FHWS/YASMIN
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a lot!!! of changes

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added main menu
added debug display
many debug widgets for plotting live data
worked on android live sensors
added offline-data sensor feeding
some dummy data sensors
worked on the map display
added ui debug for grid-points, particles and weights
added a cool dude to display the estimation
added real filtering based on the Indoor components
c++11 fixes for android compilation
online and offline filtering support
new resampling technique for testing
map loading via dialog
This commit is contained in:
kazu
2016-09-16 19:30:04 +02:00
parent d910e88220
commit 075d8bb633
90 changed files with 4735 additions and 624 deletions
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29
Config.h Normal file
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@@ -0,0 +1,29 @@
#ifndef CONFIG_H
#define CONFIG_H
#include <string>
#include <QDebug>
class Config {
public:
// notes
// copy: scp -P 2222 /tmp/grid.dat kazu@192.168.24.11:/storage/sdcard1/YASMIN/maps/car/
// all: scp -P 2222 -r /apps/android/workspace/YASMIN_DATA/* kazu@192.168.24.11:/storage/sdcard1/YASMIN/
/** get the directory where maps are stored */
static inline std::string getMapDir() {
#ifdef ANDROID
// const std::string folder = getenv("EXTERNAL_STORAGE") + std::string("/YASMIN/maps/"); // this is NOT the sdcard?!
// qDebug(folder.c_str());
// return folder;
return "/storage/sdcard1/YASMIN/maps/";
#else
return "/apps/android/workspace/YASMIN_DATA/maps/";
#endif
}
};
#endif // CONFIG_H

135
Controller.cpp Normal file
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#include "Controller.h"
#include "ui/map/MapView.h"
#include "ui/menu/MainMenu.h"
#include "ui/MainWindow.h"
#include "ui/dialog/LoadSetupDialog.h"
#include "ui/debug/SensorDataWidget.h"
#include <Indoor/grid/factory/v2/GridFactory.h>
#include <Indoor/grid/factory/v2/Importance.h>
#include <Indoor/floorplan/v2/Floorplan.h>
#include <Indoor/floorplan/v2/FloorplanReader.h>
#include <Indoor/Assertions.h>
#include "sensors/dummy/SensorFactoryDummy.h"
#include "sensors/android/SensorFactoryAndroid.h"
#include "sensors/offline/SensorFactoryOffline.h"
#include "nav/NavController.h"
Controller::Controller() {
// OpenGL setup
// MUST happen before anything gets visible (= gets initialized)
QSurfaceFormat format;
format.setDepthBufferSize(16);
QSurfaceFormat::setDefaultFormat(format);
// configure the to-be-used sensor factory
//SensorFactory::set(new SensorFactoryDummy());
//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/nexus6/kleinerKreis_216steps_6runden_telefongerade.csv"));
//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/s3mini/kleinerKreis_225steps_6runden_telefongerade.csv"));
//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/s4/kleinerKreis_220steps_6runden_telefongeneigt.csv"));
SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/bergwerk/path4/nexus/vor/1454776525797.csv"));
mainWindow = new MainWindow();
Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onLoadButton, this, &Controller::onLoadButton), "connect() failed");
Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onDebugButton, this, &Controller::onDebugButton), "connect() failed");
Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onStartButton, this, &Controller::onStartButton), "connect() failed");
Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onTransparentButton, this, &Controller::onTransparentButton), "connect() failed");
Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onCameraButton, this, &Controller::onCameraButton), "connect() failed");
// order is important! otherwise OpenGL fails!
mainWindow->show();
// start all sensors
SensorFactory::get().getAccelerometer().start();
SensorFactory::get().getGyroscope().start();
SensorFactory::get().getBarometer().start();
SensorFactory::get().getWiFi().start();
}
MapView* Controller::getMapView() const {
return mainWindow->getMapView();
}
void buildGridOnce(Grid<MyGridNode>* grid, Floorplan::IndoorMap* map, const std::string& saveFile) {
GridFactory<MyGridNode> gf(*grid);
gf.build(map);
Importance::addImportance(*grid);
std::ofstream out(saveFile, std::ofstream::binary);
grid->write(out);
out.close();
}
void Controller::onLoadButton() {
// pick a map to load
QDir dir = LoadSetupDialog::pickSetupFolder();
// cancelled?
if (dir.path() == ".") { return; }
QFile fMap(dir.path() + "/map.xml");
QFile fGrid(dir.path() + "/grid.dat");
Assert::isTrue(fMap.exists(), "map.xml missing");
//Assert::isTrue(fGrid.exists(), "grid.dat missing");
fMap.open(QIODevice::ReadOnly);
QString str = QString(fMap.readAll());
im = Floorplan::Reader::readFromString(str.toStdString());
const std::string sGrid = fGrid.fileName().toStdString();
std::ifstream inp(sGrid, std::ifstream::binary);
//Assert::isTrue(inp.good(), "failed to open grid.dat");
// create a new, empty grid
if (grid) {delete grid; grid = nullptr;}
grid = new Grid<MyGridNode>(20);
// grid.dat empty? -> build one and save it
if (!inp.good() || (inp.peek()&&0) || inp.eof()) {
buildGridOnce(grid, im, sGrid);
} else {
grid->read(inp);
}
// create a new navigator
if (nav) {delete nav; nav = nullptr;}
nav = new NavController(this, grid, im);
getMapView()->setMap(im);
getMapView()->showGridImportance(grid);
}
void Controller::onDebugButton() {
mainWindow->getSensorDataWidget()->setVisible( !mainWindow->getSensorDataWidget()->isVisible() );
}
void Controller::onStartButton() {
nav->start();
}
void Controller::onTransparentButton() {
mainWindow->getMapView()->toggleRenderMode();
}
void Controller::onCameraButton() {
nav->toggleCamera();
}

50
Controller.h Normal file
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#ifndef CONTROLLER_H
#define CONTROLLER_H
class MainWindow;
class MainMenu;
class MapView;
class NavController;
#include <QObject>
template <typename T> class Grid;
class MyGridNode;
namespace Floorplan {
class IndoorMap;
}
class Controller : public QObject {
Q_OBJECT
public:
/** ctor */
explicit Controller();
public:
MapView* getMapView() const;
private slots:
void onLoadButton();
void onDebugButton();
void onStartButton();
void onTransparentButton();
void onCameraButton();
private:
MainWindow* mainWindow;
Grid<MyGridNode>* grid = nullptr;
NavController* nav = nullptr;
Floorplan::IndoorMap* im = nullptr;
};
#endif // CONTROLLER_H

29
Settings.h Normal file
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@@ -0,0 +1,29 @@
#ifndef SETTINGS_H
#define SETTINGS_H
#include <Indoor/grid/GridPoint.h>
namespace Settings {
const int numParticles = 3000;
const float turnSigma = 3.5;
const float stepLength = 0.80;
const float stepSigma = 0.1;
const float smartphoneAboveGround = 1.3;
const float offlineSensorSpeedup = 2.5;
const GridPoint destination = GridPoint(70*100, 35*100, 0*100);
const float wifiSigma = 9.0;
const float wifiTXP = -48;
const float wifiEXP = 2.5;
const float wifiWAF = -9.0;
}
#endif // SETTINGS_H

