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#include "maemo6accelerometer.h"

char const * const maemo6accelerometer::id("maemo6.accelerometer");
bool maemo6accelerometer::m_initDone = false;

maemo6accelerometer::maemo6accelerometer(QSensor *sensor)
    : maemo6sensorbase(sensor)
{
    const QString sensorName = "accelerometersensor";
    initSensor<AccelerometerSensorChannelInterface>(sensorName, m_initDone);


    if (m_sensorInterface){
        if (!(QObject::connect(m_sensorInterface, SIGNAL(dataAvailable(const XYZ&)),
                               this, SLOT(slotDataAvailable(const XYZ&)))))
            qWarning() << "Unable to connect "<< sensorName;
    }
    else
        qWarning() << "Unable to initialize "<<sensorName;

    setReading<QAccelerometerReading>(&m_reading);
    // adding metadata
    addDataRate(1, 130); // 130 Hz
    //addDataRate(400, 400); // 400Hz

    // accuracy - or resolution???
    // 2^8 = 256    256/2 - 1 = 127
    addOutputRange(-2*GRAVITY_EARTH, 2*GRAVITY_EARTH, 2*GRAVITY_EARTH/127); // 2G
    //addOutputRange(-8*GRAVITY_EARTH, 8*GRAVITY_EARTH, 8*GRAVITY_EARTH/127); // 8G
    setDescription(QLatin1String("Measures x, y, and z axes accelerations in m/s^2"));
}

void maemo6accelerometer::slotDataAvailable(const XYZ& data)
{
    // Convert from milli-Gs to meters per second per second
    // Using 1 G = 9.80665 m/s^2
    qreal ax = -data.x() * GRAVITY_EARTH_THOUSANDTH;
    qreal ay = -data.y() * GRAVITY_EARTH_THOUSANDTH;
    qreal az = -data.z() * GRAVITY_EARTH_THOUSANDTH;

    m_reading.setX(ax);
    m_reading.setY(ay);
    m_reading.setZ(az);
    m_reading.setTimestamp(data.XYZData().timestamp_);
    newReadingAvailable();
}