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Improve motion detection

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This commit is contained in:
Simon Stürz 2018-02-24 12:14:46 +01:00
parent a7d1189636
commit 7bf7ed3784
3 changed files with 44 additions and 18 deletions
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3
multisensor/devicepluginmultisensor.json
View File

@ -186,6 +186,7 @@
"displayNameEvent": "Green LED power changed",
"displayNameAction": "Set green LED power",
"type": "bool",
"cached": false,
"defaultValue": false,
"writable": true
},
@ -196,6 +197,7 @@
"displayNameEvent": "Red LED power changed",
"displayNameAction": "Set red LED power",
"type": "bool",
"cached": false,
"defaultValue": false,
"writable": true
},
@ -206,6 +208,7 @@
"displayNameEvent": "Buzzer power changed",
"displayNameAction": "Set buzzer power",
"type": "bool",
"cached": false,
"defaultValue": false,
"writable": true
}

53
multisensor/sensortag.cpp
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@ -55,7 +55,18 @@ void SensorTag::setAccelerometerEnabled(bool enabled)
return;
m_accelerometerEnabled = enabled;
configureMovement(m_gyroscopeEnabled, m_accelerometerEnabled, m_magnetometerEnabled, true);
configureMovement();
}
void SensorTag::setAccelerometerRange(const SensorTag::SensorAccelerometerRange &range)
{
qCDebug(dcMultiSensor()) << "Accelerometer" << range;
if (m_accelerometerRange == range)
return;
m_accelerometerRange = range;
configureMovement();
}
void SensorTag::setGyroscopeEnabled(bool enabled)
@ -66,7 +77,7 @@ void SensorTag::setGyroscopeEnabled(bool enabled)
return;
m_gyroscopeEnabled = enabled;
configureMovement(m_gyroscopeEnabled, m_accelerometerEnabled, m_magnetometerEnabled, true);
configureMovement();
}
void SensorTag::setMagnetometerEnabled(bool enabled)
@ -77,7 +88,7 @@ void SensorTag::setMagnetometerEnabled(bool enabled)
return;
m_magnetometerEnabled = enabled;
configureMovement(m_gyroscopeEnabled, m_accelerometerEnabled, m_magnetometerEnabled, true);
configureMovement();
}
void SensorTag::setMeasurementPeriod(int period)
@ -171,33 +182,32 @@ void SensorTag::configurePeriod(QLowEnergyService *serice, const QLowEnergyChara
serice->writeCharacteristic(characteristic, payload);
}
void SensorTag::configureMovement(bool gyroscopeEnabled, bool accelerometerEnabled, bool magnetometerEnabled, bool wakeOnMotion)
void SensorTag::configureMovement()
{
if (!m_movementService || !m_movementConfigurationCharacteristic.isValid())
return;
quint16 configuration = 0;
if (gyroscopeEnabled) {
if (m_gyroscopeEnabled) {
configuration |= (1 << 0); // enable x-axis
configuration |= (1 << 1); // enable y-axis
configuration |= (1 << 2); // enable z-axis
}
if (accelerometerEnabled) {
if (m_accelerometerEnabled) {
configuration |= (1 << 3); // enable x-axis
configuration |= (1 << 4); // enable y-axis
configuration |= (1 << 5); // enable z-axis
}
if (magnetometerEnabled) {
if (m_magnetometerEnabled) {
configuration |= (1 << 6); // enable all axis
}
if (wakeOnMotion) {
configuration |= (1 << 8); // enable
}
// Always enable wake on movement in order to save energy
configuration |= (1 << 8); // enable
// Accelerometer range 2 Bit ( 0 = 2G, 1 = 4G, 2 = 8G, 3 = 16G) - Default 0
// Accelerometer range 2 Bit ( 0 = 2G, 1 = 4G, 2 = 8G, 3 = 16G)
switch (m_accelerometerRange) {
case SensorAccelerometerRange2G:
// Bit 9 = 0
@ -362,7 +372,7 @@ void SensorTag::processOpticalData(const QByteArray &data)
void SensorTag::processMovementData(const QByteArray &data)
{
qCDebug(dcMultiSensor()) << "--> Movement value" << data.toHex();
//qCDebug(dcMultiSensor()) << "--> Movement value" << data.toHex();
QByteArray payload(data);
QDataStream stream(&payload, QIODevice::ReadOnly);
@ -383,6 +393,7 @@ void SensorTag::processMovementData(const QByteArray &data)
double gyroY = static_cast<double>(gyroYRaw) / (65536 / 500);
double gyroZ = static_cast<double>(gyroZRaw) / (65536 / 500);
// Calculate acceleration [G], Range +- m_accelerometerRange
double accX = static_cast<double>(accXRaw) / (32768 / static_cast<int>(m_accelerometerRange));
double accY = static_cast<double>(accYRaw) / (32768 / static_cast<int>(m_accelerometerRange));
double accZ = static_cast<double>(accZRaw) / (32768 / static_cast<int>(m_accelerometerRange));
@ -404,11 +415,18 @@ void SensorTag::processMovementData(const QByteArray &data)
Q_UNUSED(gyroscopeVector)
Q_UNUSED(magnetometerVector)
double limit = m_accelerometerRange * m_movementSensitivity;
bool motionDetected = (accelerometerVector.length() >= limit);
qCDebug(dcMultiSensor()) << accelerometerVector.length() << " | " << limit << (motionDetected ? "motion" : "-");
// Initialize the accelerometer value if no data known yet
if (m_lastAccelerometerVectorLenght == -99999) {
m_lastAccelerometerVectorLenght = accelerometerVector.length();
return;
}
double delta = qAbs(qAbs(m_lastAccelerometerVectorLenght) - qAbs(accelerometerVector.length()));
bool motionDetected = (delta >= m_movementSensitivity);
//qCDebug(dcMultiSensor()) << accelerometerVector.length() << " | " << delta << m_movementSensitivity << (motionDetected ? "motion" : "-");
m_device->setStateValue(sensortagMovingStateTypeId, motionDetected);
m_lastAccelerometerVectorLenght = accelerometerVector.length();
}
void SensorTag::setLeftButtonPressed(bool pressed)
@ -477,6 +495,8 @@ void SensorTag::onConnectedChanged(const bool &connected)
m_keyService = nullptr;
m_movementService = nullptr;
m_ioService = nullptr;
m_lastAccelerometerVectorLenght = -99999;
}
}
@ -956,7 +976,7 @@ void SensorTag::onMovementServiceStateChanged(const QLowEnergyService::ServiceSt
// Set measurement period
configurePeriod(m_movementService, m_movementPeriodCharacteristic, m_movementPeriod);
configureMovement(m_gyroscopeEnabled, m_accelerometerEnabled, m_magnetometerEnabled, true);
configureMovement();
// Enable measuring
m_movementService->writeCharacteristic(m_movementConfigurationCharacteristic, QByteArray::fromHex("01"));
@ -1002,6 +1022,7 @@ void SensorTag::onIoServiceStateChanged(const QLowEnergyService::ServiceState &s
m_bluetoothDevice->disconnectDevice();
}
configureIo();
configureSensorMode(SensorModeRemote);
configureIo();
}

