Fixed gyroscope and, hopefully, accelerometer

Author: yurii-litvinov

global.pri

@@ -40,7 +40,10 @@ CONFIG(debug, debug | release) {
 
 DESTDIR = $$PWD/bin/$$CONFIGURATION
 
-TARGET = $$basename($$_PRO_FILE_)$$CONFIGURATION_SUFFIX
+PROJECT_BASENAME = $$basename(_PRO_FILE_)
+PROJECT_NAME = $$section(PROJECT_BASENAME, ".", 0, 0)
+
+TARGET = $$PROJECT_NAME$$CONFIGURATION_SUFFIX
 
 equals(TEMPLATE, app) {
 	!macx {
@@ -54,10 +57,8 @@ MOC_DIR = .build/$$CONFIGURATION/.moc
 RCC_DIR = .build/$$CONFIGURATION/.rcc
 UI_DIR = .build/$$CONFIGURATION/.ui
 
-PROJECT_BASENAME = $$basename(_PRO_FILE_)
-
 INCLUDEPATH += $$_PRO_FILE_PWD_ \
-	$$_PRO_FILE_PWD_/include/$$section(PROJECT_BASENAME, ".", 0, 0) \
+	$$_PRO_FILE_PWD_/include/$$PROJECT_NAME \
 
 unix {
 	target.path = $$[INSTALL_ROOT]/

trikControl/include/trikControl/sensor3d.h

@@ -15,14 +15,16 @@
 #pragma once
 
 #include <QtCore/QObject>
-#include <QtCore/QSocketNotifier>
-#include <QtCore/QSharedPointer>
+#include <QtCore/QScopedPointer>
+#include <QtCore/QThread>
 #include <QtCore/QVector>
 
 #include "declSpec.h"
 
 namespace trikControl {
 
+class Sensor3dWorker;
+
 /// Sensor that returns 3d vector.
 class TRIKCONTROL_EXPORT Sensor3d : public QObject
 {
@@ -35,20 +37,15 @@ class TRIKCONTROL_EXPORT Sensor3d : public QObject
 	/// @param deviceFile - device file for this sensor.
 	Sensor3d(int min, int max, QString const &deviceFile);
 
+	~Sensor3d();
+
 public slots:
 	/// Returns current raw reading of a sensor in a form of vector with 3 coordinates.
-	QVector<int> const &read() const;
-
-private slots:
-	/// Updates current reading when new value is ready.
-	void readFile();
+	QVector<int> read() const;
 
 private:
-	QSharedPointer<QSocketNotifier> mSocketNotifier;
-	QVector<int> mReading;
-	int mDeviceFileDescriptor;
-	int mMax;
-	int mMin;
+	QScopedPointer<Sensor3dWorker> mSensor3dWorker;
+	QThread mWorkerThread;
 };
 
 }

trikControl/src/linux/sensor3d.cpp trikControl/src/linux/sensor3dWorker.cpptrikControl/src/linux/sensor3d.cpp renamed to trikControl/src/linux/sensor3dWorker.cpp

@@ -1,4 +1,4 @@
-/* Copyright 2013 Matvey Bryksin, Yurii Litvinov
+/* Copyright 2014 CyberTech Labs Ltd.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License. */
 
-#include "sensor3d.h"
+#include "src/sensor3dWorker.h"
 
 #include <QtCore/QDebug>
 
@@ -28,7 +28,7 @@
 
 using namespace trikControl;
 
-Sensor3d::Sensor3d(int min, int max, const QString &controlFile)
+Sensor3dWorker::Sensor3dWorker(int min, int max, const QString &controlFile)
 	: mDeviceFileDescriptor(0)
 	, mMax(max)
 	, mMin(min)
@@ -41,15 +41,15 @@ Sensor3d::Sensor3d(int min, int max, const QString &controlFile)
 		return;
 	}
 
-	mSocketNotifier = QSharedPointer<QSocketNotifier>(
+	mSocketNotifier.reset(
 			new QSocketNotifier(mDeviceFileDescriptor, QSocketNotifier::Read, this)
 			);
 
 	connect(mSocketNotifier.data(), SIGNAL(activated(int)), this, SLOT(readFile()));
 	mSocketNotifier->setEnabled(true);
 }
 
-void Sensor3d::readFile()
+void Sensor3dWorker::readFile()
 {
 	struct input_event event;
 	int size = 0;
@@ -63,13 +63,19 @@ void Sensor3d::readFile()
 			case EV_ABS:
 				switch (event.code) {
 				case ABS_X:
+					mLock.lockForWrite();
 					mReading[0] = event.value;
+					mLock.unlock();
 					break;
 				case ABS_Y:
+					mLock.lockForWrite();
 					mReading[1] = event.value;
+					mLock.unlock();
 					break;
 				case ABS_Z:
+					mLock.lockForWrite();
 					mReading[2] = event.value;
+					mLock.unlock();
 					break;
 				}
 				break;
@@ -78,15 +84,17 @@ void Sensor3d::readFile()
 		}
 	}
 