224
main.cpp
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@@ -6,6 +6,7 @@
#include <QApplication>
#include <QMainWindow>
#include <QGridLayout>
#include <QFile>
#include <Indoor/math/Interpolator.h>
#include <Indoor/grid/factory/v2/Importance.h>
@@ -14,7 +15,8 @@
#include <Indoor/nav/dijkstra/DijkstraPath.h>
#include "sensors/SensorFactory.h"
#include "map/MapView.h"
#include "Controller.h"
#include "ui/map/MapView.h"
#include <iostream>
@@ -24,29 +26,17 @@
#include <Indoor/sensors/radio/WiFiGridEstimator.h>
#include <Indoor/sensors/radio/model/WiFiModelLogDist.h>
class LeListener : public SensorListener<WiFiSensorData>, public SensorListener<AccelerometerData>, public SensorListener<StepData> {
public:
void onSensorData(const WiFiSensorData& data) override {
const std::string str = "\n" + data.asString();
qDebug(str.c_str());
}
void onSensorData(const AccelerometerData& data) override {
const std::string str = data.asString();
qDebug(str.c_str());
}
void onSensorData(const StepData& data) override {
qDebug("STEP!");
}
};
struct MyNode : public GridPoint, public GridNode, public WiFiGridNode<10> {
float imp;
float navImportance;
MyNode() {;}
MyNode(const float x_cm, const float y_cm, const float z_cm) : GridPoint(x_cm, y_cm, z_cm) {;}
public:
static void staticSerialize(std::ostream& out) {
WiFiGridNode::staticSerialize(out);
}
@@ -57,208 +47,30 @@ struct MyNode : public GridPoint, public GridNode, public WiFiGridNode<10> {
};
int main(int argc, char *argv[]) {
int sizeOfNode = sizeof(MyNode);
std::vector<Point3> points = {
Point3(1140,530,1060), Point3(1140,2100,1060), Point3(1140,2880,1060), Point3(1140,4442.21,1060), Point3(1190,4840,1060), Point3(1660,4840,890), Point3(1660,5040,890), Point3(1180,5040,720), Point3(1180,4840,720), Point3(1180,4460,720), Point3(2350,4460,720), Point3(4440,4440,720), Point3(5183.26,4280,720), Point3(5800,4280,550), Point3(6110,4280,380), Point3(7680,4280,380), Point3(7680,3860,190), Point3(7680,3400,0), Point3(7400,3400,0), Point3(7400,4030,0)
};
std::vector<Point3> path;
Interpolator<int, Point3> interpol;
int ts = 0;
Point3 last = points[0];
for (Point3 p : points) {
const float dist = p.getDistance(last);
const float diffMS = (dist / 100.0f) / 1.5f * 1000;
ts += diffMS;
interpol.add(ts, p);
last = p;
path.push_back(p / 100.0f);
}
//QGuiApplication app(argc, argv);
QApplication app(argc, argv);
// OpenGL Setup
QSurfaceFormat format;
format.setDepthBufferSize(16);
QSurfaceFormat::setDefaultFormat(format);
Controller ctrl;
Point3 eye(40,42,1.8);
ctrl.getMapView()->setLookEye(eye);
ctrl.getMapView()->setLookDir(Point3(-1, 0, -0.1));
Floorplan::IndoorMap* im = Floorplan::Reader::readFromFile("/mnt/data/workspaces/IndoorMap/maps/SHL21.xml");
Grid<MyNode> grid(20);
GridFactory<MyNode> gf(grid);
// build
//gf.build(im);
//Importance::addImportance(grid, 0);
//std::ofstream out("/tmp/grid.dat");
//grid.write(out); out.close();
// read
std::ifstream inp("/tmp/grid.dat");
grid.reset();
grid.read(inp);
// estimate WiFi signal strengths
WiFiModelLogDist mdlLogDist(-40.0f, 2.25f);
WiFiGridEstimator::estimate(grid, mdlLogDist, im);
MapView* map = new MapView();
map->setMinimumHeight(200);
map->setMinimumWidth(200);
map->setMap(im);
//map->setPath(path);
map->show();
struct DijkstraMapper {
Grid<MyNode>& grid;
DijkstraMapper(Grid<MyNode>& grid) : grid(grid) {;}
int getNumNeighbors(const MyNode& n) const {return grid.getNumNeighbors(n);}
const MyNode* getNeighbor(const MyNode& n, const int idx) const {return &grid.getNeighbor(n, idx);}
float getWeightBetween(const MyNode& n1, const MyNode& n2) const {return n1.getDistanceInCM(n2) / n2.imp;}
};
struct LeListener : public APIListener {
Grid<MyNode>& grid;
Dijkstra<MyNode>& d;
const DijkstraNode<MyNode>* dnEnd;
MapView* map;
Point3 nextPos;
Point3 pos1;
Point3 pos2;
LeListener(Grid<MyNode>& grid, Dijkstra<MyNode>& d, const DijkstraNode<MyNode>* dnEnd, MapView* map) : grid(grid), d(d), dnEnd(dnEnd), map(map) {
std::thread t(&LeListener::update, this);
t.detach();
}
/** the currently estimated path to the target has changed */
virtual void onPathUpdate(const std::vector<Point3>& curPath) override {
}
/** the currently estimated position has changed */
virtual void onPositionUpdate(const Point3 pos) override {
nextPos = pos;
// update the path to the target
const GridPoint xxx(pos.x, pos.y, pos.z);
const DijkstraNode<MyNode>* dnStart = d.getNode( grid.getNearestNode(xxx) );
const DijkstraPath<MyNode> dp(dnStart, dnEnd);
map->setPath(dp);
}
void update() {
std::this_thread::sleep_for(std::chrono::milliseconds(700));
const int transMS = 500;
const int updateMS = 75;
const float factor1 = ((float) updateMS / (float) transMS) * 0.7;
const float factor2 = factor1 * 0.4f;
const Point3 human(0, 0, 180);
while(true) {
std::this_thread::sleep_for(std::chrono::milliseconds(updateMS));
// Point3 diff = (nextPos - pos1);
// if (diff.length() > 30) {diff = diff.normalized() * 30;} else {diff *= factor1;}
// pos1 += diff;
// pos2 += diff*0.5;
pos1 = pos1 * (1-factor1) + nextPos * (factor1); // fast update
pos2 = pos2 * (1-factor2) + nextPos * (factor2); // slow update
const Point3 dir = pos2 - pos1;
map->setLookAt((pos1+human) / 100.0f, (dir) / 100.0f);
}
}
};
DummyAPI api("/mnt/data/workspaces/navindoor");
api.setTarget(4);
Dijkstra<MyNode> d;
//GridPoint end(points.front().x, points.front().y, points.front().z);
GridPoint end(api.getDst().x, api.getDst().y, api.getDst().z);
d.build(&grid.getNearestNode(end), DijkstraMapper(grid));
const DijkstraNode<MyNode>* dnEnd = d.getNode(grid.getNearestNode(end));
api.addListener(new LeListener(grid, d, dnEnd, map));
api.setSpeed(2);
api.startNavigation();
// auto run = [&] () {
// //int ts = 0;
// int ts = 97000;
// while(ts < interpol.getMaxKey() && ts >= 0) {
// std::this_thread::sleep_for(std::chrono::milliseconds(50));
// //ts += 50;
// ts -= 150;
// const Point3 human(0, 0, 180);
//// const Point3 pos0 = interpol.get(ts-500);
//// const Point3 pos1 = interpol.get(ts+500);
// const Point3 pos = interpol.get(ts);
//// //const Point3 dir = Point3(-50000, -50000, 50000);//pos0 - pos;
//// Point3 dir = pos1 - pos0; dir.z /= 2; // only slight down/up looking
//// map->setLookAt((pos+human) / 100.0f, (dir) / 100.0f);
// GridPoint cur(pos.x, pos.y, pos.z);
// const DijkstraNode<MyNode>* dnStart = d.getNode( grid.getNearestNode(cur) );
// DijkstraPath<MyNode> dp(dnStart, dnEnd);
// map->setPath(dp);
//// Point3 next =
//// dp.getFromStart(2).element->inCentimeter() +
//// dp.getFromStart(4).element->inCentimeter() +
//// dp.getFromStart(6).element->inCentimeter();
//// next /= 3;
//// const Point3 dir = pos - next ;
// static Point3 lastPos;
// lastPos = lastPos * 0.85 + pos * 0.15;
// const Point3 dir = lastPos - pos ;
// map->setLookAt((pos+human) / 100.0f, (dir) / 100.0f);
// static float r = 0;
// while(true) {
// r += 0.01;
// eye += Point3(-0.01, 0, 0);
// ctrl.getMapView()->setLookEye(eye);
// usleep(1000*50);
// }
// };
// std::thread t(run);
// QQmlApplicationEngine engine;
// engine.load(QUrl(QStringLiteral("qrc:/main.qml")));
return app.exec();
}

132
map/MapView.cpp
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@@ -1,132 +0,0 @@
#include "MapView.h"
#include <QGLShaderProgram>
#include "elements/Walls.h"
#include "elements/Ground.h"
#include "elements/Handrails.h"
#include "elements/Stairs.h"
#include "elements/Doors.h"
#include "elements/Path.h"
// http://doc.qt.io/qt-5/qtopengl-cube-example.html
MapView::MapView(QWidget* parent) : QOpenGLWidget(parent) {
};
void MapView::setMap(Floorplan::IndoorMap* map) {
for (Floorplan::Floor* floor : map->floors) {
elements.push_back(new Ground(floor));
elements.push_back(new Walls(floor));
elements.push_back(new Handrails(floor));
elements.push_back(new Stairs(floor));
elements.push_back(new Doors(floor));
}
this->path = new Path();
elements.push_back(this->path);
}
void MapView::setPath(const std::vector<Point3>& path) {
this->path->set(path);
}
void MapView::timerEvent(QTimerEvent *) {
update();
}
void MapView::initializeGL() {
initializeOpenGLFunctions();
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
for (Renderable* r : elements) {
r->initGL();
}
timer.start(60, this);
}
void MapView::paintGL() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
draw();
}
void MapView::resizeGL(int w, int h) {
// Calculate aspect ratio
qreal aspect = qreal(w) / qreal(h ? h : 1);
// viewing frustrum [0:50] meter
const qreal zNear = 0.02, zFar = 50, fov = 50.0;
// Reset projection
matProject.setToIdentity();
matProject.scale(-1, 1, 1);
glCullFace(GL_FRONT);
//matProject.scale(0.05, 0.05, 0.05);
matProject.perspective(fov, aspect, zNear, zFar);
//matProject.scale(-0.01, 0.01, 0.01);
}
void MapView::setLookAt(const Point3 pos_m, const Point3 dir) {
QVector3D qDir(dir.x, dir.z, dir.y);
QVector3D lookAt = QVector3D(pos_m.x, pos_m.z, pos_m.y);
QVector3D eye = lookAt + qDir * 0.1;
QVector3D up = QVector3D(0,1,0);
matView.setToIdentity();
//matView.scale(0.01, 0.01, 0.01);
matView.lookAt(eye, lookAt, up);
//matView.scale(0.99, 1, 1);
//matView.translate(0.7, 0, 0);
lightPos = eye + QVector3D(0.0, 4.0, 0.0);
eyePos = eye;
}
void MapView::draw() {
// clear everything
glClearColor(0,0,0,1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//static float angularSpeed = 0;
//angularSpeed += 1.5;
//texture->bind();
//QVector3D rotationAxis(1,1,1);
//QQuaternion rotation = QQuaternion::fromAxisAndAngle(rotationAxis, angularSpeed);
// Calculate model view transformation
QMatrix4x4 matModel;
//matModel.setToIdentity();
//matModel.translate(0.0, 0.0, 0.0);
//matModel.rotate(rotation);
for (Renderable* r : elements) {
QOpenGLShaderProgram& program = r->getProgram();
program.bind();
// set the matrices
program.setUniformValue("m_matrix", matModel);
program.setUniformValue("mv_matrix", matView * matModel);
program.setUniformValue("mvp_matrix", matProject * matView * matModel);
program.setUniformValue("lightWorldPos", lightPos);
program.setUniformValue("eyeWorldPos", eyePos);
r->render();
}
}

