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unit BoussoleMainFrm;

interface

uses
  System.SysUtils, System.Types, System.UITypes, System.Classes, System.Variants,
  FMX.Types, FMX.Controls, FMX.Forms, FMX.Graphics, FMX.Dialogs, System.Sensors, FMX.Objects, Boussole,
  System.Sensors.Components, FMX.Layouts, FMX.Controls.Presentation, FMX.StdCtrls;

type
  TBoussoleForm = class(TForm)
    laBoussole: TOrientationSensor;
    visuBoussole: TBoussole;
    TimerBsl: TTimer;
    Path1: TPath;
    Layout1: TLayout;
    Accelero: TMotionSensor;
    Layout2: TLayout;
    Label4: TLabel;
    Label5: TLabel;
    SwBrtMoy: TSwitch;
    procedure majDirection(Sender: TObject);
    procedure FormCreate(Sender: TObject);
    procedure SwBrtMoySwitch(Sender: TObject);
  private
    { Déclarations privées }
    nb: integer;
    mzs, mxs, mys, axs, ays, azs: array [0 .. 4] of double;
  public
    { Déclarations publiques }
  end;

var
  BoussoleForm: TBoussoleForm;

implementation

uses math;
{$R *.fmx}

procedure TBoussoleForm.FormCreate(Sender: TObject);
begin
  nb := 0;
end;

procedure TBoussoleForm.majDirection(Sender: TObject);
var
  lmz, lmx, lmy, lax, lay, laz: double;
  lalpha: double;
  xh, yh, pitch, roll: double;
  I: integer;
begin
  // ATTENTION Si my est négatif quant on pointe vers le nord, il faut inverser mx et my
  lmx := laBoussole.Sensor.HeadingX;
  lmy := laBoussole.Sensor.HeadingY;
  lmz := laBoussole.Sensor.Headingz;
  // Calcul des angles de roulis et tangage
  lax := Accelero.Sensor.AccelerationX;
  lay := Accelero.Sensor.AccelerationY;
  // ATTENTION selon la convention de l'OS,
  // la sortie du capteur doit être inversée sinon le nord est au sud et vice versa
  laz := -Accelero.Sensor.AccelerationZ;

  if SwBrtMoy.IsChecked then
  begin
    if nb = 5 then
    begin
      for I := 0 to 3 do
      begin
        mxs[I] := mxs[I + 1];
        mys[I] := mys[I + 1];
        mzs[I] := mzs[I + 1];
        axs[I] := axs[I + 1];
        ays[I] := ays[I + 1];
        azs[I] := azs[I + 1];
      end;
    end
    else
      inc(nb);
    mxs[nb - 1] := lmx;
    mys[nb - 1] := lmy;
    mzs[nb - 1] := lmz;
    axs[nb - 1] := lax;
    ays[nb - 1] := lay;
    azs[nb - 1] := laz;

    lmx := 0;
    lmy := 0;
    lmz := 0;
    lax := 0;
    lay := 0;
    laz := 0;
    for I := 0 to nb - 1 do
    begin
      lmx := lmx + mxs[I];
      lmy := lmy + mys[I];
      lmz := lmz + mzs[I];
      lax := lax + axs[I];
      lay := lay + ays[I];
      laz := laz + azs[I];
    end;
    lmx := lmx / nb;
    lmy := lmy / nb;
    lmz := lmz / nb;
    lax := lax / nb;
    lay := lay / nb;
    laz := laz / nb;
  end;

  pitch := arctan2(-lax, sqrt(lay * lay + laz * laz));
  roll := arctan2(lay, laz);
  xh := lmx * cos(pitch) + lmz * sin(pitch);
  yh := lmx * sin(roll) * sin(pitch) + lmy * cos(roll) - lmz * sin(roll) * cos(pitch);
  lalpha := arctan2(-xh, yh);
  if lalpha < 0 then
    lalpha := lalpha + 2 * pi;
  visuBoussole.Valeur := lalpha / pi * 180;
end;

procedure TBoussoleForm.SwBrtMoySwitch(Sender: TObject);
begin
  nb := 0;
end;

end.

