graphical exception [temporary solution]

performance fixes
minor changes

Exception.h

@@ -4,6 +4,10 @@
 #include <exception>
 #include <string>
 
+#ifdef ANDROID
+#include <QMessageBox>
+#endif
+
 class Exception : public std::exception {
 
 private:
@@ -14,7 +18,14 @@ private:
 public:
 
 	/** ctor */
-	Exception(const std::string& str) : str(str) {;}
+	Exception(const std::string& str) : str(str) {
+
+		// TODO better solution?
+        #ifdef ANDROID
+		QMessageBox::question(nullptr, "Exception", str.c_str(), QMessageBox::Ok);
+        #endif
+
+	}
 
 	const char* what() const throw() {return str.c_str();}
 

geo/Angle.h

@@ -5,6 +5,8 @@
 #include "../Assertions.h"
 #include "Point2.h"
 
+#define PI		((float) M_PI)
+
 struct Angle {
 
 
@@ -14,7 +16,7 @@ public:
 	static float getRAD_2PI(const float x1, const float y1, const float x2, const float y2) {
 		Assert::isFalse( (x1==x2)&&(y1==y2), "(x1,y1) must not equal (x2,y2)!!");
 		const float tmp = std::atan2(y2-y1, x2-x1);
-		return (tmp < 0) ? (tmp + 2*M_PI) : (tmp);
+		return (tmp < 0) ? (tmp + 2*PI) : (tmp);
 	}
 
 	/** get the radians from (0,0) to (p.x,p.y) between 0 (to-the-right) and <2_PI */
@@ -34,10 +36,10 @@ public:
 	 * - as a change-in-direction between [0:PI]
 	 */
 	static float getDiffRAD_2PI_PI(const float r1, const float r2) {
-		Assert::isBetween(r1, 0.0f, (float)(2*M_PI), "r1 out of bounds");
-		Assert::isBetween(r2, 0.0f, (float)(2*M_PI), "r2 out of bounds");
+		Assert::isBetween(r1, 0.0f, (2*PI), "r1 out of bounds");
+		Assert::isBetween(r2, 0.0f, (2*PI), "r2 out of bounds");
 		float tmp = std::abs(r1-r2);
-		return (tmp <= M_PI) ? (tmp) : (2*M_PI-tmp);
+		return (tmp <= PI) ? (tmp) : (2*PI-tmp);
 	}
 
 	/**
@@ -46,23 +48,23 @@ public:
 	 * - as a change-in-direction between [-PI:+PI]
 	 */
 	static float getSignedDiffRAD_2PI(const float r1, const float r2) {
-		Assert::isBetween(r1, 0.0f, (float)(2*M_PI), "r1 out of bounds");				// [0:360] deg
-		Assert::isBetween(r2, 0.0f, (float)(2*M_PI), "r2 out of bounds");				// [0:360] deg
+		Assert::isBetween(r1, 0.0f, (float)(2*PI), "r1 out of bounds");				// [0:360] deg
+		Assert::isBetween(r2, 0.0f, (float)(2*PI), "r2 out of bounds");				// [0:360] deg
 		float diff = r1-r2;
-		if		(diff > +M_PI) {diff = -(2*M_PI - diff);}
-		else if	(diff < -M_PI) {diff = +(2*M_PI + diff);}
-		Assert::isBetween(diff, (float)-M_PI, (float)(+M_PI), "result out of bounds");	// [-180:+180] deg
+		if		(diff > +PI) {diff = -(2*PI - diff);}
+		else if	(diff < -PI) {diff = +(2*PI + diff);}
+		Assert::isBetween(diff, -PI, (float)(+PI), "result out of bounds");	// [-180:+180] deg
 		return diff;
 	}
 
 	/** convert degrees to radians */
 	static constexpr inline float degToRad(const float deg) {
-		return deg / 180.0f * M_PI;
+		return deg / 180.0f * PI;
 	}
 
