Pendant_Rtc_Toy/main/boards/movecall-moji-esp32s3/imu_sensor_thing.cc

#include "imu_sensor_thing.h"
#include "esp_log.h"
#include <cmath>
#include <cstring>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

#define TAG "ImuSensorThing"

namespace iot {

ImuSensorThing::ImuSensorThing(QMI8658A* sensor) 
    : Thing("ImuSensor", "姿态传感器"), 
      imu_sensor_(sensor),
      motion_detected_(false),
      motion_threshold_(1.5f) {
    
    // 初始化数据
    memset(&latest_data_, 0, sizeof(latest_data_));
    
    // 定义属性：加速度计数据
    properties_.AddNumberProperty("accel_x", "X轴加速度 (mg)", [this]() -> int {
        return static_cast<int>(latest_data_.acc_x * 1000);
    });
    properties_.AddNumberProperty("accel_y", "Y轴加速度 (mg)", [this]() -> int {
        return static_cast<int>(latest_data_.acc_y * 1000);
    });
    properties_.AddNumberProperty("accel_z", "Z轴加速度 (mg)", [this]() -> int {
        return static_cast<int>(latest_data_.acc_z * 1000);
    });
    
    // 定义属性：陀螺仪数据
    properties_.AddNumberProperty("gyro_x", "X轴角速度 (mdps)", [this]() -> int {
        return static_cast<int>(latest_data_.gyro_x * 1000);
    });
    
    properties_.AddNumberProperty("gyro_y", "Y轴角速度 (mdps)", [this]() -> int {
        return static_cast<int>(latest_data_.gyro_y * 1000);
    });
    
    properties_.AddNumberProperty("gyro_z", "Z轴角速度 (mdps)", [this]() -> int {
        return static_cast<int>(latest_data_.gyro_z * 1000);
    });
    
    // 定义属性：运动检测状态
    properties_.AddBooleanProperty("motion_detected", "是否检测到运动", [this]() -> bool {
        return motion_detected_;
    });
    
    // 定义属性：传感器状态
    properties_.AddBooleanProperty("sensor_available", "传感器是否可用", [this]() -> bool {
        return imu_sensor_ != nullptr;
    });
    
    // 定义方法：校准传感器
    methods_.AddMethod("Calibrate", "校准传感器", ParameterList(), [this](const ParameterList& parameters) {
        if (imu_sensor_) {
            ESP_LOGI(TAG, "开始校准IMU传感器");
            imu_sensor_->StartBufferedReading(20);
            imu_sensor_->StartCalibration(6000);
            bool running = false;
            float progress = 0.0f;
            do {
                imu_sensor_->GetCalibrationStatus(&running, &progress);
                vTaskDelay(pdMS_TO_TICKS(200));
            } while (running);
            qmi8658a_calibration_t calib;
            imu_sensor_->GetCalibrationData(&calib);
            imu_sensor_->ApplyCalibration(&calib);
            imu_sensor_->StopBufferedReading();
            ESP_LOGI(TAG, "校准完成");
        }
    });
    
    // 定义方法：设置运动检测阈值
    methods_.AddMethod("SetMotionThreshold", "设置运动检测阈值", ParameterList({
        Parameter("threshold", "运动检测阈值 (g)", kValueTypeNumber, true)
    }), [this](const ParameterList& parameters) {
        float threshold = static_cast<float>(parameters["threshold"].number()) / 1000.0f;
        if (threshold > 0.1f && threshold < 10.0f) {
            motion_threshold_ = threshold;
            ESP_LOGI(TAG, "设置运动检测阈值为: %.3f g", motion_threshold_);
        } else {
            ESP_LOGW(TAG, "运动检测阈值超出范围 (0.1-10.0 g)");
        }
    });
    
    // 定义方法：获取传感器信息
    methods_.AddMethod("GetSensorInfo", "获取传感器信息", ParameterList(), [this](const ParameterList& parameters) {
        if (imu_sensor_) {
            ESP_LOGI(TAG, "IMU传感器: QMI8658A");
            ESP_LOGI(TAG, "当前运动阈值: %.3f g", motion_threshold_);
        }
    });
    
    methods_.AddMethod("DumpRegisters", "寄存器转储", ParameterList(), [this](const ParameterList& parameters) {
        if (imu_sensor_) {
            imu_sensor_->DumpRegisters();
        }
    });
    
    methods_.AddMethod("BaselineDiagnostics", "静止基线诊断", ParameterList(), [this](const ParameterList& parameters) {
        if (imu_sensor_) {
            imu_sensor_->RunBaselineDiagnostics(200, 10);
        }
    });
}

void ImuSensorThing::UpdateData(const qmi8658a_data_t& data) {
    latest_data_ = data;
    
    // 计算加速度幅值来检测运动
    float accel_magnitude = sqrt(data.acc_x * data.acc_x +
                                 data.acc_y * data.acc_y +
                                 data.acc_z * data.acc_z);
    
    // 检测运动（排除重力影响，1g ≈ 9.8m/s²）
    float motion_level = fabs(accel_magnitude - 1.0f);
    bool current_motion = motion_level > motion_threshold_;
    
    if (current_motion != motion_detected_) {
        motion_detected_ = current_motion;
        ESP_LOGI(TAG, "运动状态变化: %s (幅值: %.3f g)",
                motion_detected_ ? "检测到运动" : "静止", motion_level);
    }
}

void ImuSensorThing::SetMotionDetected(bool detected) {
    if (motion_detected_ != detected) {
        motion_detected_ = detected;
        ESP_LOGI(TAG, "运动检测状态更新: %s", detected ? "运动中" : "静止");
    }
}

} // namespace iot