-
 	if (0 <= size && size < static_cast<int>(sizeof(event))) {
 		qDebug() << "incomplete data read";
 	}
 
 	mSocketNotifier->setEnabled(true);
 }
 
-QVector<int> const &Sensor3d::read() const
+QVector<int> const &Sensor3dWorker::read() const
 {
-	return mReading;
+	mLock.lockForRead();
+	QVector<int> const result = mReading;
+	mLock.unlock();
+	return result;
 }

trikControl/src/sensor3d.cpp

@@ -0,0 +1,38 @@
+/* Copyright 2013-2014 Matvey Bryksin, Yurii Litvinov, CyberTech Labs Ltd.
+ *
+ * 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. */
+
+#include "sensor3d.h"
+
+#include "src/sensor3dWorker.h"
+
+using namespace trikControl;
+
+Sensor3d::Sensor3d(int min, int max, const QString &controlFile)
+	: mSensor3dWorker(new Sensor3dWorker(min, max, controlFile))
+{
+	mSensor3dWorker->moveToThread(&mWorkerThread);
+	mWorkerThread.start();
+}
+
+
+Sensor3d::~Sensor3d()
+{
+	mWorkerThread.quit();
+	mWorkerThread.wait();
+}
+
+QVector<int> Sensor3d::read() const
+{
+	return mSensor3dWorker->read();
+}

trikControl/src/sensor3dWorker.h

@@ -0,0 +1,55 @@
+#pragma once
+
+/* Copyright 2014 CyberTech Labs Ltd.
+ *
+ * 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. */
+
+#include <QtCore/QObject>
+#include <QtCore/QSocketNotifier>
+#include <QtCore/QScopedPointer>
+#include <QtCore/QVector>
+#include <QtCore/QReadWriteLock>
+
+namespace trikControl {
+
+/// Handles events from sensor, intended to work in separate thread
+class Sensor3dWorker : public QObject
+{
+	Q_OBJECT
+
+public:
+	/// Constructor.
+	/// @param min - minimal actual (physical) value returned by sensor. Used to normalize returned values.
+	/// @param max - maximal actual (physical) value returned by sensor. Used to normalize returned values.
+	/// @param deviceFile - device file for this sensor.
+	Sensor3dWorker(int min, int max, QString const &deviceFile);
+
+public slots:
+	/// Returns current raw reading of a sensor in a form of vector with 3 coordinates.
+	QVector<int> const &read() const;
+
+private slots:
+	/// Updates current reading when new value is ready.
+	void readFile();
+
+private:
+	QScopedPointer<QSocketNotifier> mSocketNotifier;
+	QVector<int> mReading;
+	int mDeviceFileDescriptor;
+	int mMax;
+	int mMin;
+	QReadWriteLock mLock;
+};
+
+
+}

trikControl/trikControl.pro

@@ -45,6 +45,7 @@ HEADERS += \
 	$$PWD/src/i2cCommunicator.h \
 	$$PWD/src/keysWorker.h \
 	$$PWD/src/powerMotor.h \
+	$$PWD/src/sensor3dWorker.h \
 	$$PWD/src/servoMotor.h \
 	$$PWD/src/tcpConnector.h \
 
@@ -66,12 +67,13 @@ SOURCES += \
 	$$PWD/src/led.cpp \
 	$$PWD/src/powerMotor.cpp \
 	$$PWD/src/pwmCapture.cpp \
+	$$PWD/src/sensor3d.cpp \
 	$$PWD/src/servoMotor.cpp \
 	$$PWD/src/tcpConnector.cpp \
 	$$PWD/src/$$PLATFORM/cameraLineDetectorSensorWorker.cpp \
 	$$PWD/src/$$PLATFORM/i2cCommunicator.cpp \
 	$$PWD/src/$$PLATFORM/keysWorker.cpp \
-	$$PWD/src/$$PLATFORM/sensor3d.cpp \
+	$$PWD/src/$$PLATFORM/sensor3dWorker.cpp \
 
 OTHER_FILES += \
 	config.xml \

trikScriptRunner/src/scriptEngineWorker.cpp

@@ -16,6 +16,7 @@
 
 #include <QtCore/QDebug>
 #include <QtCore/QFile>
+#include <QtCore/QVector>
 
 #include <trikKernel/fileUtils.h>
 #include <trikKernel/debug.h>
@@ -45,6 +46,7 @@ Q_DECLARE_METATYPE(Motor*)
 Q_DECLARE_METATYPE(Sensor*)
 Q_DECLARE_METATYPE(Sensor3d*)
 Q_DECLARE_METATYPE(CameraLineDetectorSensor*)
+Q_DECLARE_METATYPE(QVector<int>)
 
 ScriptEngineWorker::ScriptEngineWorker(QString const &configFilePath, QString const &startDirPath)
 	: mEngine(NULL)
@@ -124,6 +126,7 @@ void ScriptEngineWorker::resetScriptEngine()
 	qScriptRegisterMetaType(mEngine, sensorToScriptValue, sensorFromScriptValue);
 	qScriptRegisterMetaType(mEngine, sensor3dToScriptValue, sensor3dFromScriptValue);
 	qScriptRegisterMetaType(mEngine, cameraLineDetectorSensorToScriptValue, cameraLineDetectorSensorFromScriptValue);
+	qScriptRegisterSequenceMetaType<QVector<int> >(mEngine);
 
 	QScriptValue brickProxy = mEngine->newQObject(mBrick.data());
 	mEngine->globalObject().setProperty("brick", brickProxy);