huge commit

- worked on about everything
- grid walker using plugable modules
- wifi models
- new distributions
- worked on geometric data-structures
- added typesafe timestamps
- worked on grid-building
- added sensor-classes
- added sensor analysis (step-detection, turn-detection)
- offline data reader
- many test-cases

grid/Grid.h

@@ -54,7 +54,10 @@ public:
 	/** no-copy */
 	Grid(const Grid& o) = delete;
 
-	/** reset the grid (empty) */
+	/**
+	 * reset (clear) the grid
+	 * remove all nodes, hashes, ..
+	 */
 	void reset() {
 		nodes.clear();
 		hashes.clear();
@@ -211,10 +214,23 @@ public:
 	 *
 	 */
 	UID getUID(const GridPoint& p) const {
-		const uint64_t x = std::round(p.x_cm / (float)gridSize_cm);
-		const uint64_t y = std::round(p.y_cm / (float)gridSize_cm);
-		const uint64_t z = std::round(p.z_cm / (float)gridSize_cm * 5);		// z is usually much lower and not always aligned -> allow more room for hashes
+
+		// sanity check (region between -1^19 and +1^19
+		const int32_t max = 1 << 19;
+		Assert::isBetween((int32_t)p.x_cm, -max, +max, "x out of bounds");
+		Assert::isBetween((int32_t)p.y_cm, -max, +max, "y out of bounds");
+		Assert::isBetween((int32_t)p.z_cm, -max, +max, "z out of bounds");
+
+		// shift by half of the allowed width of 20 bit to allow negative regions
+		const uint64_t center = 1 << 19;
+
+		// build
+		const uint64_t x = std::round((p.x_cm+center) / (float)gridSize_cm);
+		const uint64_t y = std::round((p.y_cm+center) / (float)gridSize_cm);
+		const uint64_t z = std::round((p.z_cm+center) / (float)gridSize_cm * 5);		// z is usually much lower and not always aligned -> allow more room for hashes
+
 		return (z << 40) | (y << 20) | (x << 0);
+
 	}
 
 	/** array access */
@@ -363,63 +379,47 @@ public:
 		Log::add(name, "memory: " + std::to_string(bytes/1024.0f/1024.0f) + " MB in " + std::to_string(numNodes) + " nodes");
 	}
 
-//	/**
-//	 * remove all nodes, marked for deletion.
-//	 * BEWARE: this will invalidate all indices used externally!
-//	 */
-//	void cleanupOld() {
 
-//		Log::add(name, "running grid cleanup");
+public:
 
-//		// check every single node
-//		for (size_t i = 0; i < nodes.size(); ++i) {
+	/** serialize into the given stream */
+	void write(std::ostream& out) {
 
-//			// is this node marked as "deleted"? (idx == -1)
-//			if (nodes[i]._idx == -1) {
+		// serialize static
+		T::staticSerialize(out);
 
-//				// remove this node
-//				deleteNode(i);
-//				--i;
+		// number of nodes
+		const int numNodes = nodes.size();
+		out.write((const char*) &numNodes, sizeof(numNodes));
 
-//			}
-//		}
+		// serialize
+		for (const T& node : nodes) {
+			out.write((const char*) &node, sizeof(T));
+		}
 
-//		// rebuild hashes
-//		Log::add(name, "rebuilding UID hashes", false);
-//		Log::tick();
-//		hashes.clear();
-//		for (size_t idx = 0; idx < nodes.size(); ++idx) {
-//			hashes[getUID(nodes[idx])] = idx;
-//		}
-//		Log::tock();
+	}
 
-//	}
+	/** deserialize from the given stream */
+	void read(std::istream& inp) {
 
-private:
+		// deserialize static
+		T::staticDeserialize(inp);
 
-//	/** hard-delete the given node */
-//	void deleteNode(const int idx) {
+		// number of nodes
+		int numNodes;
+		inp.read((char*) &numNodes, sizeof(numNodes));
 
-//		_assertBetween(idx, 0, nodes.size()-1, "index out of bounds");
+		// allocate node-space
+		nodes.resize(numNodes);
 
-//		// COMPLEX AND SLOW AS HELL.. BUT UGLY TO REWIRTE TO BE CORRECT
+		// deserialize
+		inp.read((char*) nodes.data(), numNodes*sizeof(T));
 
-//		// remove him from the node list (reclaim its memory and its index)
-//		nodes.erase(nodes.begin()+idx);
+		// update
+		rebuildHashes();
 
-//		// decrement the index for all of the following nodes and adjust neighbor references
-//		for (size_t i = 0; i < nodes.size(); ++i) {
+	}
 
-//			// decrement the higher indices (reclaim the free one)
-//			if (nodes[i]._idx >= idx) { --nodes[i]._idx;}
-
-//			// adjust the neighbor references (decrement by one)
-//			for (int n = 0; n < nodes[i]._numNeighbors; ++n) {
-//				if (nodes[i]._neighbors[n] >= idx) {--nodes[i]._neighbors[n];}
-//			}
-
-//		}
-//	}
 
 public: