/***************************** BEGIN LICENSE BLOCK ***************************
The contents of this file are subject to the Mozilla Public License, v. 2.0.
If a copy of the MPL was not distributed with this file, You can obtain one
at http://mozilla.org/MPL/2.0/.
Software distributed under the License is distributed on an "AS IS" basis,
WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License
for the specific language governing rights and limitations under the License.
Copyright (C) 2015-2017 Mathieu Dhainaut. All Rights Reserved.
Author: Mathieu Dhainaut <mathieu.dhainaut@gmail.com>
******************************* END LICENSE BLOCK ***************************/
/**
* @classdesc This datasource provides parsing to Orientation Quaternion.
* Data: ISODATE,Qx,Qy,Qz,Qw.
* @class OSH.DataReceiver.OrientationQuaternion
* @augments OSH.DataReceiver.DataSource
* @example
* var androidPhoneOrientationDataSource = new OSH.DataReceiver.OrientationQuaternion("android-Orientation", {
protocol: "ws",
service: "SOS",
endpointUrl: "sensiasoft.net:8181/sensorhub/sos",
offeringID: "urn:android:device:060693280a28e015-sos",
observedProperty: "http://sensorml.com/ont/swe/property/OrientationQuaternion",
startTime: "2015-02-16T07:58:00Z",
endTime: "2015-02-16T08:09:00Z",
replaySpeed: replayFactor+"",
syncMasterTime: true,
bufferingTime: 1000
});
*/
OSH.DataReceiver.OrientationQuaternion = OSH.DataReceiver.DataSource.extend({
/**
* Extracts timestamp from the message. The timestamp is the first token got from split(',')
* @param {function} $super the parseTimeStamp super method
* @param {string} data the data to parse
* @returns {number} the extracted timestamp
* @memberof OSH.DataReceiver.OrientationQuaternion
* @instance
*/
parseTimeStamp: function(data){
var rec = String.fromCharCode.apply(null, new Uint8Array(data));
var tokens = rec.trim().split(",");
return new Date(tokens[0]).getTime();
},
/**
* Extract data from the message. The data are got such as:<p><ul><li>qx: tokens[1]</li><li>qy: tokens [2]</li><li>qz: tokens[3]</li><li>qw: tokens[4]</li></ul></p>.
* @param {function} $super the parseData super method
* @param {Object} data the data to parse
* @returns {Object} the parsed data
* @example
* {
* pitch:10,
* roll: 11,
* heading:12
* }
* @memberof OSH.DataReceiver.OrientationQuaternion
* @instance
*/
parseData: function(data){
var rec = String.fromCharCode.apply(null, new Uint8Array(data));
var tokens = rec.trim().split(",");
var qx = parseFloat(tokens[1]);
var qy = parseFloat(tokens[2]);
var qz = parseFloat(tokens[3]);
var qw = parseFloat(tokens[4]);
//var q = new THREE.Quaternion(qx, qy, qz, qw);
//var look = new THREE.Vector3( 0, 0, -1 );
//look.applyQuaternion(q);
// look dir vector
var x = 0;
var y = 0;
var z = -1;
// calculate quat * vector
var ix = qw * x + qy * z - qz * y;
var iy = qw * y + qz * x - qx * z;
var iz = qw * z + qx * y - qy * x;
var iw = - qx * x - qy * y - qz * z;
// calculate result * inverse quat
xp = ix * qw + iw * - qx + iy * - qz - iz * - qy;
yp = iy * qw + iw * - qy + iz * - qx - ix * - qz;
zp = iz * qw + iw * - qz + ix * - qy - iy * - qx;
var yaw = 90 - (180/Math.PI*Math.atan2(yp, xp));
//TODO: computes roll & pitch values
return { heading: yaw, roll: null, pitch:null};
}
});