MotionOrientation.h

//
//  MotionOrientation.h
//
//  Originally based on code by Sangwon Park on 5/3/12.
//  Copyright (c) 2012 [email protected]. All rights reserved.
//  Heavily modified by Ryan McLeod on 10/3/14
//  Copyright (c) 2014 [email protected]. All rights reserved.

#import <CoreMotion/CoreMotion.h>
#import <CoreGraphics/CoreGraphics.h>
#import <UIKit/UIKit.h>

// TODO: extern or static?
extern NSString* const MotionOrientationChangedNotification;
extern NSString* const MotionOrientationInterfaceOrientationChangedNotification;
extern NSString* const kMotionOrientationKey;

// Knock Detection Struct
// Source: https://github.com/Headtalk/Knock/blob/15da0b68b2ae46f7a5b33e89e8528cd76f79e207/HTKnockDetector/HTKnockDetector.h
typedef struct{
    double alpha;
    double Yi;
    double Yim1;
    double Xi;
    double Xim1;
    
    double delT;
    double fc; //cutoff frequency
    
    double minAccel;
    NSTimeInterval minKnockSeparation;
    NSTimeInterval lastKnock;
} HighPassFilter;

@class MotionOrientation;

@protocol MotionOrientationDelegate
@optional
- (void) deviceDidMoveWithOrientationAngle:(float)angle tiltMagnitude:(float)tiltMagnitude;
- (void) deviceDidMoveWithRoll:(CGFloat)roll pitch:(CGFloat)pitch yaw:(CGFloat)yaw;
- (void) deviceOrientationDidChangeTo:(UIDeviceOrientation)deviceOrientation;
- (void) knockDetectedAtTime:(NSTimeInterval)time;
@end

@interface MotionOrientation : NSObject {
    HighPassFilter knockFilter;
}

@property (readonly) UIInterfaceOrientation interfaceOrientation;
@property (readonly) UIDeviceOrientation    deviceOrientation;
@property (readonly) CGAffineTransform      affineTransform;
@property (weak) id<MotionOrientationDelegate, NSObject> delegate;
@property float lastAngle;


+ (void) initialize;
+ (MotionOrientation *) sharedInstance;
- (void) activate;
- (void) deactivate;
- (void) motionUpdateWithMotionData:(CMDeviceMotion*)motionData error:(NSError *)error;
- (void) checkForOrientationChangeWithOrientationAngle:(float)angle tiltMagnitude:(float) magnitude;
+ (bool) angle:(float)angle WithinRangeOf:(float)tolerance TargetAngle:(float)targetAngle;

@end

MotionOrientation.m

//
//  MotionOrientation.m
//
//  Originally based on code by Sangwon Park on 5/3/12.
//  Copyright (c) 2012 [email protected]. All rights reserved.
//  Heavily modified by Ryan McLeod on 10/3/14
//  Copyright (c) 2014 [email protected]. All rights reserved.

#import "MotionOrientation.h"

#define MO_degreesToRadian(x) (M_PI * (x) / 180.0)
#define MO_radiansToDegrees(x) (180.0 * (x) / M_PI)

NSString* const MotionOrientationChangedNotification = @"MotionOrientationChangedNotification";
NSString* const MotionOrientationInterfaceOrientationChangedNotification = @"MotionOrientationInterfaceOrientationChangedNotification";
NSString* const kMotionOrientationKey = @"MotionOrientationKey";


static float const deviceFaceUpTiltThreshold = 0.99;
static float const deviceFaceDownTiltThreshold = 0.95;
static float const deviceOnSideTiltThreshold = 0.34;
static float const deviceOnSideAngleThreshold = 20;

@interface MotionOrientation ()
@property (strong) CMMotionManager* motionManager;
@property (strong) CMMotionManager* accellerationManager;
@property (strong) NSOperationQueue* operationQueue;
@end


@implementation MotionOrientation

struct {
    BOOL deviceDidMoveWithOrientationAngle : 1;
    BOOL deviceDidMoveWithRollYawPitch     : 1;
    BOOL deviceOrientationDidChangeTo      : 1;
} delegateRespondsTo;