76
map/MapView.h
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@@ -1,76 +0,0 @@
#ifndef MAPVIEW_H
#define MAPVIEW_H
#include <QOpenGLWidget>
#include <QOpenGLFunctions>
#include <QOpenGLShaderProgram>
#include <QBasicTimer>
#include <Indoor/geo/Point3.h>
#include <Indoor/nav/dijkstra/DijkstraPath.h>
#include "elements/Path.h"
namespace Floorplan {
class IndoorMap;
}
class Renderable;
class Path;
class MapView : public QOpenGLWidget, protected QOpenGLFunctions {
private:
QMatrix4x4 matProject;
QMatrix4x4 matView;
QVector3D lightPos;
QVector3D eyePos;
QBasicTimer timer;
std::vector<Renderable*> elements;
Path* path;
public:
MapView(QWidget* parent = 0);
/** set the map to display */
void setMap(Floorplan::IndoorMap* map);
/** the position to look at */
void setLookAt(const Point3 pos, const Point3 dir = Point3(-1, -1, 0.1));
/** set the path to disply */
void setPath(const std::vector<Point3>& path);
/** set the path to disply */
template <typename Node> void setPath(const DijkstraPath<Node>& path) {
this->path->set(path);
}
protected:
void timerEvent(QTimerEvent *e) Q_DECL_OVERRIDE;
void initializeGL();
void paintGL();
void resizeGL(int width, int height);
private:
void draw();
};
#endif // MAPVIEW_H

40
map/Renderable.h
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@@ -1,40 +0,0 @@
#ifndef RENDERABLE_H
#define RENDERABLE_H
#include <QOpenGLShaderProgram>
class Renderable {
protected:
QOpenGLShaderProgram program;
public:
/** get the renderable's shader */
QOpenGLShaderProgram& getProgram() {return program;}
/** render the renderable */
void render() {
program.bind();
_render();
}
virtual void initGL() = 0;
virtual void _render() = 0;
protected:
/** helper method to build the shader */
void loadShader(const QString& vertex, const QString& fragment) {
if (!program.addShaderFromSourceFile(QOpenGLShader::Vertex, vertex)) {throw "1";}
if (!program.addShaderFromSourceFile(QOpenGLShader::Fragment, fragment)) {throw "2";}
if (!program.link()) {throw "3";}
if (!program.bind()) {throw "4";}
}
};
#endif // RENDERABLE_H

12
misc/fixc11.h
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@@ -13,36 +13,36 @@ namespace std {
//}
template <typename T> string to_string(const T val) {
template <typename T> inline string to_string(const T val) {
stringstream ss;
ss << val;
return ss.str();
}
template <typename T> T round(const T val) {
template <typename T> inline T round(const T val) {
return ::round(val);
}
// http://stackoverflow.com/questions/19478687/no-member-named-stoi-in-namespace-std
int stoi(const std::string& str) {
inline int stoi(const std::string& str) {
std::istringstream is(str);
int val; is >> val; return val;
}
// analog zu oben
float stof(const std::string& str) {
inline float stof(const std::string& str) {
std::istringstream is(str);
float val; is >> val; return val;
}
// analog zu oben
double stod(const std::string& str) {
inline double stod(const std::string& str) {
std::istringstream is(str);
double val; is >> val; return val;
}
// analog zu oben
uint64_t stol(const std::string& str) {
inline uint64_t stol(const std::string& str) {
std::istringstream is(str);
uint64_t val; is >> val; return val;
}

149
nav/Filter.h Normal file
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@@ -0,0 +1,149 @@
#ifndef FILTER_H
#define FILTER_H
#include <KLib/math/filter/particles/ParticleFilter.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
#include <Indoor/sensors/radio/WiFiProbabilityFree.h>
#include <Indoor/sensors/radio/model/WiFiModelLogDistCeiling.h>
#include <Indoor/sensors/radio/WiFiProbabilityFree.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleHeadingControl.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleNodeImportance.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleFavorZ.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleButterActivity.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleFollowDestination.h>
#include "State.h"
#include "Node.h"
#include "../Settings.h"
class PFInit : public K::ParticleFilterInitializer<MyState> {
private:
Grid<MyGridNode>* grid;
public:
PFInit(Grid<MyGridNode>* grid) : grid(grid) {
}
virtual void initialize(std::vector<K::Particle<MyState>>& particles) override {
std::minstd_rand gen;
std::uniform_int_distribution<int> distIdx(0, grid->getNumNodes()-1);
std::uniform_real_distribution<float> distHead(0, 2*M_PI);
for (K::Particle<MyState>& p : particles) {
const int idx = distIdx(gen);
const MyGridNode& node = (*grid)[idx];
p.state.position = node; // random position
p.state.heading.direction = Heading(distHead(gen)); // random heading
}
// // fix position + heading
// for (K::Particle<MyState>& p : particles) {
// const int idx = 9000;
// const MyGridNode& node = (*grid)[idx];
// p.state.position = node;
// p.state.heading.direction = Heading(0);
// }
}
};
class PFTrans : public K::ParticleFilterTransition<MyState, MyControl> {
public:
Grid<MyGridNode>* grid;
GridWalker<MyGridNode, MyState> walker;
WalkModuleFavorZ<MyGridNode, MyState> modFavorZ;
WalkModuleHeadingControl<MyGridNode, MyState, MyControl> modHeading;
WalkModuleNodeImportance<MyGridNode, MyState> modImportance;
WalkModuleButterActivity<MyGridNode, MyState> modBarometer;
WalkModuleFollowDestination<MyGridNode, MyState> modDestination;
std::minstd_rand gen;
public:
PFTrans(Grid<MyGridNode>* grid, MyControl* ctrl) : grid(grid), modHeading(ctrl, Settings::turnSigma), modDestination(*grid) {
walker.addModule(&modFavorZ);
walker.addModule(&modHeading);
walker.addModule(&modImportance);
walker.addModule(&modBarometer);
walker.addModule(&modDestination);
if (Settings::destination != GridPoint(0,0,0)) {
modDestination.setDestination(grid->getNodeFor(Settings::destination));
}
}
void transition(std::vector<K::Particle<MyState>>& particles, const MyControl* control) override {
std::normal_distribution<float> noise(0, Settings::stepSigma);
for (K::Particle<MyState>& p : particles) {
const float dist_m = std::abs(control->numStepsSinceLastTransition * Settings::stepLength + noise(gen));
p.state = walker.getDestination(*grid, p.state, dist_m);
}
((MyControl*)control)->resetAfterTransition();
}
};
class PFEval : public K::ParticleFilterEvaluation<MyState, MyObservation> {
WiFiModelLogDistCeiling& wifiModel;
WiFiObserverFree wiFiProbability;
public:
PFEval(WiFiModelLogDistCeiling& wifiModel) : wifiModel(wifiModel), wiFiProbability(Settings::wifiSigma, wifiModel) {
}
double evaluation(std::vector<K::Particle<MyState>>& particles, const MyObservation& _observation) override {
double sum = 0;
// smartphone is 1.3 meter above ground
const Point3 person(0,0,Settings::smartphoneAboveGround);
// local copy!! observation might be changed async outside!! (will really produces crashes!)
const MyObservation observation = _observation;
for (K::Particle<MyState>& p : particles) {
const double pWiFi = wiFiProbability.getProbability(p.state.position.inMeter()+person, observation.currentTime, observation.wifi);
const double pGPS = 1;
const double prob = pWiFi * pGPS;
p.weight = prob;
sum += prob;
}
return sum;
}
};
#endif // FILTER_H

