gyroSensor.h

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/* Copyright 2016 Anastasiya Kornilova.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License. */

#pragma once

#include <QtCore/QScopedPointer>
#include <QtCore/QThread>
#include <QQuaternion>
#include <QTimer>
#include <QReadWriteLock>
#include <cmath>
#include <trikKernel/timeVal.h>

#include "gyroSensorInterface.h"
#include "deviceState.h"

namespace trikKernel {
class Configurer;
}

namespace trikHal {
class HardwareAbstractionInterface;
}

namespace trikControl {

class VectorSensorWorker;

class GyroSensor : public GyroSensorInterface
{
    Q_OBJECT

public:
    GyroSensor(const QString &deviceName, const trikKernel::Configurer &configurer
            , const trikHal::HardwareAbstractionInterface &hardwareAbstraction, VectorSensorInterface *accelerometer);

    ~GyroSensor() override;

    Status status() const override;

public slots:
    QVector<int> read() const override;

    QVector<int> readRawData() const override;

    void calibrate(int msec) override;

    QVector<int> getCalibrationValues() override;

    void setCalibrationValues(const QVector<int> &values) override;

    bool isCalibrated() const override;

private slots:
    void countTilt(const QVector<int> &gyroData, trikKernel::TimeVal t);

    void countCalibrationParameters();

    void sumAccelerometer(const QVector<int> &accelerometerData, const trikKernel::TimeVal & t);

    void sumGyroscope(const QVector<int> &gyroData, const trikKernel::TimeVal &);

    QVector3D getEulerAngles(const QQuaternion &q);

private:
    DeviceState mState;

    VectorSensorWorker *mVectorSensorWorker; // Has ownership
    QThread mWorkerThread;

    QTimer mCalibrationTimer;
    bool mIsCalibrated;

    QQuaternion mQ;

    QVector<int> mBias;

    QVector<int> mCalibrationValues;

    QVector<int> mGyroSum;

    int mGyroCounter;

    QVector<int> mResult;

    QVector<int> mRawData;

    trikKernel::TimeVal mLastUpdate;

    VectorSensorInterface *mAccelerometer;  // Has no ownership

    QVector<int> mAccelerometerVector;
    QVector<int> mAccelerometerSum;
    int mAccelerometerCounter;

    bool mAxesSwapped;

    mutable QReadWriteLock mResultLock;
};

}