Revision control
++ // 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
++ // Qt-Security score:significant reason:default
++
++ #include "genericrotationsensor.h"
++ #include <QDebug>
++ #include <qmath.h>
++
++ QT_BEGIN_NAMESPACE
++
++ char const * const genericrotationsensor::id("generic.rotation");
++
++ genericrotationsensor::genericrotationsensor(QSensor *sensor)
++ : QSensorBackend(sensor)
++ {
++ accelerometer = new QAccelerometer(this);
++ accelerometer->addFilter(this);
++ accelerometer->connectToBackend();
++
++ setReading<QRotationReading>(&m_reading);
++ setDataRates(accelerometer);
++
++ QRotationSensor * const rotationSensor = qobject_cast<QRotationSensor *>(sensor);
++ if (rotationSensor)
++ rotationSensor->setHasZ(false);
++ }
++
++ void genericrotationsensor::start()
++ {
++ accelerometer->setDataRate(sensor()->dataRate());
++ accelerometer->setAlwaysOn(sensor()->isAlwaysOn());
++ accelerometer->start();
++ if (!accelerometer->isActive())
++ sensorStopped();
++ if (accelerometer->isBusy())
++ sensorBusy();
++ }
++
++ void genericrotationsensor::stop()
++ {
++ accelerometer->stop();
++ }
++
++ bool genericrotationsensor::filter(QSensorReading *reading)
++ {
++ QAccelerometerReading *ar = qobject_cast<QAccelerometerReading*>(reading);
++ qreal pitch = 0;
++ qreal roll = 0;
++
++ qreal x = ar->x();
++ qreal y = ar->y();
++ qreal z = ar->z();
++
++ // Note that the formula used come from this document:
++ pitch = qRadiansToDegrees(qAtan(y / qSqrt(x * x + z * z)));
++ roll = qRadiansToDegrees(qAtan(x / qSqrt(y * y + z * z)));
++ // Roll is a left-handed rotation but we need right-handed rotation
++ roll = -roll;
++
++ // We need to fix up roll to the (-180,180] range required.
++ // Check for negative theta values and apply an offset as required.
++ // Note that theta is defined as the angle of the Z axis relative
++ // to gravity (see referenced document). It's negative when the
++ // face of the device points downward.
++ qreal theta = qRadiansToDegrees(qAtan(qSqrt(x * x + y * y) / z));
++ if (theta < 0) {
++ if (roll > 0)
++ roll = 180 - roll;
++ else
++ roll = -180 - roll;
++ }
++
++ m_reading.setTimestamp(ar->timestamp());
++ m_reading.setFromEuler(pitch, roll, 0);
++ newReadingAvailable();
++ return false;
++ }
++
++ QT_END_NAMESPACE
++