299
nav/NavController.h Normal file
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#ifndef NAVCONTROLLER_H
#define NAVCONTROLLER_H
#include "../sensors/AccelerometerSensor.h"
#include "../sensors/GyroscopeSensor.h"
#include "../sensors/BarometerSensor.h"
#include "../sensors/WiFiSensor.h"
#include "../sensors/SensorFactory.h"
#include "../sensors/StepSensor.h"
#include "../sensors/TurnSensor.h"
#include "../ui/debug/SensorDataWidget.h"
#include "../ui/map/MapView.h"
#include <Indoor/Assertions.h>
#include <thread>
#include "State.h"
#include "Filter.h"
#include "Controller.h"
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
#include "Settings.h"
#include "RegionalResampling.h"
Q_DECLARE_METATYPE(const void*)
class NavController :
public SensorListener<AccelerometerData>,
public SensorListener<GyroscopeData>,
public SensorListener<BarometerData>,
public SensorListener<WiFiMeasurements>,
public SensorListener<GPSData>,
public SensorListener<StepData>,
public SensorListener<TurnData> {
private:
Controller* mainController;
Grid<MyGridNode>* grid;
WiFiModelLogDistCeiling wifiModel;
Floorplan::IndoorMap* im;
MyObservation curObs;
MyControl curCtrl;
bool running = false;
std::thread tUpdate;
std::thread tDisplay;
std::unique_ptr<K::ParticleFilter<MyState, MyControl, MyObservation>> pf;
public:
virtual ~NavController() {
if (running) {stop();}
}
NavController(Controller* mainController, Grid<MyGridNode>* grid, Floorplan::IndoorMap* im) : mainController(mainController), grid(grid), wifiModel(im), im(im) {
wifiModel.loadAPs(im, Settings::wifiTXP, Settings::wifiEXP, Settings::wifiWAF);
SensorFactory::get().getAccelerometer().addListener(this);
SensorFactory::get().getGyroscope().addListener(this);
SensorFactory::get().getBarometer().addListener(this);
SensorFactory::get().getWiFi().addListener(this);
SensorFactory::get().getSteps().addListener(this);
SensorFactory::get().getTurns().addListener(this);
std::unique_ptr<K::ParticleFilterInitializer<MyState>> init(new PFInit(grid));
//std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>> estimation(new K::ParticleFilterEstimationWeightedAverage<MyState>());
std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>> estimation(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.1));
//std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>> resample(new K::ParticleFilterResamplingSimple<MyState>());
//std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>> resample(new K::ParticleFilterResamplingPercent<MyState>(0.10));
std::unique_ptr<RegionalResampling> resample(new RegionalResampling());
std::unique_ptr<K::ParticleFilterEvaluation<MyState, MyObservation>> eval(new PFEval(wifiModel));
std::unique_ptr<K::ParticleFilterTransition<MyState, MyControl>> transition(new PFTrans(grid, &curCtrl));
pf = std::unique_ptr<K::ParticleFilter<MyState, MyControl, MyObservation>>(new K::ParticleFilter<MyState, MyControl, MyObservation>(Settings::numParticles, std::move(init)));
pf->setTransition(std::move(transition));
pf->setEvaluation(std::move(eval));
pf->setEstimation(std::move(estimation));
pf->setResampling(std::move(resample));
pf->setNEffThreshold(1.0);
}
void start() {
Assert::isFalse(running, "already started!");
running = true;
tUpdate = std::thread(&NavController::update, this);
tDisplay = std::thread(&NavController::display, this);
}
void stop() {
Assert::isTrue(running, "not started!");
running = false;
tUpdate.join();
tDisplay.join();
}
void onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) override {
(void) sensor;
curObs.currentTime = ts;
}
void onSensorData(Sensor<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) override {
(void) sensor;
curObs.currentTime = ts;
}
void onSensorData(Sensor<BarometerData>* sensor, const Timestamp ts, const BarometerData& data) override {
(void) sensor;
curObs.currentTime = ts;
}
void onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) override {
(void) sensor;
(void) ts;
curObs.currentTime = ts;
curObs.wifi = data;
}
void onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) override {
(void) sensor;
(void) ts;
curObs.currentTime = ts;
curObs.gps = data;
}
void onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) override {
(void) sensor;
(void) ts;
curObs.currentTime = ts;
curCtrl.numStepsSinceLastTransition += data.stepsSinceLastEvent; // set to zero after each transition
}
void onSensorData(Sensor<TurnData>* sensor, const Timestamp ts, const TurnData& data) override {
(void) sensor;
(void) ts;
curObs.currentTime = ts;
curCtrl.turnSinceLastTransition_rad += data.radSinceLastEvent; // set to zero after each transition
}
int cameraMode = 0;
void toggleCamera() {
cameraMode = (cameraMode + 1) % 3;
}
private:
/** particle-filter update loop */
void update() {
Timestamp lastTransition;
while(running) {
// // fixed update rate based on the systems time -> LIVE! even for offline data
// const Timestamp ts1 = Timestamp::fromUnixTime();
// doUpdate();
// const Timestamp ts2 = Timestamp::fromUnixTime();
// const Timestamp needed = ts2-ts1;
// const Timestamp sleep = Timestamp::fromMS(500) - needed;
// std::this_thread::sleep_for(std::chrono::milliseconds(sleep.ms()));
// fixed update rate based on incoming sensor data
// allows working with live data and faster for offline data
const Timestamp diff = curObs.currentTime - lastTransition;
if (diff > Timestamp::fromMS(500)) {
doUpdate();
lastTransition = curObs.currentTime;
} else {
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
}
}
MyState curEst;
//MyState lastEst;
void doUpdate() {
//lastEst = curEst;
curEst = pf->update(&curCtrl, curObs);
// hacky.. but we need to call this one from the main thread!
//mainController->getMapView()->showParticles(pf->getParticles());
qRegisterMetaType<const void*>();
Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView(), "showParticles", Qt::QueuedConnection, Q_ARG(const void*, &pf->getParticles())), "call failed");
PFTrans* trans = (PFTrans*)pf->getTransition();
const MyGridNode* node = grid->getNodePtrFor(curEst.position);
if (node) {
const DijkstraPath<MyGridNode> path = trans->modDestination.getShortestPath(*node);
// mainController->getMapView()->showGridImportance();
Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView(), "setPath", Qt::QueuedConnection, Q_ARG(const void*, &path)), "call failed");
}
/*
static K::Gnuplot gp;
K::GnuplotSplot plot;
K::GnuplotSplotElementLines lines; plot.add(&lines);
K::GnuplotSplotElementPoints points; plot.add(&points);
K::GnuplotSplotElementPoints best; plot.add(&best); best.setPointSize(2); best.setColorHex("#0000ff");
for (const K::Particle<MyState>& p : pf->getParticles()) {
const Point3 pos = p.state.position.inMeter();
points.add(K::GnuplotPoint3(pos.x, pos.y, pos.z));
}
for (const Floorplan::Floor* f : im->floors) {
for (const Floorplan::FloorOutlinePolygon* polygon : f->outline) {
for (int i = 0; i < polygon->poly.points.size(); ++i) {
const Point2 p1 = polygon->poly.points[i];
const Point2 p2 = polygon->poly.points[(i+1)%polygon->poly.points.size()];
K::GnuplotPoint3 gp1(p1.x, p1.y, f->atHeight);
K::GnuplotPoint3 gp2(p2.x, p2.y, f->atHeight);
lines.addSegment(gp1, gp2);
}
}
}
K::GnuplotPoint3 gpBest(curEst.position.x_cm/100.0f, curEst.position.y_cm/100.0f, curEst.position.z_cm/100.0f);
best.add(gpBest);
gp.draw(plot);
gp.flush();
*/
}
const int display_ms = 50;
/** UI update loop */
void display() {
while(running) {
doDisplay();
std::this_thread::sleep_for(std::chrono::milliseconds(display_ms));
}
}
Point3 curPosFast;
Point3 curPosSlow;
void doDisplay() {
const float kappa1 = display_ms / 1000.0f;
const float kappa2 = kappa1 * 0.7;
const float myHeight_m = 1.80;
curPosFast = curPosFast * (1-kappa1) + curEst.position.inMeter() * (kappa1);
curPosSlow = curPosSlow * (1-kappa2) + curEst.position.inMeter() * (kappa2);
const Point3 dir = (curPosFast - curPosSlow).normalized();
const Point3 dir2 = Point3(dir.x, dir.y, -0.2).normalized();
if (cameraMode == 0) {
mainController->getMapView()->setLookAt(curPosFast + Point3(0,0,myHeight_m), dir);
} else if (cameraMode == 1) {
mainController->getMapView()->setLookAt(curPosFast + Point3(0,0,myHeight_m) - dir2*4, dir2);
} else if (cameraMode == 2) {
const Point3 spectator = curPosFast + Point3(0,0,20) - dir*15;
const Point3 spectatorDir = (curPosFast - spectator).normalized();
mainController->getMapView()->setLookEye(spectator);
mainController->getMapView()->setLookDir(spectatorDir);
}
mainController->getMapView()->setCurrentEstimation(curPosFast, dir);
}
};
#endif // NAVCONTROLLER_H

29
nav/Node.h Normal file
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#ifndef NODE_H
#define NODE_H
#include <Indoor/grid/Grid.h>
#include <Indoor/sensors/radio/WiFiGridNode.h>
struct MyGridNode : public GridNode, public GridPoint {//, public WiFiGridNode<10> {
float navImportance;
float getNavImportance() const { return navImportance; }
/** empty ctor */
MyGridNode() : GridPoint(-1, -1, -1) {;}
/** ctor */
MyGridNode(const int x_cm, const int y_cm, const int z_cm) : GridPoint(x_cm, y_cm, z_cm) {;}
static void staticDeserialize(std::istream& inp) {
//WiFiGridNode::staticDeserialize(inp);
}
static void staticSerialize(std::ostream& out) {
//WiFiGridNode::staticSerialize(out);
}
};
#endif // NODE_H

68
nav/RegionalResampling.h Normal file
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@@ -0,0 +1,68 @@
#ifndef REGIONALRESAMPLING_H
#define REGIONALRESAMPLING_H
#include <KLib/math/filter/particles/ParticleFilter.h>
#include "State.h"
class RegionalResampling : public K::ParticleFilterResampling<MyState> {
public:
float maxDist = 12.5;
RegionalResampling() {;}
void resample(std::vector<K::Particle<MyState>>& particles) override {
Point3 sum;
for (const K::Particle<MyState>& p : particles) {
sum += p.state.position.inMeter();
}
const Point3 avg = sum / particles.size();
std::vector<K::Particle<MyState>> next;
for (const K::Particle<MyState>& p : particles) {
const float dist = p.state.position.inMeter().getDistance(avg);
if (rand() % 6 != 0) {continue;}
if (dist < maxDist) {next.push_back(p);}
}
// cumulate
std::vector<K::Particle<MyState>> copy = particles;
double cumWeight = 0;
for ( K::Particle<MyState>& p : copy) {
cumWeight += p.weight;
p.weight = cumWeight;
}
// draw missing particles
const int missing = particles.size() - next.size();
for (int i = 0; i < missing; ++i) {
next.push_back(draw(copy, cumWeight));
}
std::swap(next, particles);
}
std::minstd_rand gen;
/** draw one particle according to its weight from the copy vector */
const K::Particle<MyState>& draw(std::vector<K::Particle<MyState>>& copy, const double cumWeight) {
// generate random values between [0:cumWeight]
std::uniform_real_distribution<float> dist(0, cumWeight);
// draw a random value between [0:cumWeight]
const float rand = dist(gen);
// search comparator (cumWeight is ordered -> use binary search)
auto comp = [] (const K::Particle<MyState>& s, const float d) {return s.weight < d;};
auto it = std::lower_bound(copy.begin(), copy.end(), rand, comp);
return *it;
}
};
#endif // REGIONALRESAMPLING_H

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nav/State.h Normal file
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#ifndef STATE_H
#define STATE_H
#include <Indoor/grid/walk/v2/GridWalker.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleButterActivity.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleHeadingControl.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleNodeImportance.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleFavorZ.h>
#include <Indoor/sensors/radio/WiFiMeasurements.h>
#include <Indoor/sensors/gps/GPSData.h>
struct MyState : public WalkState, public WalkStateFavorZ, public WalkStateHeading, public WalkStateBarometerActivity {
/** ctor */
MyState(const int x_cm, const int y_cm, const int z_cm) : WalkState(GridPoint(x_cm, y_cm, z_cm)), WalkStateHeading(Heading(0), 0) {
;
}
MyState() : WalkState(GridPoint()), WalkStateHeading(Heading(0), 0) {
;
}
MyState& operator += (const MyState& o) {
position += o.position;
return *this;
}
MyState& operator /= (const float val) {
position /= val;
return *this;
}
MyState operator * (const float val) const {
MyState copy = *this;
copy.position = copy.position * val;
return copy;
}
};
/** observed sensor data */
struct MyObservation {
/** wifi measurements */
WiFiMeasurements wifi;
/** gps measurements */
GPSData gps;
/** time of evaluation */
Timestamp currentTime;
};
/** (observed) control data */
struct MyControl {
/** turn angle (in radians) since the last transition */
float turnSinceLastTransition_rad = 0;
/** number of steps since the last transition */
int numStepsSinceLastTransition = 0;
/** reset the control-data after each transition */
void resetAfterTransition() {
turnSinceLastTransition_rad = 0;
numStepsSinceLastTransition = 0;
}
};
#endif // STATE_H

