我没有CODE的问题，我想知道iPhone用于CoreMotions的内容（因为我想修复它/得到修复）。
我不确定这是否应该在这里张贴。
我想知道iPhone使用什么来发送动态更新。它有什么用来处理它们。
我的问题是，我的iPhone存在一些问题，因为它没有发送动态更新。我写了一个小项目来测试我收到的内容。在工作设备上，我输出如下：
2013-11-15 09:39:44.415 GyroTest[12165:60b] QuaternionX -0.508156 QuaternionY -0.515390 QuaternionZ 0.487396 QuaternionW 0.488463
UserAccelX 0.002124 UserAccelY 0.007351 UserAccelZ 0.006973
RotationRateX -0.051634 RotationRateY 0.080035 RotationRateZ 0.025516
MagneticFieldX 0.000000 MagneticFieldY 0.000000 MagneticFieldZ 0.000000 MagneticFieldAccuracy -1 @ 386510.678629
2013-11-15 09:39:44.418 GyroTest[12165:60b] -1.395383
2013-11-15 09:39:44.419 GyroTest[12165:60b] -1.522387
2013-11-15 09:39:44.420 GyroTest[12165:60b] -2.972348
但是在我的设备上（有问题的）我得到了：
2013-11-15 09:39:18.191 GyroTest[12165:60b] (null)
2013-11-15 09:39:18.192 GyroTest[12165:60b] 0.000000
2013-11-15 09:39:18.193 GyroTest[12165:60b] 0.000000
2013-11-15 09:39:18.194 GyroTest[12165:60b] 0.000000
这是我的示例项目：
- (void)viewDidLoad
{
[super viewDidLoad];
// Do any additional setup after loading the view, typically from a nib.
self.motionManager = [[CMMotionManager alloc] init];
self.referenceAttitude = nil;
[self enableGyro];
for (int i = 0 ; i < 100 ; ++i) {
[self getDeviceGLRotationMatrix];
}
}
-(void) enableGyro{
CMDeviceMotion *deviceMotion = self.motionManager.deviceMotion;
CMAttitude *attitude = deviceMotion.attitude;
self.referenceAttitude = attitude;
[self.motionManager startGyroUpdates];
[self.motionManager startAccelerometerUpdates];
[self.motionManager startDeviceMotionUpdates];
[self.motionManager startMagnetometerUpdates];
}
-(void) getDeviceGLRotationMatrix
{
CMDeviceMotion *deviceMotion = self.motionManager.deviceMotion;
CMAttitude *attitude = deviceMotion.attitude;
if (self.referenceAttitude != nil)
[attitude multiplyByInverseOfAttitude:self.referenceAttitude];
NSLog(@"------------------");
NSLog(@"%@",self.motionManager.deviceMotion);
NSLog(@"%f",attitude.yaw);
NSLog(@"%f",attitude.pitch);
NSLog(@"%f",attitude.roll);
sleep(1);
}
答案 0 :(得分：1)
#include <CoreMotion/CoreMotion.h>
#import "ViewController.h"
@interface ViewController () {
}
@property (strong, nonatomic) CMMotionManager * motionManager;
@property (strong, nonatomic) NSOperationQueue * queue;
- (void) startMotionDetection;
- (void) doSomeThingWithTheMotionValues: (NSDictionary *) motionValues;
@end
@implementation ViewController
@synthesize motionManager = _motionManager;
@synthesize queue = _queue;
- (void)viewDidLoad {
[super viewDidLoad];
if (!_motionManager) _motionManager = [[CMMotionManager alloc] init];
if (!_queue) _queue = [[NSOperationQueue alloc] init];
[self startMotionDetection];
}
- (void) startMotionDetection {
// Setting up the handler first.
CMDeviceMotionHandler dmHandler = ^(CMDeviceMotion * aMotion, NSError * error) {
CMDeviceMotion *deviceMotion = self.motionManager.deviceMotion;
CMAttitude * anAttitude = deviceMotion.attitude;
CMQuaternion quaternion = anAttitude.quaternion;
NSNumber * yaw = [NSNumber numberWithFloat:anAttitude.yaw*kRadiansToDegrees];
NSNumber * roll = [NSNumber numberWithFloat:anAttitude.roll*kRadiansToDegrees];
NSNumber * pitch = [NSNumber numberWithFloat:anAttitude.pitch*kRadiansToDegrees];
NSNumber * x = [NSNumber numberWithFloat:quaternion.x];
NSNumber * y = [NSNumber numberWithFloat:quaternion.y];
NSNumber * z = [NSNumber numberWithFloat:quaternion.z];
NSNumber * w = [NSNumber numberWithFloat:quaternion.w];
// Creating the NSDictionary to hold the key/value pairs with the NSNumber objects
NSDictionary * sensorValues = [NSDictionary dictionaryWithObjectsAndKeys:
yaw, @"Yaw",
roll, @"Roll",
pitch, @"Pitch",
x, @"x",
y, @"y",
z, @"z",
w, @"w",
nil];
// Sending the dictionary to the processing method
[self performSelectorOnMainThread: @selector(doSomeThingWithTheMotionValues:)
withObject: sensorValues
waitUntilDone: YES];
// Checking if some errors occured
if (error) {
NSLog(@"Could not start/continue Device Motion Updates with error:\n%@",error);
// Restart the motion manager in case of error
[self.motionManager stopDeviceMotionUpdates];
[self setMotionManager:nil];
[self setQueue:nil];
if (!_motionManager) _motionManager = [[CMMotionManager alloc] init];
if (!_queue) _queue = [[NSOperationQueue alloc] init];
[self startMotionDetection];
return;
}
}; // End of handler block
if (self.motionManager.deviceMotionAvailable) {
self.motionManager.deviceMotionUpdateInterval = kMotionUpdateInterval;
[self.motionManager startDeviceMotionUpdatesUsingReferenceFrame:CMAttitudeReferenceFrameXArbitraryZVertical
toQueue:self.queue
withHandler:dmHandler];
} else {
ALERT(nil, @"Motion sensors not available");
}
}
- (void) doSomeThingWithTheMotionValues: (NSDictionary *) motionValues {
UIInterfaceOrientation orient = [CommonSessionData currentOrientation];
float value = -1000.0;
NSNumber * roll = (NSNumber *)[motionValues valueForKey:@"Roll"];
float attitudeRoll = roll.floatValue;
NSNumber * x = (NSNumber *)[motionValues valueForKey:@"x"];
NSNumber * y = (NSNumber *)[motionValues valueForKey:@"y"];
NSNumber * z = (NSNumber *)[motionValues valueForKey:@"z"];
NSNumber * w = (NSNumber *)[motionValues valueForKey:@"w"];
double quaternionPitch = pitch(x.doubleValue, y.doubleValue, z.doubleValue, w.doubleValue)*kRadiansToDegrees;
value = UIInterfaceOrientationIsPortrait(orient) ? quaternionPitch : (orient == UIInterfaceOrientationLandscapeLeft ? attitudeRoll : -attitudeRoll);
}
辅助方法：
double pitch(double x, double y, double z, double w) {
return atan2(2*(y*z + w*x), w*w - x*x - y*y + z*z);
}
double yaw(double x, double y, double z, double w) {
return asin(-2*(x*z - w*y));
}
double roll(double x, double y, double z, double w) {
return atan2(2*(x*y + w*z), w*w + x*x - y*y - z*z);
}