109 lines
4.0 KiB
C++
109 lines
4.0 KiB
C++
#include "imu_sensor_thing.h"
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#include "esp_log.h"
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#include <cmath>
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#include <cstring>
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#define TAG "ImuSensorThing"
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namespace iot {
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ImuSensorThing::ImuSensorThing(QMI8658A* sensor)
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: Thing("ImuSensor", "姿态传感器"),
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imu_sensor_(sensor),
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motion_detected_(false),
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motion_threshold_(1.5f) {
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// 初始化数据
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memset(&latest_data_, 0, sizeof(latest_data_));
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// 定义属性：加速度计数据
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properties_.AddNumberProperty("accel_x", "X轴加速度 (mg)", [this]() -> int {
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return static_cast<int>(latest_data_.acc_x * 1000);
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});
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properties_.AddNumberProperty("accel_y", "Y轴加速度 (mg)", [this]() -> int {
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return static_cast<int>(latest_data_.acc_y * 1000);
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});
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properties_.AddNumberProperty("accel_z", "Z轴加速度 (mg)", [this]() -> int {
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return static_cast<int>(latest_data_.acc_z * 1000);
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});
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// 定义属性：陀螺仪数据
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properties_.AddNumberProperty("gyro_x", "X轴角速度 (mdps)", [this]() -> int {
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return static_cast<int>(latest_data_.gyro_x * 1000);
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});
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properties_.AddNumberProperty("gyro_y", "Y轴角速度 (mdps)", [this]() -> int {
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return static_cast<int>(latest_data_.gyro_y * 1000);
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});
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properties_.AddNumberProperty("gyro_z", "Z轴角速度 (mdps)", [this]() -> int {
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return static_cast<int>(latest_data_.gyro_z * 1000);
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});
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// 定义属性：运动检测状态
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properties_.AddBooleanProperty("motion_detected", "是否检测到运动", [this]() -> bool {
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return motion_detected_;
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});
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// 定义属性：传感器状态
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properties_.AddBooleanProperty("sensor_available", "传感器是否可用", [this]() -> bool {
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return imu_sensor_ != nullptr;
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});
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// 定义方法：校准传感器
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methods_.AddMethod("Calibrate", "校准传感器", ParameterList(), [this](const ParameterList& parameters) {
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if (imu_sensor_) {
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ESP_LOGI(TAG, "开始校准IMU传感器");
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// 这里可以添加校准逻辑
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}
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});
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// 定义方法：设置运动检测阈值
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methods_.AddMethod("SetMotionThreshold", "设置运动检测阈值", ParameterList({
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Parameter("threshold", "运动检测阈值 (g)", kValueTypeNumber, true)
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}), [this](const ParameterList& parameters) {
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float threshold = static_cast<float>(parameters["threshold"].number()) / 1000.0f;
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if (threshold > 0.1f && threshold < 10.0f) {
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motion_threshold_ = threshold;
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ESP_LOGI(TAG, "设置运动检测阈值为: %.3f g", motion_threshold_);
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} else {
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ESP_LOGW(TAG, "运动检测阈值超出范围 (0.1-10.0 g)");
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}
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});
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// 定义方法：获取传感器信息
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methods_.AddMethod("GetSensorInfo", "获取传感器信息", ParameterList(), [this](const ParameterList& parameters) {
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if (imu_sensor_) {
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ESP_LOGI(TAG, "IMU传感器: QMI8658A");
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ESP_LOGI(TAG, "当前运动阈值: %.3f g", motion_threshold_);
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}
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});
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}
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void ImuSensorThing::UpdateData(const qmi8658a_data_t& data) {
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latest_data_ = data;
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// 计算加速度幅值来检测运动
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float accel_magnitude = sqrt(data.acc_x * data.acc_x +
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data.acc_y * data.acc_y +
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data.acc_z * data.acc_z);
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// 检测运动（排除重力影响，1g ≈ 9.8m/s²）
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float motion_level = fabs(accel_magnitude - 1.0f);
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bool current_motion = motion_level > motion_threshold_;
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if (current_motion != motion_detected_) {
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motion_detected_ = current_motion;
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ESP_LOGI(TAG, "运动状态变化: %s (幅值: %.3f g)",
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motion_detected_ ? "检测到运动" : "静止", motion_level);
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}
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}
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void ImuSensorThing::SetMotionDetected(bool detected) {
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if (motion_detected_ != detected) {
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motion_detected_ = detected;
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ESP_LOGI(TAG, "运动检测状态更新: %s", detected ? "运动中" : "静止");
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}
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}
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} // namespace iot
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