FHWS/Indoor
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merged

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toni
2018-01-17 10:26:16 +01:00
parent 74981c6a45 55061ef0da
commit c02d07af51
67 changed files with 16100 additions and 2117 deletions
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8
sensors/imu/MagnetometerData.h
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@@ -36,7 +36,7 @@ struct MagnetometerData {
}
float magnitude() const {
return std::sqrt( x*x + y*y + z*z );
return std::sqrt( x*x + y*y + z*z );
}
MagnetometerData& operator += (const MagnetometerData& o) {
@@ -73,9 +73,9 @@ private:
};
namespace std {
inline MagnetometerData sqrt(const MagnetometerData& o) {
return MagnetometerData(std::sqrt(o.x), std::sqrt(o.y), std::sqrt(o.z));
}
inline MagnetometerData sqrt(const MagnetometerData& o) {
return MagnetometerData(std::sqrt(o.x), std::sqrt(o.y), std::sqrt(o.z));
}
}
#endif // INDOOR_IMU_MAGNETOMETERDATA_H

4
sensors/imu/StepDetection.h
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@@ -36,7 +36,7 @@ private:
Timestamp blockUntil;
bool waitForUp = false;
const Timestamp blockTime = Timestamp::fromMS(250); // 150-250 looks good
const Timestamp blockTime; // 150-250 looks good
const float upperThreshold = +0.4*0.6f; // + is usually smaller than down (look at graphs)
const float lowerThreshold = -1.5*0.6f; // the 0.8 is for testing!
@@ -57,7 +57,7 @@ private:
public:
/** ctor */
StepDetection() : avgLong(Timestamp::fromMS(500), 0), avgShort(Timestamp::fromMS(40), 0) {
StepDetection(const Timestamp blockTime = Timestamp::fromMS(200)) : blockTime(blockTime), avgLong(Timestamp::fromMS(500), 0), avgShort(Timestamp::fromMS(40), 0) {
#ifdef WITH_DEBUG_PLOT
gp << "set autoscale xfix\n";

58
sensors/offline/FilePlayer.h
View File

@@ -75,13 +75,25 @@ namespace Offline {
thread.join();
}
/** manual ticking */
int tickPos = 0;
void tick() {
const std::vector<Entry>& events = reader->getEntries();
const Entry& e = events[tickPos];
trigger(Timestamp::fromMS(e.ts), e);
++tickPos;
}
private:
/** background loop */
void loop() {
// get all sensor events from the offline file
const std::vector<Entry> events = reader->getEntries();
const std::vector<Entry>& events = reader->getEntries();
// reference time (system vs. first-event)
Timestamp tsRef1 = Timestamp::fromMS(events.front().ts);
@@ -104,23 +116,7 @@ namespace Offline {
if (diff.ms() > 0) {std::this_thread::sleep_for(std::chrono::milliseconds(diff.ms()));}
}
// event index
const size_t idx = e.idx;
#warning "some sensors todo:"
switch(e.type) {
case Sensor::ACC: listener->onAccelerometer(ts, reader->getAccelerometer()[idx].data); break;
case Sensor::BARO: listener->onBarometer(ts, reader->getBarometer()[idx].data); break;
case Sensor::BEACON: break;//listener->onBe(ts, reader->getBarometer()[idx].data); break;
case Sensor::COMPASS: listener->onCompass(ts, reader->getCompass()[idx].data); break;
case Sensor::MAGNETOMETER: listener->onMagnetometer(ts, reader->getMagnetometer()[idx].data); break;
case Sensor::GPS: listener->onGPS(ts, reader->getGPS()[idx].data); break;
case Sensor::GRAVITY: listener->onGravity(ts, reader->getGravity()[idx].data); break;
case Sensor::GYRO: listener->onGyroscope(ts, reader->getGyroscope()[idx].data); break;
case Sensor::LIN_ACC: break;//listener->on(ts, reader->getBarometer()[idx].data); break;
case Sensor::WIFI: listener->onWiFi(ts, reader->getWiFiGroupedByTime()[idx].data); break;
default: throw Exception("code error. found not-yet-implemented sensor");
}
trigger(ts, e);
}
@@ -129,8 +125,34 @@ namespace Offline {
}
void trigger(const Timestamp ts, const Entry& e) {
const int idx = e.idx;
#warning "some sensors todo:"
switch(e.type) {
case Sensor::ACC: listener->onAccelerometer(ts, reader->getAccelerometer()[idx].data); break;
case Sensor::BARO: listener->onBarometer(ts, reader->getBarometer()[idx].data); break;
case Sensor::BEACON: break;//listener->onBe(ts, reader->getBarometer()[idx].data); break;
case Sensor::COMPASS: listener->onCompass(ts, reader->getCompass()[idx].data); break;
case Sensor::MAGNETOMETER: listener->onMagnetometer(ts, reader->getMagnetometer()[idx].data); break;
case Sensor::GPS: listener->onGPS(ts, reader->getGPS()[idx].data); break;
case Sensor::GRAVITY: listener->onGravity(ts, reader->getGravity()[idx].data); break;
case Sensor::GYRO: listener->onGyroscope(ts, reader->getGyroscope()[idx].data); break;
case Sensor::LIN_ACC: break;//listener->on(ts, reader->getBarometer()[idx].data); break;
case Sensor::WIFI: listener->onWiFi(ts, reader->getWiFiGroupedByTime()[idx].data); break;
default: throw Exception("code error. found not-yet-implemented sensor");
}
}
};
}
#endif // FILEPLAYER_H