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@@ -1,8 +1,23 @@
<RCC>
<qresource prefix="/">
<file>res/gl/fragment1.glsl</file>
<file>res/gl/fragmentLine.glsl</file>
<file>res/gl/fragmentTexSimple.glsl</file>
<file>res/gl/vertex1.glsl</file>
<file>res/gl/tex/floor1.jpg</file>
<file>res/gl/tex/wall1.jpg</file>
<file>res/gl/fragmentTex.glsl</file>
<file>res/gl/tex/arrows.png</file>
<file>res/gl/tex/door2.jpg</file>
<file>res/gl/tex/door2_normal.jpg</file>
<file>res/gl/tex/floor4.jpg</file>
<file>res/gl/tex/floor4_normal.jpg</file>
<file>res/icons/load.svg</file>
<file>res/icons/run.svg</file>
<file>res/icons/route.svg</file>
<file>res/icons/bug.svg</file>
<file>res/gl/fragmentColorPoint.glsl</file>
<file>res/gl/tex/wall3_normal.jpg</file>
<file>res/gl/tex/wall3.jpg</file>
<file>res/gl/tex/empty_normals.jpg</file>
<file>res/icons/cube.svg</file>
<file>res/icons/camera.svg</file>
</qresource>
</RCC>

25
res/gl/fragmentColorPoint.glsl Normal file
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@@ -0,0 +1,25 @@
#ifdef GL_ES
// Set default precision to medium
precision mediump int;
precision mediump float;
#endif
// interpolated values
//varying vec3 v_WorldPos;
//varying vec3 v_normal;
//varying vec2 v_texcoord;
varying vec3 v_color;
void main() {
// set point color
gl_FragColor = vec4(v_color, 1.0);
#ifdef GL_ES
// set point size
gl_PointSize = 3.0;
#endif
}

7
res/gl/fragmentTex.glsl
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@@ -22,7 +22,7 @@ void main() {
// diffuse fragment color
vec4 ambient = texture2D(texDiffuse, v_texcoord);
vec4 diffuse = ambient * vec4(0.8, 0.6, 0.35, 1.0);
vec4 diffuse = ambient * vec4(0.8, 0.8, 0.8, 1.0);
vec4 specular = vec4(1,1,1,1);
// get the normal from the normal map
@@ -46,12 +46,12 @@ void main() {
// vec3 h = normalize(lightDir + eyeDir);
// float intSpec = max(dot(h, normal), 0.0);
// float specularIntensity = pow(intSpec, 2.0);
float specularIntensity = pow(max(0.0, dot(eyeDir, reflect(-lightDir, normal))), 16);
float specularIntensity = pow(max(0.0, dot(eyeDir, reflect(-lightDir, normal))), 16.0);
// distance between fragment and light (in meter)
float distToLight_m = length(lightWorldPos - v_WorldPos);
float lightInt = clamp(1.0 / (distToLight_m / 10.0), 0.0, 1.0);
float lightInt = 1.0;//clamp(1.0 / (distToLight_m / 10.0), 0.0, 1.0);
// Set fragment color from texture
vec4 finalColor =
@@ -60,6 +60,7 @@ void main() {
clamp(specular * specularIntensity, 0.0, 1.0) * 1.0;
gl_FragColor = clamp(finalColor, 0.0, 1.0);
gl_FragColor.a = 0.4;
// FOG
//float mixing = pow((1.0 - v_CamPos.z * 3.0), 2);

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5
res/gl/vertex1.glsl
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@@ -12,6 +12,7 @@ attribute vec3 a_position;
attribute vec3 a_normal;
attribute vec2 a_texcoord;
attribute vec3 a_tangent;
attribute vec3 a_color;
varying vec3 v_WorldPos;
varying vec3 v_CamPos;
@@ -20,6 +21,8 @@ varying vec3 v_normal;
varying vec2 v_texcoord;
varying mat3 normalMat;
varying vec3 v_color;
void main() {
@@ -29,7 +32,7 @@ void main() {
v_CamPos = vec3(mv_matrix * vec4(a_position, 1.0));
v_normal = a_normal;//normalize(vec3(mv_matrix * vec4(a_normal, 0.0)));
v_texcoord = a_texcoord;
v_color = a_color;
// http://www.opengl-tutorial.org/intermediate-tutorials/tutorial-13-normal-mapping/

57
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@@ -0,0 +1,57 @@
<?xml version="1.0" encoding="iso-8859-1"?>
<!-- Generator: Adobe Illustrator 16.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
<svg version="1.1" id="Capa_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
width="456.828px" height="456.828px" viewBox="0 0 456.828 456.828" style="enable-background:new 0 0 456.828 456.828;"
xml:space="preserve">
<g>
<g>
<path d="M451.383,247.54c-3.606-3.617-7.898-5.427-12.847-5.427h-63.953v-83.939l49.396-49.394
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Width:  |  Height:  |  Size: 1.8 KiB

13
sensors/AccelerometerSensor.h
View File

@@ -2,18 +2,7 @@
#define ACCELEROMETERSENSOR_H
#include "Sensor.h"
struct AccelerometerData {
float x;
float y;
float z;
AccelerometerData(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
std::string asString() const {
std::stringstream ss;
ss << "(" << x << "," << y << "," << z << ")";
return ss.str();
}
};
#include <Indoor/sensors/imu/AccelerometerData.h>
class AccelerometerSensor : public Sensor<AccelerometerData> {

11
sensors/BarometerSensor.h Normal file
View File

@@ -0,0 +1,11 @@
#ifndef BAROMETERSENSOR_H
#define BAROMETERSENSOR_H
#include "Sensor.h"
#include <Indoor/sensors/pressure/BarometerData.h>
class BarometerSensor : public Sensor<BarometerData> {
};
#endif // BAROMETERSENSOR_H

11
sensors/GyroscopeSensor.h Normal file
View File

@@ -0,0 +1,11 @@
#ifndef GYROSCOPESENSOR_H
#define GYROSCOPESENSOR_H
#include "Sensor.h"
#include <Indoor/sensors/imu/GyroscopeData.h>
class GyroscopeSensor : public Sensor<GyroscopeData> {
};
#endif // GYROSCOPESENSOR_H

17
sensors/Sensor.h
View File

@@ -3,6 +3,9 @@
#include <vector>
#include <QObject>
#include <Indoor/data/Timestamp.h>
template <typename T> class Sensor;
/** listen for sensor events */
template <typename T> class SensorListener {
@@ -10,7 +13,7 @@ template <typename T> class SensorListener {
public:
/** incoming sensor data */
virtual void onSensorData(const T& data) = 0;
virtual void onSensorData(Sensor<T>* sensor, const Timestamp ts, const T& data) = 0;
};
@@ -38,9 +41,17 @@ public:
protected:
/** inform all attached listeners */
void informListeners(const T& sensorData) const {
void informListeners(const T& sensorData) {
const Timestamp now = Timestamp::fromRunningTime();
for (SensorListener<T>* l : listeners) {
l->onSensorData(sensorData);
l->onSensorData(this, now, sensorData);
}
}
/** inform all attached listeners. call this if you know the timestamp */
void informListeners(const Timestamp ts, const T& sensorData) {
for (SensorListener<T>* l : listeners) {
l->onSensorData(this, ts, sensorData);
}
}

63
sensors/SensorFactory.h
View File

@@ -12,36 +12,69 @@
#include "dummy/AccelerometerSensorDummy.h"
#include "android/AccelerometerSensorAndroid.h"
#include "GyroscopeSensor.h"
#include "android/GyroscopeSensorAndroid.h"
#include "dummy/GyroscopeSensorDummy.h"
#include "BarometerSensor.h"
#include "android/BarometerSensorAndroid.h"
#include "dummy/BarometerSensorDummy.h"
#include "StepSensor.h"
#include "TurnSensor.h"
class SensorFactory {
private:
/** this one is a dirty hack, as static class member variables do not work header-only */
static SensorFactory** getPtr() {
static SensorFactory* ptr = nullptr;
return &ptr;
}
public:
/** set the to-be-used sensor-fatory */
static void set(SensorFactory* fac) {
Assert::isNull(*getPtr(), "set() was already called. currentely this is not intended");
*getPtr() = fac;
}
/** get the currently configured sensory factory */
static SensorFactory& get() {
Assert::isNotNull(*getPtr(), "call set() first to set an actual factory instance!");
return **getPtr();
}
public:
/** get the WiFi sensor */
static WiFiSensor& getWiFi() {
#ifdef ANDROID
return WiFiSensorAndroid::get();
#else
return WiFiSensorDummy::get();
#endif
}
virtual WiFiSensor& getWiFi() = 0;
/** get the Accelerometer sensor */
static AccelerometerSensor& getAccelerometer() {
#ifdef ANDROID
return AccelerometerSensorAndroid::get();
#else
return AccelerometerSensorDummy::get();
#endif
}
virtual AccelerometerSensor& getAccelerometer() = 0;
/** get the Gyroscope sensor */
virtual GyroscopeSensor& getGyroscope() = 0;
/** get the Barometer sensor */
virtual BarometerSensor& getBarometer() = 0;
/** get the Step sensor */
static StepSensor& getSteps() {
StepSensor& getSteps() {
static StepSensor steps(getAccelerometer());
return steps;
}
/** get the Turn sensor */
TurnSensor& getTurns() {
static TurnSensor turns(getAccelerometer(), getGyroscope());
return turns;
}
};
#endif // SENSORFACTORY_H