6
multisensor/sensortag.h
View File

@ -90,6 +90,7 @@ public:
// Configurations
void setAccelerometerEnabled(bool enabled);
void setAccelerometerRange(const SensorAccelerometerRange &range);
void setGyroscopeEnabled(bool enabled);
void setMagnetometerEnabled(bool enabled);
void setMeasurementPeriod(int period);
@ -148,15 +149,16 @@ private:
int m_opticalPeriod = 2500;
int m_movementPeriod = 500;
double m_movementSensitivity = 0.5;
// Note: possible value: 2G, 4G, 8G, 16G, default 2G
SensorAccelerometerRange m_accelerometerRange = SensorAccelerometerRange16G;
// States
bool m_leftButtonPressed = false;
bool m_rightButtonPressed = false;
bool m_magnetDetected = false;
bool m_greenLedEnabled = false;
bool m_redLedEnabled = false;
bool m_buzzerEnabled = false;
double m_lastAccelerometerVectorLenght = -99999;
// Plugin configs
bool m_accelerometerEnabled = true;
@ -164,7 +166,7 @@ private:
bool m_magnetometerEnabled = false;
void configurePeriod(QLowEnergyService *serice, const QLowEnergyCharacteristic &characteristic, int measurementPeriod);
void configureMovement(bool gyroscopeEnabled = false, bool accelerometerEnabled = true, bool magnetometerEnabled = true, bool wakeOnMotion = true);
void configureMovement();
void configureSensorMode(const SensorMode &mode);
void configureIo();