//

// SKGyroscope.m

// SensingKit

//

// Copyright (c) 2014. Kleomenis Katevas

// Kleomenis Katevas, minos.kat@gmail.com

//

// This file is part of SensingKit-iOS library.

// For more information, please visit https://www.sensingkit.org

//

// SensingKit-iOS is free software: you can redistribute it and/or modify

// it under the terms of the GNU Lesser General Public License as published by

// the Free Software Foundation, either version 3 of the License, or

// (at your option) any later version.

//

// SensingKit-iOS is distributed in the hope that it will be useful,

// but WITHOUT ANY WARRANTY; without even the implied warranty of

// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

// GNU Lesser General Public License for more details.

//

// You should have received a copy of the GNU Lesser General Public License

// along with SensingKit-iOS. If not, see <http://www.gnu.org/licenses/>.

//

#import "SKGyroscope.h"

#import "SKMotionManager.h"

#import "SKGyroscopeData.h"

@interface SKGyroscope ()

@property (nonatomic, strong) CMMotionManager *motionManager;

@end

@implementation SKGyroscope

- (instancetype)initWithConfiguration:(SKGyroscopeConfiguration *)configuration

{

if (self = [super init])

{

self.motionManager = [SKMotionManager sharedMotionManager];

self.configuration = configuration;

}

return self;

}

#pragma mark Configuration

- (void)setConfiguration:(SKConfiguration *)configuration

{

super.configuration = configuration;

// Cast the configuration instance

SKGyroscopeConfiguration *gyroscopeConfiguration = (SKGyroscopeConfiguration *)configuration;

// Make the required updates on the sensor

self.motionManager.gyroUpdateInterval = 1.0 / gyroscopeConfiguration.sampleRate; // Convert Hz into interval

}

#pragma mark Sensing

+ (BOOL)isSensorAvailable

{

return [SKMotionManager sharedMotionManager].isGyroAvailable;

}

- (BOOL)startSensing:(NSError **)error

{

if (![super startSensing:error]) {

return NO;

}

if (![SKGyroscope isSensorAvailable])

{

if (error) {

NSDictionary *userInfo = @{

NSLocalizedDescriptionKey: NSLocalizedString(@"Gyroscope sensor is not available.", nil),

};

*error = [NSError errorWithDomain:SKErrorDomain

code:SKSensorNotAvailableError

userInfo:userInfo];

}

return NO;

}

[self.motionManager startGyroUpdatesToQueue:[NSOperationQueue currentQueue]

withHandler:^(CMGyroData *gyroData, NSError *error) {

if (error) {

[self submitSensorData:nil error:error];

} else {

SKGyroscopeData *data = [[SKGyroscopeData alloc] initWithGyroData:gyroData];

[self submitSensorData:data error:NULL];

}

}];

return YES;

}

- (BOOL)stopSensing:(NSError **)error

{

[self.motionManager stopGyroUpdates];

return [super stopSensing:error];

}

@end