FHWS/Indoor
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fixed some compiler warnings

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added equality checks to sensor-data classes
more robust sensor reader [fixed some issues]
added support for gps
added support for compass
added sensor-data-writer
added test-cases
minor changes
This commit is contained in:
FrankE
2017-03-21 16:25:36 +01:00
parent 18f48e23a8
commit bb43e7f0fe
20 changed files with 807 additions and 266 deletions
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91
sensors/offline/OfflineAndroid.h
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@@ -12,8 +12,14 @@
#include "../radio/WiFiMeasurements.h"
#include "../imu/AccelerometerData.h"
#include "../imu/GyroscopeData.h"
#include "../imu/CompassData.h"
#include "../gps/GPSData.h"
#include "../pressure/BarometerData.h"
#include "Splitter.h"
#include "Listener.h"
#include "Sensors.h"
template <typename SensorData> struct OfflineEntry {
Timestamp ts;
@@ -35,20 +41,12 @@ struct WalkedPath {
};
/** listener for event callbacks */
class OfflineAndroidListener {
public:
virtual void onGyroscope(const Timestamp ts, const GyroscopeData data) = 0;
virtual void onAccelerometer(const Timestamp ts, const AccelerometerData data) = 0;
virtual void onGravity(const Timestamp ts, const AccelerometerData data) = 0;
virtual void onWiFi(const Timestamp ts, const WiFiMeasurements data) = 0;
virtual void onBarometer(const Timestamp ts, const BarometerData data) = 0;
};
/** read recorded android sensor data files */
/**
* read sensor data files that were recorded using
* the old java android app
*/
class OfflineAndroid {
private:
std::vector<OfflineEntry<WiFiMeasurements>> wifi;
@@ -57,11 +55,15 @@ private:
std::vector<OfflineEntry<AccelerometerData>> accel;
std::vector<OfflineEntry<AccelerometerData>> gravity;
std::vector<OfflineEntry<CompassData>> compass;
std::vector<OfflineEntry<BarometerData>> barometer;
std::vector<OfflineEntry<GPSData>> gps;
WalkedPath walkedPath;
static constexpr char sep = ';';
const char* name = "OfflineData";
public:
@@ -89,6 +91,12 @@ public:
/** get all barometer readings */
const std::vector<OfflineEntry<BarometerData>>& getBarometer() const {return barometer;}
/** get all compass readings */
const std::vector<OfflineEntry<CompassData>>& getCompass() const {return compass;}
/** get all gps readings */
const std::vector<OfflineEntry<GPSData>>& getGPS() const {return gps;}
/** get the walked path */
const WalkedPath& getWalkedPath() const {return walkedPath;}
@@ -105,7 +113,7 @@ public:
public:
void parse(const std::string& file, OfflineAndroidListener* listener = nullptr) {
void parse(const std::string& file, Offline::Listener* listener = nullptr) {
Log::add(name, "parsing data file: " + file , false);
Log::tick();
@@ -152,47 +160,61 @@ public:
private:
/** parse the given data */
void parse(const Timestamp ts, const int32_t sensorID, const std::string& sensorData, OfflineAndroidListener* listener) {
void parse(const Timestamp ts, const int32_t sensorID, const std::string& sensorData, Offline::Listener* listener) {
// how to parse
switch(sensorID) {
case 0: {
case (int) Offline::Sensor::ACC: {
const AccelerometerData data = parseAccelerometer(sensorData);
accel.push_back(OfflineEntry<AccelerometerData>(ts, data));
if (listener) {listener->onAccelerometer(ts, data);}
break;
}
case 1: {
case (int) Offline::Sensor::GRAVITY: {
const AccelerometerData data = parseAccelerometer(sensorData);
gravity.push_back(OfflineEntry<AccelerometerData>(ts, data));
if (listener) {listener->onGravity(ts, data);}
break;
}
case 3: {
case (int) Offline::Sensor::GYRO: {
const GyroscopeData data = parseGyroscope(sensorData);
gyro.push_back(OfflineEntry<GyroscopeData>(ts, data));
if (listener) {listener->onGyroscope(ts, data);}
break;
}
case 5: {
case (int) Offline::Sensor::BARO: {
const BarometerData data = parseBarometer(sensorData);
barometer.push_back(OfflineEntry<BarometerData>(ts, data));
if (listener) {listener->onBarometer(ts, data);}
break;
}
case 8: {
case (int) Offline::Sensor::WIFI: {
const WiFiMeasurements data = parseWiFi(ts, sensorData);
wifi.push_back(OfflineEntry<WiFiMeasurements>(ts, data));
if (listener) {listener->onWiFi(ts, data);}
break;
}
case 99: {
case (int) Offline::Sensor::COMPASS: {
const CompassData data = parseCompass(sensorData);
compass.push_back(OfflineEntry<CompassData>(ts, data));
if (listener) {listener->onCompass(ts, data);}
break;
}
case (int) Offline::Sensor::GPS: {
const GPSData data = parseGPS(sensorData);
gps.push_back(OfflineEntry<GPSData>(ts, data));
if (listener) {listener->onGPS(ts, data);}
break;
}
case (int) Offline::Sensor::GROUND_TRUTH: {
const GroundTruthID data = parseGroundTruthTick(sensorData);
groundTruth.push_back(OfflineEntry<GroundTruthID>(ts, data));
// TODO listener
@@ -326,6 +348,35 @@ private:
}
/** parse the given Compass entry */
static inline CompassData parseCompass(const std::string& data) {
CompassData compass;
Splitter s(data, sep);
compass.azimuth = s.has(0) ? (s.getFloat(0)) : (NAN);
compass.quality01 = s.has(1) ? (s.getFloat(1)) : (NAN);
return compass;
}
/** parse the given GPS entry */
static inline GPSData parseGPS(const std::string& data) {
GPSData gps;
Splitter s(data, sep);
gps.lat = s.has(0) ? (s.getFloat(0)) : (NAN);
gps.lon = s.has(1) ? (s.getFloat(1)) : (NAN);
gps.alt = s.has(2) ? (s.getFloat(2)) : (NAN);
gps.accuracy = s.has(3) ? (s.getFloat(3)) : (NAN);
gps.speed = s.has(4) ? (s.getFloat(4)) : (NAN);
return gps;
}
};
#endif // OFFLINEANDROID_H