() void Accelerometer::calibrate(void) { unsigned int iteration = 0; + qreal sampleX, sampleY, sampleZ; 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-]+)"); - - // Read data, parse with regular expressions and process it - line = file.readLine(); - rx.indexIn(line); - - int sampleX = rx.cap(1).toInt(); - int sampleY = rx.cap(2).toInt(); - int sampleZ = rx.cap(3).toInt(); - - calibrationX = calibrationX + sampleX; // Accumulate Samples - calibrationY = calibrationY + sampleY; // for all axes. - calibrationZ = calibrationZ + sampleZ; + + getAcceleration(sampleX, sampleY, sampleZ); + + calibrationX += sampleX; // Accumulate Samples + calibrationY += sampleY; // for all axes. + calibrationZ += sampleZ; iteration++; - file.close(); - } while(iteration != 1024); // 1024 times + } while(iteration != 1024); // 1024 times - calibrationX = calibrationX>>10; // division by 1024 - calibrationY = calibrationY>>10; - calibrationZ = calibrationZ>>10; + calibrationX = calibrationX/1024; // division by 1024 + calibrationY = calibrationY/1024; + calibrationZ = calibrationZ/1024; } /** @@ -157,6 +143,114 @@ void Accelerometer::stop() } /** + * 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() +{ + getAcceleration(accelerationX, accelerationY, accelerationZ); + //smoothData(accelerationX, accelerationY, accelerationZ); + + // Apply calibration + accelerationX = accelerationX - calibrationX; + accelerationY = accelerationY - calibrationY; + accelerationZ = 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; + } + + // Calculate the current acceleration for each axis + trueAccelerationX = (accelerationX - previousAccelerationX); + trueAccelerationY = (accelerationY - previousAccelerationY); + trueAccelerationZ = (accelerationZ - previousAccelerationZ); + + previousAccelerationX = accelerationX; + previousAccelerationY = accelerationY; + previousAccelerationZ = accelerationZ; + + currentAcceleration = sqrt((trueAccelerationX * trueAccelerationX) + + (trueAccelerationY * trueAccelerationY) + + (trueAccelerationZ * trueAccelerationZ)); + + // Discrimination window for currentAcceleration + if ( fabs(currentAcceleration) < 0.10 ) { currentAcceleration = 0; } + + // Measure time interval + intervalTime = now.restart(); + intervalTime = intervalTime/1000; // millisecs to secs + totalTime = totalTime + intervalTime; + + // Using calculate class to calculate velocity and distance etc. + calculate->calculateParameters(currentAcceleration,intervalTime ); + + currentSpeed = calculate->getCurrentSpeed(); + distanceTraveled = calculate->getDistanceTraveled(); +} + +/** + * Smooths Accelerometer 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) +{ + 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++; +} + +void Accelerometer::getAcceleration(qreal &x, qreal &y, qreal &z) +{ + /* + QFile file(kFileName); + 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); + + x = rx.cap(1).toInt()/1000; + y = rx.cap(2).toInt()/1000; + z = rx.cap(3).toInt()/1000; + + file.close(); + */ + + QDBusConnection connection(QDBusConnection::systemBus()); + if (connection.isConnected()) { + QDBusInterface interface("com.nokia.mce", "/com/nokia/icd", QString(), connection); + QDBusPendingReply reply; + reply = interface.asyncCall("get_device_orientation"); + reply.waitForFinished(); + x = static_cast(reply.argumentAt<3>()) / 1000; + y = static_cast(reply.argumentAt<4>()) / 1000; + z = static_cast(reply.argumentAt<5>()) / 1000; + } +} + +/** * Set the sample rate of accelerometer * * @param pSampleRate desired sample rate @@ -241,115 +335,17 @@ qreal Accelerometer::getTotalTime() return totalTime; } -int Accelerometer::getCalibrationX() +qreal Accelerometer::getCalibrationX() { return calibrationX; } -int Accelerometer::getCalibrationY() +qreal Accelerometer::getCalibrationY() { return calibrationY; } -int Accelerometer::getCalibrationZ() +qreal 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; - } - - // 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()); - - // 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 ( 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*/; - - // 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; - previousAccelerationZ = accelerationZ; - - currentAcceleration = sqrt(trueAccelerationX * trueAccelerationX + - trueAccelerationY * trueAccelerationY + - trueAccelerationZ * trueAccelerationZ ); - - // Discrimination window for currentAcceleration - if ( fabs(currentAcceleration) < 20 ) { currentAcceleration = 0; } - - // Measure time interval - intervalTime = now.restart(); - intervalTime = intervalTime/1000; // millisecs to secs - totalTime = totalTime + intervalTime; - - // Using calculate class to calculate velocity and distance etc. - calculate->calculateParameters(currentAcceleration,intervalTime ); - - currentSpeed = calculate->getCurrentSpeed(); - distanceTraveled = calculate->getDistanceTraveled(); - - file.close(); -} - -/** - * Smooths Accelerometer 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) -{ - 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++; -} -