@synthesize delegate = _delegate;
@synthesize interfaceOrientation = _interfaceOrientation;
@synthesize deviceOrientation = _deviceOrientation;
@synthesize motionManager = _motionManager;
@synthesize operationQueue = _operationQueue;

+ (void)initialize
{
    [MotionOrientation sharedInstance];
}

+ (MotionOrientation *)sharedInstance
{
    static MotionOrientation *sharedInstance = nil;
    static dispatch_once_t onceToken;
    dispatch_once(&onceToken, ^{
        sharedInstance = [[MotionOrientation alloc] init];
    });
    return sharedInstance;
}

- (void)_initialize
{
    self.operationQueue = [[NSOperationQueue alloc] init];
    self.motionManager = [[CMMotionManager alloc] init];
    self.motionManager.accelerometerUpdateInterval = 0.1;
    [self tuneKnockAlgorithmToCutoffFrequency:15.0 minimumAcceleration:0.75f minimumKnockSeparation:0.1f];

    if (![self.motionManager isAccelerometerAvailable]) {
        DDLogError(@"MotionOrientation - Accelerometer is NOT available");
        #if TARGET_IPHONE_SIMULATOR
        [self affineTransform];
        #endif
        return;
    }
}

- (id)init
{
    self = [super init];
    if ( self ) {
        [self _initialize];
    }
    return self;
}

- (id<MotionOrientationDelegate, NSObject>) delegate {
    return _delegate;
}

- (void) setDelegate:(id<MotionOrientationDelegate, NSObject>)delegate {
    if (_delegate != delegate) {
        _delegate = delegate;
        
        delegateRespondsTo.deviceDidMoveWithOrientationAngle = [delegate respondsToSelector:@selector(deviceDidMoveWithOrientationAngle:tiltMagnitude:)];
        delegateRespondsTo.deviceOrientationDidChangeTo = [delegate respondsToSelector:@selector(deviceOrientationDidChangeTo:)];
        delegateRespondsTo.deviceDidMoveWithRollYawPitch = [delegate respondsToSelector:@selector(deviceDidMoveWithRoll:pitch:yaw:)];
    }
}

#pragma Delegate Use

- (void) activate {
    [self.motionManager startDeviceMotionUpdatesToQueue:self.operationQueue withHandler:^(CMDeviceMotion *motion, NSError *error) {
            [self motionUpdateWithMotionData:motion error:error];
        }
    ];
}

- (void) deactivate {
    [self.motionManager stopDeviceMotionUpdates];
    _deviceOrientation = UIDeviceOrientationUnknown;
    _interfaceOrientation = UIInterfaceOrientationUnknown;
}

- (CGAffineTransform)affineTransform
{
    int rotationDegree = 0;
    
    switch (self.interfaceOrientation) {
        case UIInterfaceOrientationPortrait:
            rotationDegree = 0;
            break;
            
        case UIInterfaceOrientationLandscapeLeft:
            rotationDegree = 90;
            break;
            
        case UIInterfaceOrientationPortraitUpsideDown:
            rotationDegree = 180;
            break;
            
        case UIInterfaceOrientationLandscapeRight:
            rotationDegree = 270;
            break;
            
        default:
            break;
    }

    return CGAffineTransformMakeRotation(MO_degreesToRadian(rotationDegree));
}


- (void) motionUpdateWithMotionData:(CMDeviceMotion*)motionData error:(NSError *)error
{
    if ( error ) {
        DDLogError(@"motionUpdateWithData Error: %@", error);
        return;
    }
    
    CMAcceleration gravity = motionData.gravity;
    // Use arctan2 to find the angle of gravity without respect to z and shift the range from [-π, π] to [0, 2π]
    // then offset by π to match device orientation
    float gravityAngle = fmodf(atan2f(gravity.x, gravity.y), 2*M_PI) + M_PI;
    float gravityAngleMagnitude = -1.0 * gravity.z;
    