58
sensors/StepSensor.h
View File

@@ -1,66 +1,46 @@
#ifndef STEPSENSOR_H
#define STEPSENSOR_H
#include "../misc/fixc11.h"
#include <Indoor/sensors/imu/StepDetection.h>
#include "AccelerometerSensor.h"
#include "Sensor.h"
struct StepData {
;
const int stepsSinceLastEvent = 0;
StepData(const int stepsSinceLastEvent) : stepsSinceLastEvent(stepsSinceLastEvent) {;}
};
class StepSensor : public Sensor<StepData>, public SensorListener<AccelerometerData> {
/**
* step-sensor detects steps from the accelerometer
*/
class StepSensor : public SensorListener<AccelerometerData>, public Sensor<StepData> {
private:
AccelerometerSensor& acc;
StepDetection sd;
public:
/** hidden ctor. use singleton */
StepSensor(AccelerometerSensor& acc) : acc(acc) {
;
}
void start() override {
StepSensor(AccelerometerSensor& acc) {
acc.addListener(this);
acc.start();
}
void stop() override {
throw "todo";
virtual void start() override {
//
}
virtual void onSensorData(const AccelerometerData& data) override {
parse(data);
virtual void stop() override {
//
}
protected:
const float threshold = 11.0;
const int blockTime = 25;
int block = 0;
void parse(const AccelerometerData& data) {
const float x = data.x;
const float y = data.y;
const float z = data.z;
const float mag = std::sqrt( (x*x) + (y*y) + (z*z) );
if (block > 0) {
--block;
} else if (mag > threshold) {
informListeners(StepData());
block = blockTime;
virtual void onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) override {
(void) sensor;
const bool step = sd.add(ts, data);
if (step) {
informListeners(ts, StepData(1));
}
}
};
#endif // STEPSENSOR_H

53
sensors/TurnSensor.h Normal file
View File

@@ -0,0 +1,53 @@
#ifndef TURNSENSOR_H
#define TURNSENSOR_H
#include <Indoor/sensors/imu/TurnDetection.h>
#include "AccelerometerSensor.h"
#include "GyroscopeSensor.h"
struct TurnData {
float radSinceLastEvent;
float radSinceStart;
TurnData() : radSinceLastEvent(0), radSinceStart(0) {;}
};
class TurnSensor : public SensorListener<AccelerometerData>, public SensorListener<GyroscopeData>, public Sensor<TurnData> {
private:
TurnDetection turn;
TurnData data;
public:
/** ctor */
TurnSensor(AccelerometerSensor& acc, GyroscopeSensor& gyro) {
acc.addListener(this);
gyro.addListener(this);
}
void start() override {
//
}
void stop() override {
//
}
virtual void onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) override {
(void) sensor;
turn.addAccelerometer(ts, data);
}
virtual void onSensorData(Sensor<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) override {
(void) sensor;
const float rad = turn.addGyroscope(ts, data);
this->data.radSinceLastEvent = rad;
this->data.radSinceStart += rad;
informListeners(ts, this->data);
}
};
#endif // TURNSENSOR_H

43
sensors/WiFiSensor.h
View File

@@ -1,35 +1,36 @@
#ifndef WIFISENSOR_H
#define WIFISENSOR_H
#include "../misc/fixc11.h"
#include <string>
#include <sstream>
#include "Sensor.h"
#include <Indoor/sensors/radio/WiFiMeasurements.h>
//struct WiFiSensorDataEntry {
// std::string bssid;
// float rssi;
// WiFiSensorDataEntry(const std::string& bssid, const float rssi) : bssid(bssid), rssi(rssi) {;}
// std::string asString() const {
// std::stringstream ss;
// ss << bssid << '\t' << (int)rssi;
// return ss.str();
// }
//};
struct WiFiSensorDataEntry {
std::string bssid;
float rssi;
WiFiSensorDataEntry(const std::string& bssid, const float rssi) : bssid(bssid), rssi(rssi) {;}
std::string asString() const {
std::stringstream ss;
ss << bssid << '\t' << (int)rssi;
return ss.str();
}
};
struct WiFiSensorData {
std::vector<WiFiSensorDataEntry> entries;
std::string asString() const {
std::stringstream ss;
for(const WiFiSensorDataEntry& e : entries) {ss << e.asString() << '\n';}
return ss.str();
}
};
//struct WiFiSensorData {
// std::vector<WiFiSensorDataEntry> entries;
// std::string asString() const {
// std::stringstream ss;
// for(const WiFiSensorDataEntry& e : entries) {ss << e.asString() << '\n';}
// return ss.str();
// }
//};
/** interface for all wifi sensors */
class WiFiSensor : public Sensor<WiFiSensorData> {
class WiFiSensor : public Sensor<WiFiMeasurements> {
protected:

2
sensors/android/AccelerometerSensorAndroid.h
View File

@@ -51,6 +51,6 @@ public:
};
#endif ANDROID
#endif // ANDROID
#endif // ACCELEROMETERSENSORANDROID_H

55
sensors/android/BarometerSensorAndroid.h Normal file
View File

@@ -0,0 +1,55 @@
#ifndef BAROMETERSENSORANDROID_H
#define BAROMETERSENSORANDROID_H
#ifdef ANDROID
#include <sstream>
#include "../BarometerSensor.h"
#include <QtSensors/QPressureSensor>
#include "../AccelerometerSensor.h"
class BarometerSensorAndroid : public BarometerSensor {
private:
QPressureSensor baro;
/** hidden ctor. use singleton */
BarometerSensorAndroid() {
;
}
public:
/** singleton access */
static BarometerSensorAndroid& get() {
static BarometerSensorAndroid baro;
return baro;
}
void start() override {
auto onSensorData = [&] () {
BarometerData data(baro.reading()->pressure());
informListeners(data);
};
baro.connect(&baro, &QPressureSensor::readingChanged, onSensorData);
baro.start();
}
void stop() override {
throw "TODO";
}
};
#endif
#endif // BAROMETERSENSORANDROID_H

59
sensors/android/GyroscopeSensorAndroid.h Normal file
View File

@@ -0,0 +1,59 @@
#ifndef GYROSCOPESENSORANDROID_H
#define GYROSCOPESENSORANDROID_H
#ifdef ANDROID
#include <sstream>
#include "../GyroscopeSensor.h"
#include <QtSensors/QGyroscope>
#include "../AccelerometerSensor.h"
class GyroscopeSensorAndroid : public GyroscopeSensor {
private:
QGyroscope gyro;
/** hidden ctor. use singleton */
GyroscopeSensorAndroid() {
;
}
public:
/** singleton access */
static GyroscopeSensorAndroid& get() {
static GyroscopeSensorAndroid gyro;
return gyro;
}
float degToRad(const float deg) {
return deg / 180.0f * M_PI;
}
void start() override {
auto onSensorData = [&] () {
GyroscopeData data(degToRad(gyro.reading()->x()), degToRad(gyro.reading()->y()), degToRad(gyro.reading()->z()));
informListeners(data);
};
gyro.connect(&gyro, &QGyroscope::readingChanged, onSensorData);
gyro.start();
}
void stop() override {
throw "TODO";
}
};
#endif // ANDROID
#endif // GYROSCOPESENSORANDROID_H

41
sensors/android/SensorFactoryAndroid.h Normal file
View File

@@ -0,0 +1,41 @@
#ifndef SENSORFACTORYANDROID_H
#define SENSORFACTORYANDROID_H
#ifdef ANDROID
#include "../SensorFactory.h"
#include "WiFiSensorAndroid.h"
#include "AccelerometerSensorAndroid.h"
#include "GyroscopeSensorAndroid.h"
#include "BarometerSensorAndroid.h"
/**
* sensor factory that provides real hardware sensors from
* an android smartphone that fire real data values
*/
class SensorFactoryAndroid : public SensorFactory {
public:
WiFiSensor& getWiFi() override {
return WiFiSensorAndroid::get();
}
AccelerometerSensor& getAccelerometer() override {
return AccelerometerSensorAndroid::get();
}
GyroscopeSensor& getGyroscope() override {
return GyroscopeSensorAndroid::get();
}
BarometerSensor& getBarometer() override {
return BarometerSensorAndroid::get();
}
};
#endif
#endif // SENSORFACTORYANDROID_H

20
sensors/android/WiFiSensorAndroid.cpp Normal file
View File

@@ -0,0 +1,20 @@
#ifdef ANDROID
#include "WiFiSensorAndroid.h"
extern "C" {
/** called after each successful WiFi scan */
JNIEXPORT void JNICALL Java_indoor_java_WiFi_onScanComplete(JNIEnv* env, jobject jobj, jbyteArray arrayID) {
(void) env; (void) jobj;
jsize length = env->GetArrayLength(arrayID);
jboolean isCopy;
jbyte* data = env->GetByteArrayElements(arrayID, &isCopy);
std::string str((char*)data, length);
env->ReleaseByteArrayElements(arrayID, data, JNI_ABORT);
WiFiSensorAndroid::get().handle(str);
}
}
#endif

17
sensors/android/WiFiSensorAndroid.h
View File

@@ -40,7 +40,7 @@ public:
void handle(const std::string& data) {
// to-be-constructed sensor data
WiFiSensorData sensorData;
WiFiMeasurements sensorData;
// parse each mac->rssi entry
for (int i = 0; i < (int)data.length(); i += 17+1+2) {
@@ -49,7 +49,7 @@ public:
const int8_t pad1 = data[i+18];
const int8_t pad2 = data[i+19];
if (pad1 != 0 || pad2 != 0) {Debug::error("padding error within WiFi scan result");}
sensorData.entries.push_back(WiFiSensorDataEntry(bssid, rssi));
sensorData.entries.push_back(WiFiMeasurement(AccessPoint(bssid), rssi));
}
// call listeners
@@ -60,20 +60,7 @@ public:
};
extern "C" {
/** called after each successful WiFi scan */
JNIEXPORT void JNICALL Java_indoor_java_WiFi_onScanComplete(JNIEnv* env, jobject jobj, jbyteArray arrayID) {
(void) env; (void) jobj;
jsize length = env->GetArrayLength(arrayID);
jboolean isCopy;
jbyte* data = env->GetByteArrayElements(arrayID, &isCopy);
std::string str((char*)data, length);
env->ReleaseByteArrayElements(arrayID, data, JNI_ABORT);
WiFiSensorAndroid::get().handle(str);
}
}
#endif

