/****************************************************************************
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** Copyright (C) 2014 Digia Plc and/or its subsidiary(-ies).
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** This file is part of the QtSensors module of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:LGPL21$
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** accordance with the commercial license agreement provided with the
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** use the contact form at http://qt.digia.com/contact-us.
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** GNU Lesser General Public License Usage
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** In addition, as a special exception, Digia gives you certain additional
** rights. These rights are described in the Digia Qt LGPL Exception
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****************************************************************************/


#ifndef QSLAMSENSORGESTURERECOGNIZER_H
#define QSLAMSENSORGESTURERECOGNIZER_H

#include <QtSensors/qsensorgesturerecognizer.h>
#include <QtSensors/QOrientationSensor>
#include <QtSensors/QAccelerometer>
#include <QtSensors/QAccelerometerReading>
#include <QtSensors/QOrientationReading>
QT_BEGIN_NAMESPACE

class QSlamSensorGestureRecognizer : public QSensorGestureRecognizer
{
    Q_OBJECT
public:
    explicit QSlamSensorGestureRecognizer(QObject *parent = 0);
    ~QSlamSensorGestureRecognizer();

    void create() Q_DECL_OVERRIDE;

    QString id() const Q_DECL_OVERRIDE;
    bool start() Q_DECL_OVERRIDE;
    bool stop() Q_DECL_OVERRIDE;
    bool isActive() Q_DECL_OVERRIDE;

Q_SIGNALS:
    void slam();

private slots:
    void accelChanged(QAccelerometerReading *reading);
    void orientationReadingChanged(QOrientationReading *reading);
    void doSlam();

private:

    QAccelerometer *accel;
    QOrientationReading *orientationReading;
    int accelRange;
    bool active;

    bool wasNegative;
    qreal lastX;
    qreal lastY;
    qreal lastZ;
    qreal detectedX;

    bool detecting;

    qreal accelX;
    qreal roll;
    QList<qreal> restingList;
    bool resting;

    bool hasBeenResting();
    quint64 lastTimestamp;
    quint64 lapsedTime;
    bool timerActive;
};

QT_END_NAMESPACE
#endif // QSLAMSENSORGESTURERECOGNIZER_H