    [self checkForOrientationChangeWithOrientationAngle:gravityAngle tiltMagnitude:gravityAngleMagnitude];
    [self processMotionForKnocks:motionData];
    
    CGFloat roll = motionData.attitude.roll;
    CGFloat pitch = motionData.attitude.pitch;
    CGFloat yaw = motionData.attitude.yaw; // what we want for spin challenge
    
    dispatch_sync_main(^{
        [self sendDelegateDeviceAngle:gravityAngle tilt:gravityAngleMagnitude];
        [self sendDelegateDeviceRoll:roll pitch:pitch yaw:yaw];
    });
}

- (void) sendDelegateDeviceAngle:(CGFloat)angle tilt:(CGFloat)tilt {
    if (delegateRespondsTo.deviceDidMoveWithOrientationAngle) {
        [self.delegate deviceDidMoveWithOrientationAngle:angle tiltMagnitude:tilt];
    }
}

- (void) sendDelegateDeviceRoll:(CGFloat)roll pitch:(CGFloat)pitch yaw:(CGFloat)yaw {
    if (delegateRespondsTo.deviceDidMoveWithRollYawPitch) {
        [self.delegate deviceDidMoveWithRoll:roll pitch:pitch yaw:yaw];
    }
}

- (void) checkForOrientationChangeWithOrientationAngle:(float)angle tiltMagnitude:(float) magnitude {

    UIInterfaceOrientation newInterfaceOrientation = self.interfaceOrientation;
    UIDeviceOrientation newDeviceOrientation = self.deviceOrientation;
    
    float angleInDegrees = MO_radiansToDegrees(angle);
    

    if (magnitude < 0 && fabs(magnitude) > deviceFaceDownTiltThreshold ) {
        newDeviceOrientation = UIDeviceOrientationFaceDown;
    } else if (magnitude > 0 && fabs(magnitude) > deviceFaceUpTiltThreshold){
        newDeviceOrientation = UIDeviceOrientationFaceUp;
    }
    else if(fabsf(magnitude) < deviceOnSideTiltThreshold)
    {
        if([MotionOrientation angle:angleInDegrees WithinRangeOf:deviceOnSideAngleThreshold TargetAngle:0.0])
        {
            newInterfaceOrientation = UIInterfaceOrientationPortrait;
            newDeviceOrientation    = UIDeviceOrientationPortrait;
        }
        else if([MotionOrientation angle:angleInDegrees WithinRangeOf:deviceOnSideAngleThreshold TargetAngle:90.0])
        {
            newInterfaceOrientation = UIInterfaceOrientationLandscapeLeft;
            newDeviceOrientation    = UIDeviceOrientationLandscapeLeft;
        }
        else if([MotionOrientation angle:angleInDegrees WithinRangeOf:deviceOnSideAngleThreshold TargetAngle:180.0])
        {
            newInterfaceOrientation = UIInterfaceOrientationPortraitUpsideDown;
            newDeviceOrientation    = UIDeviceOrientationPortraitUpsideDown;
        }
        else if([MotionOrientation angle:angleInDegrees WithinRangeOf:deviceOnSideAngleThreshold TargetAngle:270.0])
        {
            newInterfaceOrientation = UIInterfaceOrientationLandscapeRight;
            newDeviceOrientation    = UIDeviceOrientationLandscapeRight;
        }
    }
    else {
        _deviceOrientation    = UIDeviceOrientationUnknown;
        _interfaceOrientation = UIInterfaceOrientationUnknown;
        return;
    }

    BOOL deviceOrientationChanged = NO;
    BOOL interfaceOrientationChanged = NO;

    if (newDeviceOrientation != UIDeviceOrientationUnknown && newDeviceOrientation != self.deviceOrientation) {
        deviceOrientationChanged = YES;
        _deviceOrientation = newDeviceOrientation;
    }
    
    if (newInterfaceOrientation != UIInterfaceOrientationUnknown && newInterfaceOrientation != self.interfaceOrientation) {
        interfaceOrientationChanged = YES;
        _interfaceOrientation = newInterfaceOrientation;
    }
    
