[sensorfw] Add real calibration level to hybris compass sensor.

This makes the orientationfilter into a compassfilter, but not changing
the name. hybris calls it orientation sensor, even though it's
a calibrated compass.

adaptors/hybrisorientationadaptor/hybrisorientationadaptor.cpp

@@ -43,7 +43,7 @@
 HybrisOrientationAdaptor::HybrisOrientationAdaptor(const QString& id) :
     HybrisAdaptor(id,SENSOR_TYPE_ORIENTATION)
 {
-    buffer = new DeviceAdaptorRingBuffer<TimedXyzData>(1);
+    buffer = new DeviceAdaptorRingBuffer<CompassData>(1);
     setAdaptedSensor("orientation", "Internal orientation coordinates", buffer);
 
     setDescription("Hybris orientation");
@@ -72,15 +72,18 @@ void HybrisOrientationAdaptor::stopSensor()
 
 void HybrisOrientationAdaptor::processSample(const sensors_event_t& data)
 {
-    TimedXyzData *d = buffer->nextSlot();
+    CompassData *d = buffer->nextSlot();
     d->timestamp_ = quint64(data.timestamp * .001);
-    // sensorfw wants milli-G'
-    d->x_ = data.data[0] * 1000; //azimuth
-    d->y_ = data.data[1] * 1000; //pitch
-    d->z_ = data.data[2] * 1000; //roll
+    d->degrees_ = data.data[0] * 1000; //azimuth
+    switch (data.orientation.status) {
+    case SENSOR_STATUS_UNRELIABLE:
+        d->level_ = 0;
+        break;
+    default:
+        d->level_ = data.orientation.status / 3;
+        break;
+    };
 
-//  qt's sensorfw plugin expects G == 9.81286, but it should be
-    //9.80665
     buffer->commit();
     buffer->wakeUpReaders();
 }

adaptors/hybrisorientationadaptor/hybrisorientationadaptor.h

@@ -46,7 +46,7 @@ class HybrisOrientationAdaptor : public HybrisAdaptor
     void init();
 
 private:
-    DeviceAdaptorRingBuffer<TimedXyzData>* buffer;
+    DeviceAdaptorRingBuffer<CompassData>* buffer;
     int sensorType;
 
 };

chains/compasschain/compasschain.cpp

@@ -46,7 +46,7 @@ CompassChain::CompassChain(const QString& id) :
         hasOrientationAdaptor = true;
         setValid(orientAdaptor->isValid());
         if (orientAdaptor->isValid())
-            orientationdataReader = new BufferReader<TimedXyzData>(1);
+            orientationdataReader = new BufferReader<CompassData>(1);
 
         orientationFilter = sm.instantiateFilter("orientationfilter");
         Q_ASSERT(orientationFilter);

chains/compasschain/compasschain.h

@@ -74,7 +74,7 @@ public Q_SLOTS:
     BufferReader<CalibratedMagneticFieldData> *magReader;
 
     DeviceAdaptor *orientAdaptor;
-    BufferReader<TimedXyzData> *orientationdataReader;
+    BufferReader<CompassData> *orientationdataReader;
 
 
     FilterBase *compassFilter;

chains/compasschain/orientationfilter.cpp

@@ -24,17 +24,20 @@
 
 OrientationFilter::OrientationFilter()
     : orientDataSink(this, &OrientationFilter::orientDataAvailable),
-      level(3) //presume this is fully calibrated
+      level(0) //presume this is fully calibrated
 {
     addSink(&orientDataSink, "orientsink");
     addSource(&magSource, "magnorthangle");
 }
 
-void OrientationFilter::orientDataAvailable(unsigned, const TimedXyzData *data)
+void OrientationFilter::orientDataAvailable(unsigned, const CompassData *data)
 {
     CompassData compassData; //north angle
     compassData.timestamp_ = data->timestamp_;
-    compassData.degrees_ = data->x_ * .001;
-    compassData.level_ = level;
+    compassData.degrees_ = data->degrees_ * .001;
+    if (data->level_ > 0 && data->level_ < 3.1)
+        compassData.level_ = data->level_;
+    else
+        compassData.level_ = level;
     magSource.propagate(1, &compassData);
 }

chains/compasschain/orientationfilter.h

@@ -43,8 +43,8 @@ class OrientationFilter : public QObject, public FilterBase
 private:
     Source<CompassData> magSource;
 
-    Sink<OrientationFilter, TimedXyzData> orientDataSink;
-    void orientDataAvailable(unsigned, const TimedXyzData*);
+    Sink<OrientationFilter, CompassData> orientDataSink;
+    void orientDataAvailable(unsigned, const CompassData*);
     qreal level;
     qreal oldHeading;
 };