changes from the laptop

- some should be the same as previous commit (sorry!)
- some should be new: LINT checks, ...?

sensors/offline/FileReader.h

@@ -21,6 +21,7 @@
 #include "../../grid/factory/v2/GridFactory.h"
 #include "../../grid/factory/v2/Importance.h"
 #include "../../floorplan/v2/Floorplan.h"
+#include "../../floorplan/v2/FloorplanHelper.h"
 
 #include "Splitter.h"
 #include "Sensors.h"
@@ -30,10 +31,16 @@
 
 namespace Offline {
 
+	/**
+	 * read and parse previously recorded ["offline"] files
+	 */
 	class FileReader {
 
 	public:
 
+		using GroundTruth = Interpolator<Timestamp, Point3>;
+
+		/** all entries grouped by sensor */
 		std::vector<TS<int>> groundTruth;
 		std::vector<TS<WiFiMeasurements>> wifi;
 		std::vector<TS<BeaconMeasurement>> beacon;
@@ -45,13 +52,11 @@ namespace Offline {
 		std::vector<TS<GPSData>> gps;
 		std::vector<TS<CompassData>> compass;
 
-		/** ALL entries */
+		/** all entries in linear order as they appeared while recording */
 		std::vector<Entry> entries;
 
 		static constexpr char sep = ';';
 
-		Listener* listener = nullptr;
-
 	public:
 
 		/** empty ctor. call open() */
@@ -65,11 +70,26 @@ namespace Offline {
 		}
 
 		/** open the given file */
-		void open(const std::string& file, Listener* listener = nullptr) {
-			this->listener = listener;
+		void open(const std::string& file) {
+			clear();
 			parse(file);
 		}
 
+		/** remove all parsed entries */
+		void clear() {
+			entries.clear();
+			groundTruth.clear();
+			wifi.clear();
+			beacon.clear();
+			acc.clear();
+			gyro.clear();
+			gps.clear();
+			compass.clear();
+			barometer.clear();
+			lin_acc.clear();
+			gravity.clear();
+		}
+
 		const std::vector<Entry>& getEntries() const {return entries;}
 
 
@@ -93,6 +113,35 @@ namespace Offline {
 
 		const std::vector<TS<GravityData>>& getGravity() const {return gravity;}
 
+		/** get an interpolateable ground-truth based on the time-clicks during recording */
+		GroundTruth getGroundTruth(const Floorplan::IndoorMap* map, const std::vector<int> groundTruthPoints) const {
+
+			// sanity check: given path [indices to ground-truth points within the map]
+			// must have the same size as the number of clicks during recording
+			Assert::equal(groundTruthPoints.size(), groundTruth.size(), "mismatch of ground-truth points between given path and recording");
+
+			// allows getting a position on the ground-truth given a timestamp
+			GroundTruth interpol;
+
+			// all ground-truth points within the map
+			static std::unordered_map<int, Point3> gt = FloorplanHelper::getGroundTruthPoints(map);
+
+			// process each "tap smartphone when reaching ground-truth-point"
+			for (const TS<int>& entry : groundTruth) {
+				const Timestamp ts = Timestamp::fromMS(entry.ts);
+				const int idx = entry.data;					// starting at 0, incrementing over time [1st point, 2nd points, 3d points, ...]
+				const int id = groundTruthPoints[idx];		// convert point number to point-id within floorplan
+				const auto& it = gt.find(id);
+				if (it == gt.end()) {throw Exception("missing ground-truth point ID:" + std::to_string(id));}
+				const Point3 pos = it->second;
+				interpol.add(ts, pos);
+			}
+
+			// done
+			return interpol;
+
+		}
+
 	private:
 
 		void parse(const std::string& file) {
@@ -165,7 +214,7 @@ namespace Offline {
 			entries.push_back(Entry(Sensor::GRAVITY, ts, gravity.size()-1));
 
 			// inform listener
-			if (listener) {listener->onGravity(Timestamp::fromMS(ts), gravData);}
+			//if (listener) {listener->onGravity(Timestamp::fromMS(ts), gravData);}
 
 		}
 
@@ -184,7 +233,7 @@ namespace Offline {
 			entries.push_back(Entry(Sensor::ACC, ts, acc.size()-1));
 
 			// inform listener
-			if (listener) {listener->onAccelerometer(Timestamp::fromMS(ts), accData);}
+			//if (listener) {listener->onAccelerometer(Timestamp::fromMS(ts), accData);}
 
 		}
 
@@ -203,7 +252,7 @@ namespace Offline {
 			entries.push_back(Entry(Sensor::GYRO, ts, gyro.size()-1));
 
 			// inform listener
-			if (listener) {listener->onGyroscope(Timestamp::fromMS(ts), gyroData);}
+			//if (listener) {listener->onGyroscope(Timestamp::fromMS(ts), gyroData);}
 
 		}
 
@@ -230,7 +279,7 @@ namespace Offline {
 			entries.push_back(Entry(Sensor::WIFI, ts, this->wifi.size()-1));
 
 			// inform listener
-			if (listener) {listener->onWiFi(Timestamp::fromMS(ts), wifi);}
+			//if (listener) {listener->onWiFi(Timestamp::fromMS(ts), wifi);}
 
 		}
 
@@ -273,7 +322,7 @@ namespace Offline {
 			entries.push_back(Entry(Sensor::BARO, ts, barometer.size()-1));
 
 			// inform listener
-			if (listener) {listener->onBarometer(Timestamp::fromMS(ts), baro);}
+			//if (listener) {listener->onBarometer(Timestamp::fromMS(ts), baro);}
 
 		}
 
@@ -290,7 +339,7 @@ namespace Offline {
 			entries.push_back(Entry(Sensor::COMPASS, ts, this->compass.size()-1));
 
 			// inform listener
-			if (listener) {listener->onCompass(Timestamp::fromMS(ts), compass);}
+			//if (listener) {listener->onCompass(Timestamp::fromMS(ts), compass);}
 
 		}
 
@@ -311,12 +360,13 @@ namespace Offline {
 			entries.push_back(Entry(Sensor::GPS, ts, this->gps.size()-1));
 
 			// inform listener
-			if (listener) {listener->onGPS(Timestamp::fromMS(ts), gps);}
+			//if (listener) {listener->onGPS(Timestamp::fromMS(ts), gps);}
 
 		}
 
 
 	public:
+
 		const Interpolator<uint64_t, Point3> getGroundTruthPath(Floorplan::IndoorMap* map, std::vector<int> gtPath) const {
 
 			// finde alle positionen der waypoints im gtPath aus map