    // Post notifications
    if ( deviceOrientationChanged ) {
        dispatch_async(dispatch_get_main_queue(), ^{
            [[NSNotificationCenter defaultCenter] postNotificationName:MotionOrientationChangedNotification
                                                                object:nil
                                                              userInfo:@{@"DeviceOrientation": [NSNumber numberWithInt:self.deviceOrientation]}];
        });
        
        [self performSelectorOnMainThread:@selector(sendDelegateDeviceOrientation:) withObject:[NSNumber numberWithInt:self.deviceOrientation] waitUntilDone:NO];
    }
}

- (void) sendDelegateDeviceOrientation:(NSNumber*)deviceOrientation {
    if (delegateRespondsTo.deviceOrientationDidChangeTo) {
        [self.delegate deviceOrientationDidChangeTo:(UIDeviceOrientation)[deviceOrientation intValue]];
    }
}

+ (bool) angle:(float)angle WithinRangeOf:(float)tolerance TargetAngle:(float)targetAngle {
    return (fabsf(targetAngle - angle) < tolerance);
}

#pragma mark - Knocking
// Source: https://github.com/Headtalk/Knock/blob/15da0b68b2ae46f7a5b33e89e8528cd76f79e207/HTKnockDetector/HTKnockDetector.m

- (void) tuneKnockAlgorithmToCutoffFrequency:(double)fc minimumAcceleration:(double)minAccel minimumKnockSeparation:(double)separation{
    double delT = self.motionManager.deviceMotionUpdateInterval;
    knockFilter.delT = delT;
    knockFilter.fc = fc;
    
    double RC = 1.0/(2*M_PI*fc);
    double alpha = RC/ (RC + delT);
    knockFilter.alpha = alpha;
    
    knockFilter.minAccel = minAccel;
    knockFilter.minKnockSeparation = separation;
}

- (void) processMotionForKnocks:(CMDeviceMotion*)motion{
    double newZ = [motion userAcceleration].z;
    knockFilter.Xim1    = knockFilter.Xi;
    knockFilter.Xi      = newZ;
    
    knockFilter.Yim1    = knockFilter.Yi;
    knockFilter.Yi = knockFilter.alpha*knockFilter.Yim1 + knockFilter.alpha*(knockFilter.Xi-knockFilter.Xim1);
    
    if (fabs(knockFilter.Yi) > knockFilter.minAccel){
        if (fabs(knockFilter.lastKnock - motion.timestamp) > knockFilter.minKnockSeparation){
            knockFilter.lastKnock = motion.timestamp;
            dispatch_async_main(^{
                if ([self.delegate respondsToSelector:@selector(knockDetectedAtTime:)]) {
                    [self.delegate knockDetectedAtTime:motion.timestamp];
                }
            });
        }
    }
}

#pragma mark - Simulator

// Simulator support
#if TARGET_IPHONE_SIMULATOR

- (void)simulatorInit
{
    // Simulator
    DDLogVerbose(@"MotionOrientation - Simulator in use. Using UIDevice instead");
    [[UIDevice currentDevice] beginGeneratingDeviceOrientationNotifications];
    [[NSNotificationCenter defaultCenter] addObserver:self
                                             selector:@selector(deviceOrientationChanged:)
                                                 name:UIDeviceOrientationDidChangeNotification
                                               object:nil];
}

- (void)deviceOrientationChanged:(NSNotification *)notification
{
    _deviceOrientation = [UIDevice currentDevice].orientation;
    [[NSNotificationCenter defaultCenter] postNotificationName:MotionOrientationChangedNotification
                                                        object:nil
                                                      userInfo:@{kMotionOrientationKey: self}];
}

- (void)dealloc
{
    [[UIDevice currentDevice] endGeneratingDeviceOrientationNotifications];
    [[NSNotificationCenter defaultCenter] removeObserver:self];
    
}

#endif

@end