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procedure TForm1.AddDirectories(ParentNode: TTreeviewItem; const Path: string);
var
  SubDirs: TStringDynArray;
  SubDir: string;
  NewNode: TTreeviewItem;
  HasChildren: Boolean;
begin
  if DirectoryExists(Path) then
  begin
    NewNode:=nil;
    SubDirs := TDirectory.GetDirectories(Path, '*.*',
      TSearchOption.soTopDirectoryOnly);                // un seul répertoire à la fois
      if Sizeof(subdirs) > 0 then
    begin
      for SubDir in SubDirs do
      begin
        if not DirectoryExists(subdir) then continue;
        try
          HasChildren := Length(TDirectory.GetDirectories(SubDir)) > 0;
          NewNode := TTreeViewItem.Create(ParentNode);
          NewNode.Parent := ParentNode;
          NewNode.Text := TPath.GetFileName(SubDir); // Nom seul, sans le chemin
          NewNode.ImageIndex := 0;
          NewNode.TagString := StrNew(PChar(SubDir)); // Chemin complet stocké
          NewNode.OnClick := TreeViewItemClick;
          // Vérifie si ce sous-dossier a lui-même des enfants
          // pour afficher ou non le bouton [+]
        except
          HasChildren := False;
        end;
 
        if HasChildren then
          // Nœud fantôme : déclenche l'affichage du bouton [+]
         begin
           NoeudFantome(NewNode);
         end;
      end;
    end;
  end;
end;
 
procedure TForm1.NoeudFantome(ParentNode: TTreeViewItem);
var
  NewNode: TTreeviewItem;
begin
  NewNode := TTreeViewItem.Create(ParentNode);
  NewNode.ImageIndex := -1;
  NewNode.Parent := ParentNode;
end;
 
procedure TForm1.TreeViewItemClick(Sender: TObject);
begin
  var path := TTreeViewItem(sender).TagString;
 
  if (TTreeViewItem(sender).Count>0) AND (TTreeViewItem(sender).ItemByIndex(0).ImageIndex=-1) then
  begin
    TreeView1.BeginUpdate;
    FreeAndnil(TTreeViewItem(sender).ItemByIndex(0));
    AddDirectories(TTreeviewItem(sender), TTreeViewItem(sender).TagString);
    TTreeviewItem(Sender).Expand;
    TreeView1.EndUpdate;
  end;
 
end;

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procedure TForm1.AddDirectories(ParentNode: TTreeviewItem; const Path: string);
var
  SubDirs: TStringDynArray;
  SubDir: string;
  NewNode: TTreeviewItem;
  HasChildren: Boolean;
begin
  if DirectoryExists(Path) then
  begin
    NewNode:=nil;
    SubDirs := TDirectory.GetDirectories(Path, '*.*',
      TSearchOption.soTopDirectoryOnly);
      if Sizeof(subdirs) > 0 then
    begin
      for SubDir in SubDirs do
      begin
        if not DirectoryExists(subdir) then continue;
        try
          HasChildren := Length(TDirectory.GetDirectories(SubDir)) > 0;
          NewNode := TTreeViewItem.Create(ParentNode);
          NewNode.Parent := ParentNode;
          NewNode.Text := TPath.GetFileName(SubDir); // Nom seul, sans le chemin
          NewNode.ImageIndex := 0;
          NewNode.TagString := StrNew(PChar(SubDir)); // Chemin complet stocké
          NewNode.OnClick := TreeViewItemClick;
          // Vérifie si ce sous-dossier a lui-même des enfants
          // pour afficher ou non le bouton [+]
        except
          HasChildren := False;
        end;

        if HasChildren then
          // Nœud fantôme : déclenche l'affichage du bouton [+]
         begin
          newNode.StyleLookup:='treeviewitemghosted';
          NoeudFantome(NewNode);
         end;
      end;
    end;
  end;
end;
end;

procedure TForm1.TreeViewItemClick(Sender: TObject);
begin
  var path := TTreeViewItem(sender).TagString;
  if TTreeViewItem(sender).StyleLookup.EndsWith('ghosted') then
  begin
    TreeView1.BeginUpdate;
    TTreeViewItem(sender).StyleLookup:=''; // style en cours
    TTreeViewItem(sender).NeedStyleLookup; // ne pas oublier
    FreeAndnil(TTreeViewItem(sender).ItemByIndex(0));
    AddDirectories(TTreeviewItem(sender), TTreeViewItem(sender).TagString);
    TTreeviewItem(Sender).Expand;
    TreeView1.EndUpdate;
  end;
  
end;
end;