 	/** convert radians to degrees */
 	static constexpr inline float radToDeg(const float rad) {
-		return rad * 180.0f / M_PI;
+		return rad * 180.0f / PI;
 	}
 
 	/** get a pointer vector (length 1) pointing to the given angle (in radians) */
@@ -74,4 +76,6 @@ public:
 
 };
 
+#undef PI
+
 #endif // ANGLE_H

geo/Heading.h

@@ -8,7 +8,7 @@
 
 struct Heading {
 
-#define _2PI (2*M_PI)
+#define _2PI (2*(float)M_PI)
 
 private:
 
@@ -105,10 +105,10 @@ public:
 };
 
 namespace Headings {
-	static const Heading RIGHT =	Heading(M_PI*0/2);
-	static const Heading UP =		Heading(M_PI*1/2);
-	static const Heading LEFT =		Heading(M_PI*2/2);
-	static const Heading DOWN =		Heading(M_PI*3/2);
+	static const Heading RIGHT =	Heading((float)M_PI*0.0f/2.0f);
+	static const Heading UP =		Heading((float)M_PI*1.0f/2.0f);
+	static const Heading LEFT =		Heading((float)M_PI*2.0f/2.0f);
+	static const Heading DOWN =		Heading((float)M_PI*3.0f/2.0f);
 }
 
 #endif // HEADING_H

grid/walk/v2/modules/WalkModuleFollowDestination.h

@@ -20,7 +20,7 @@ private:
 
 	const Grid<Node>& grid;
 	Dijkstra<Node> dijkstra;
-	const DijkstraNode<Node>* dnDest;
+	const DijkstraNode<Node>* dnDest = nullptr;
 
 	struct DijkstraAccess {
 		const Grid<Node>& grid;
@@ -58,9 +58,14 @@ public:
 
 	/** get the shortest path from the given start to the configured destination */
 	DijkstraPath<Node> getShortestPath(const Node& start) {
+
+		// destination unknown? -> empty path
+		if (!dnDest) {return DijkstraPath<Node>();}
+
 		const DijkstraNode<Node>* dnStart = dijkstra.getNode(start);
 		const DijkstraPath<Node> path(dnStart, dnDest);
 		return path;
+
 	}
 
 	virtual void updateBefore(WalkState& state, const Node& startNode) override {

grid/walk/v2/modules/WalkModuleHeadingControl.h

@@ -14,7 +14,7 @@ template <typename Node, typename WalkState, typename Control> class WalkModuleH
 private:
 
 	/** CURRENTLY NOT USED van-Mises distribution */
-	Distribution::LUT<double> dist;
+	Distribution::LUT<float> dist;
 
 	/** random noise */
 	Distribution::Normal<float> distNoise;
@@ -25,7 +25,7 @@ public:
 
 	/** ctor 3.0 should be OK! */
 	WalkModuleHeadingControl(const Control* ctrl, const float sensorNoiseDegreesSigma) :
-		dist(Distribution::VonMises<double>(0.0f, 2.0).getLUT()),
+		dist(Distribution::VonMises<float>(0.0f, 2.0f).getLUT()),
 		distNoise(0, Angle::degToRad(sensorNoiseDegreesSigma)),
 		ctrl(ctrl) {
 

sensors/radio/WiFiProbabilityGrid.h

@@ -56,6 +56,12 @@ public:
 		double prob = 1;
 		int numMatchingAPs = 0;
 
+		// after some runtime, check whether the wifi timestamps make sense
+		// those must not be zero, otherwise something is wrong!
+		if (!obs.entries.empty()) {
+			Assert::isFalse(curTime.ms() > 10000 && obs.entries.front().ts.isZero(), "WiFiMeasurement timestamp is 0. this does not make sense...");
+		}
+
 		// process each observed measurement
 		for (const WiFiMeasurement& measurement : obs.entries) {