32
sensors/dummy/AccelerometerSensorDummy.h
View File

@@ -2,9 +2,17 @@
#define ACCELEROMETERSENSORDUMMY_H
#include "../AccelerometerSensor.h"
#include "RandomSensor.h"
#include <random>
class AccelerometerSensorDummy : public AccelerometerSensor {
class AccelerometerSensorDummy : public RandomSensor<AccelerometerData, AccelerometerSensor> {
private:
/** hidden ctor */
AccelerometerSensorDummy() : RandomSensor(Timestamp::fromMS(10)) {
;
}
public:
@@ -14,13 +22,25 @@ public:
return acc;
}
void start() override {
//throw "todo";
protected:
std::minstd_rand gen;
std::uniform_real_distribution<float> distNoise = std::uniform_real_distribution<float>(-0.5, +0.5);
AccelerometerData getRandomEntry() override {
const Timestamp ts = Timestamp::fromRunningTime();
const float Hz = 1.6;
const float intensity = 2.0;
const float x = distNoise(gen);
const float y = distNoise(gen);
const float z = 9.81 + std::sin(ts.sec()*2*M_PI*Hz) * intensity + distNoise(gen);
return AccelerometerData(x,y,z);
}
void stop() override {
throw "todo";
}
};

43
sensors/dummy/BarometerSensorDummy.h Normal file
View File

@@ -0,0 +1,43 @@
#ifndef BAROMETERSENSORDUMMY_H
#define BAROMETERSENSORDUMMY_H
#include "../BarometerSensor.h"
#include "RandomSensor.h"
#include <random>
class BarometerSensorDummy : public RandomSensor<BarometerData, BarometerSensor> {
private:
std::thread thread;
/** hidden ctor */
BarometerSensorDummy() : RandomSensor(Timestamp::fromMS(100)) {
;
}
public:
/** singleton access */
static BarometerSensorDummy& get() {
static BarometerSensorDummy baro;
return baro;
}
protected:
std::minstd_rand gen;
std::uniform_real_distribution<float> distNoise = std::uniform_real_distribution<float>(-0.09, +0.09);
BarometerData getRandomEntry() override {
const Timestamp ts = Timestamp::fromRunningTime();
const float hPa = 930 + std::sin(ts.sec()) * 0.5 + distNoise(gen);
return BarometerData(hPa);
}
};
#endif // BAROMETERSENSORDUMMY_H

48
sensors/dummy/GyroscopeSensorDummy.h Normal file
View File

@@ -0,0 +1,48 @@
#ifndef GYROSCOPESENSORDUMMY_H
#define GYROSCOPESENSORDUMMY_H
#include "../GyroscopeSensor.h"
#include "RandomSensor.h"
#include <random>
class GyroscopeSensorDummy : public RandomSensor<GyroscopeData, GyroscopeSensor> {
private:
/** hidden ctor */
GyroscopeSensorDummy() : RandomSensor(Timestamp::fromMS(10)) {
;
}
public:
/** singleton access */
static GyroscopeSensorDummy& get() {
static GyroscopeSensorDummy gyro;
return gyro;
}
protected:
std::minstd_rand gen;
std::uniform_real_distribution<float> distNoise = std::uniform_real_distribution<float>(-0.1, +0.1);
GyroscopeData getRandomEntry() override {
const Timestamp ts = Timestamp::fromRunningTime();
const float Hz = 0.1;
const float intensity = 0.35;
const float x = distNoise(gen);
const float y = distNoise(gen);
const float z = std::sin(ts.sec()*2*M_PI*Hz) * intensity + distNoise(gen);
return GyroscopeData(x,y,z);
}
};
#endif // GYROSCOPESENSORDUMMY_H

56
sensors/dummy/RandomSensor.h Normal file
View File

@@ -0,0 +1,56 @@
#ifndef RANDOMSENSOR_H
#define RANDOMSENSOR_H
#include <thread>
#include <Indoor/data/Timestamp.h>
#include <Indoor/Assertions.h>
template <typename Element, typename BaseClass> class RandomSensor : public BaseClass {
private:
std::thread thread;
bool running = false;
Timestamp interval;
public:
RandomSensor(const Timestamp interval) : interval(interval) {
;
}
void start() override {
Assert::isFalse(running, "sensor allready running!");
running = true;
thread = std::thread(&RandomSensor::run, this);
}
void stop() override {
Assert::isTrue(running, "sensor not yet running!");
running = false;
thread.join();
}
protected:
/** subclasses must provide a random entry here */
virtual Element getRandomEntry() = 0;
private:
void run() {
while(running) {
const Element rnd = getRandomEntry();
Sensor<Element>::informListeners(rnd);
std::this_thread::sleep_for(std::chrono::milliseconds(interval.ms()));
}
}
};
#endif // RANDOMSENSOR_H

36
sensors/dummy/SensorFactoryDummy.h Normal file
View File

@@ -0,0 +1,36 @@
#ifndef SENSORFACTORYDUMMY_H
#define SENSORFACTORYDUMMY_H
#include "../SensorFactory.h"
#include "WiFiSensorDummy.h"
#include "AccelerometerSensorDummy.h"
#include "GyroscopeSensorDummy.h"
#include "BarometerSensorDummy.h"
/**
* sensor factory that provides sensors that fire dummy data
*/
class SensorFactoryDummy : public SensorFactory {
public:
WiFiSensor& getWiFi() override {
return WiFiSensorDummy::get();
}
AccelerometerSensor& getAccelerometer() override {
return AccelerometerSensorDummy::get();
}
GyroscopeSensor& getGyroscope() override {
return GyroscopeSensorDummy::get();
}
BarometerSensor& getBarometer() override {
return BarometerSensorDummy::get();
}
};
#endif // SENSORFACTORYDUMMY_H

10
sensors/dummy/WiFiSensorDummy.h
View File

@@ -54,6 +54,12 @@ private:
aps.push_back(DummyAP("00:00:00:00:00:01", Point2(0, 0)));
aps.push_back(DummyAP("00:00:00:00:00:02", Point2(20, 0)));
aps.push_back(DummyAP("00:00:00:00:00:03", Point2(10, 20)));
aps.push_back(DummyAP("00:00:00:00:00:04", Point2(10, 30)));
aps.push_back(DummyAP("00:00:00:00:00:05", Point2(10, 40)));
aps.push_back(DummyAP("00:00:00:00:00:06", Point2(10, 50)));
aps.push_back(DummyAP("00:00:00:00:00:07", Point2(10, 60)));
aps.push_back(DummyAP("00:00:00:00:00:08", Point2(10, 70)));
aps.push_back(DummyAP("00:00:00:00:00:09", Point2(10, 80)));
float deg = 0;
@@ -73,11 +79,11 @@ private:
const float y = cy + std::cos(deg) * rad;
// construct scan data
WiFiSensorData scan;
WiFiMeasurements scan;
for (DummyAP& ap : aps) {
const float dist = ap.pos.getDistance(Point2(x, y));
const float rssi = LogDistanceModel::distanceToRssi(-40, 1.5, dist);
scan.entries.push_back(WiFiSensorDataEntry(ap.mac, rssi));
scan.entries.push_back(WiFiMeasurement(AccessPoint(ap.mac), rssi));
}
// call

71
sensors/linux/WiFiSensorLinux.h
View File

@@ -1,15 +1,38 @@
#ifndef WIFISENSORLINUX_H
#define WIFISENSORLINUX_H
#ifdef LINUX_DESKTOP
#include "../WiFiSensor.h"
#include <thread>
extern "C" {
#include "WiFiSensorLinuxC.h"
}
class WiFiSensorLinux : public WiFiSensor {
private:
std::vector<uint32_t> freqs = {2412, 2417, 2422, 2427, 2432, 2437, 2442, 2447, 2452, 2457, 2462, 2467, 2472};
bool running;
std::thread thread;
int ifIdx;
wifiState state;
private:
WiFiSensorLinux() {
ifIdx = wifiGetInterfaceIndex("wlp3s0");
if (ifIdx == 0) {throw Exception("wifi interface not found!");}
int ret = wifiGetDriver(&state);
if (ret != 0) {throw Exception("wifi driver not found!");}
std::cout << "if: " << ifIdx << std::endl;
}
public:
@@ -21,13 +44,59 @@ public:
}
void start() override {
running = true;
thread = std::thread(&WiFiSensorLinux::run, this);
}
void stop() override {
running = false;
thread.join();
}
private:
void run() {
wifiScanResult result;
wifiChannels channels;
channels.frequencies = freqs.data();
channels.numUsed = freqs.size();
while(running) {
int ret;
// trigger a scan
ret = wifiTriggerScan(&state, ifIdx, &channels);
if (ret != 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
continue;
}
// fetch scan result (blocks)
ret = wifiGetScanResult(&state, ifIdx, &result);
// convert to our format
const Timestamp ts = Timestamp::fromUnixTime();
WiFiMeasurements data;
for (int i = 0; i < result.numUsed; ++i) {
const std::string mac = result.entries[i].mac;
const int rssi = result.entries[i].rssi;
data.entries.push_back(WiFiMeasurement(AccessPoint(mac), rssi));
}
// and call the listeners
informListeners(ts, data);
}
}
};
#endif
#endif // WIFISENSORLINUX_H

376
sensors/linux/WiFiSensorLinuxC.c Normal file
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@@ -0,0 +1,376 @@
#ifdef LINUX_DESKTOP
#include "WiFiSensorLinuxC.h"
struct trigger_results {
int done;
int aborted;
};
struct handler_args { // For family_handler() and nl_get_multicast_id().
const char *group;
int id;
};
static int error_handler(struct sockaddr_nl *nla, struct nlmsgerr *err, void *arg) {
// Callback for errors.
printf("error_handler() called.\n");
int *ret = (int*)arg;
*ret = err->error;
return NL_STOP;
}
static int finish_handler(struct nl_msg *msg, void *arg) {
// Callback for NL_CB_FINISH.
int *ret = (int*)arg;
*ret = 0;
return NL_SKIP;
}
static int ack_handler(struct nl_msg *msg, void *arg) {
// Callback for NL_CB_ACK.
int *ret = (int*)arg;
*ret = 0;
return NL_STOP;
}
static int no_seq_check(struct nl_msg *msg, void *arg) {
// Callback for NL_CB_SEQ_CHECK.
return NL_OK;
}
static int family_handler(struct nl_msg *msg, void *arg) {
// Callback for NL_CB_VALID within nl_get_multicast_id(). From http://sourcecodebrowser.com/iw/0.9.14/genl_8c.html.
struct handler_args *grp = arg;
struct nlattr *tb[CTRL_ATTR_MAX + 1];
struct genlmsghdr *gnlh = nlmsg_data(nlmsg_hdr(msg));
struct nlattr *mcgrp;
int rem_mcgrp;
nla_parse(tb, CTRL_ATTR_MAX, genlmsg_attrdata(gnlh, 0), genlmsg_attrlen(gnlh, 0), NULL);
if (!tb[CTRL_ATTR_MCAST_GROUPS]) return NL_SKIP;
nla_for_each_nested(mcgrp, tb[CTRL_ATTR_MCAST_GROUPS], rem_mcgrp) { // This is a loop.
struct nlattr *tb_mcgrp[CTRL_ATTR_MCAST_GRP_MAX + 1];
nla_parse(tb_mcgrp, CTRL_ATTR_MCAST_GRP_MAX, nla_data(mcgrp), nla_len(mcgrp), NULL);
if (!tb_mcgrp[CTRL_ATTR_MCAST_GRP_NAME] || !tb_mcgrp[CTRL_ATTR_MCAST_GRP_ID]) continue;
if (strncmp((const char*)nla_data(tb_mcgrp[CTRL_ATTR_MCAST_GRP_NAME]), grp->group,
nla_len(tb_mcgrp[CTRL_ATTR_MCAST_GRP_NAME]))) {
continue;
}
grp->id = nla_get_u32(tb_mcgrp[CTRL_ATTR_MCAST_GRP_ID]);
break;
}
return NL_SKIP;
}
int nl_get_multicast_id(struct nl_sock *sock, const char *family, const char *group) {
// From http://sourcecodebrowser.com/iw/0.9.14/genl_8c.html.
struct nl_msg *msg;
struct nl_cb *cb;
int ret, ctrlid;
struct handler_args grp = { .group = group, .id = -ENOENT, };
msg = nlmsg_alloc();
if (!msg) return -ENOMEM;
cb = nl_cb_alloc(NL_CB_DEFAULT);
if (!cb) {
ret = -ENOMEM;
goto out_fail_cb;
}
ctrlid = genl_ctrl_resolve(sock, "nlctrl");
genlmsg_put(msg, 0, 0, ctrlid, 0, 0, CTRL_CMD_GETFAMILY, 0);
ret = -ENOBUFS;
NLA_PUT_STRING(msg, CTRL_ATTR_FAMILY_NAME, family);
ret = nl_send_auto_complete(sock, msg);
if (ret < 0) goto out;
ret = 1;
nl_cb_err(cb, NL_CB_CUSTOM, error_handler, &ret);
nl_cb_set(cb, NL_CB_ACK, NL_CB_CUSTOM, ack_handler, &ret);
nl_cb_set(cb, NL_CB_VALID, NL_CB_CUSTOM, family_handler, &grp);
while (ret > 0) nl_recvmsgs(sock, cb);
if (ret == 0) ret = grp.id;
nla_put_failure:
out:
nl_cb_put(cb);
out_fail_cb:
nlmsg_free(msg);
return ret;
}
void mac_addr_n2a(char *mac_addr, unsigned char *arg) {
// From http://git.kernel.org/cgit/linux/kernel/git/jberg/iw.git/tree/util.c.
int i, l;
l = 0;
for (i = 0; i < 6; i++) {
if (i == 0) {
sprintf(mac_addr+l, "%02x", arg[i]);
l += 2;
} else {
sprintf(mac_addr+l, ":%02x", arg[i]);
l += 3;
}
}
}
void print_ssid(unsigned char *ie, int ielen) {
uint8_t len;
uint8_t *data;
int i;
while (ielen >= 2 && ielen >= ie[1]) {
if (ie[0] == 0 && ie[1] >= 0 && ie[1] <= 32) {
len = ie[1];
data = ie + 2;
for (i = 0; i < len; i++) {
if (isprint(data[i]) && data[i] != ' ' && data[i] != '\\') printf("%c", data[i]);
else if (data[i] == ' ' && (i != 0 && i != len -1)) printf(" ");
else printf("\\x%.2x", data[i]);
}
break;
}
ielen -= ie[1] + 2;
ie += ie[1] + 2;
}
}
static int callback_trigger(struct nl_msg *msg, void *arg) {
// Called by the kernel when the scan is done or has been aborted.
struct genlmsghdr *gnlh = nlmsg_data(nlmsg_hdr(msg));
struct trigger_results *results = arg;
//printf("Got something.\n");
//printf("%d\n", arg);
//nl_msg_dump(msg, stdout);
if (gnlh->cmd == NL80211_CMD_SCAN_ABORTED) {
printf("Got NL80211_CMD_SCAN_ABORTED.\n");
results->done = 1;
results->aborted = 1;
} else if (gnlh->cmd == NL80211_CMD_NEW_SCAN_RESULTS) {
printf("Got NL80211_CMD_NEW_SCAN_RESULTS.\n");
results->done = 1;
results->aborted = 0;
} // else probably an uninteresting multicast message.
return NL_SKIP;
}
// called by the kernel for each detected AP
static int callback_dump(struct nl_msg *msg, void *arg) {
// user data
struct wifiScanResult* res = arg;
struct wifiScanResultEntry* entry = &(res->entries[res->numUsed]);
++res->numUsed;
struct genlmsghdr *gnlh = nlmsg_data(nlmsg_hdr(msg));
char mac_addr[20];
struct nlattr *tb[NL80211_ATTR_MAX + 1];
struct nlattr *bss[NL80211_BSS_MAX + 1];
static struct nla_policy bss_policy[NL80211_BSS_MAX + 1] = {
[NL80211_BSS_TSF] = { .type = NLA_U64 },
[NL80211_BSS_FREQUENCY] = { .type = NLA_U32 },
[NL80211_BSS_BSSID] = { },
[NL80211_BSS_BEACON_INTERVAL] = { .type = NLA_U16 },
[NL80211_BSS_CAPABILITY] = { .type = NLA_U16 },
[NL80211_BSS_INFORMATION_ELEMENTS] = { },
[NL80211_BSS_SIGNAL_MBM] = { .type = NLA_U32 },
[NL80211_BSS_SIGNAL_UNSPEC] = { .type = NLA_U8 },
[NL80211_BSS_STATUS] = { .type = NLA_U32 },
[NL80211_BSS_SEEN_MS_AGO] = { .type = NLA_U32 },
[NL80211_BSS_BEACON_IES] = { },
};
// Parse and error check.
nla_parse(tb, NL80211_ATTR_MAX, genlmsg_attrdata(gnlh, 0), genlmsg_attrlen(gnlh, 0), NULL);
if (!tb[NL80211_ATTR_BSS]) {
printf("bss info missing!\n");
return NL_SKIP;
}
if (nla_parse_nested(bss, NL80211_BSS_MAX, tb[NL80211_ATTR_BSS], bss_policy)) {
printf("failed to parse nested attributes!\n");
return NL_SKIP;
}
if (!bss[NL80211_BSS_BSSID]) return NL_SKIP;
if (!bss[NL80211_BSS_INFORMATION_ELEMENTS]) return NL_SKIP;
// signal-strength
int mBm = nla_get_s32(bss[NL80211_BSS_SIGNAL_MBM]);
entry->rssi = mBm / 100;
// mac-address
mac_addr_n2a(entry->mac, (unsigned char*)nla_data(bss[NL80211_BSS_BSSID]));
// Start printing.
// mac_addr_n2a(mac_addr, (unsigned char*)nla_data(bss[NL80211_BSS_BSSID]));
// printf("%s, ", mac_addr);
// printf("%d MHz, ", nla_get_u32(bss[NL80211_BSS_FREQUENCY]));
// print_ssid((unsigned char*)nla_data(bss[NL80211_BSS_INFORMATION_ELEMENTS]), nla_len(bss[NL80211_BSS_INFORMATION_ELEMENTS]));
// printf("%f dB", mBm/100.0f);
// printf("\n");
return NL_SKIP;
}
int wifiGetDriver(struct wifiState* state) {
// open nl80211 socket to kernel.
state->socket = nl_socket_alloc();
genl_connect(state->socket);
state->mcid = nl_get_multicast_id(state->socket, "nl80211", "scan");
nl_socket_add_membership(state->socket, state->mcid); // Without this, callback_trigger() won't be called.
state->driverID = genl_ctrl_resolve(state->socket, "nl80211");
return 0;
}
int wifiCleanup(struct wifiState* state) {
nl_socket_drop_membership(state->socket, state->mcid); // No longer need this.
nl_socket_free(state->socket);
}
int wifiGetScanResult(struct wifiState* state, int interfaceIndex, struct wifiScanResult* res) {
// reset the result. very important!
res->numUsed = 0;
// new message
struct nl_msg *msg = nlmsg_alloc();
// configure message
genlmsg_put(msg, 0, 0, state->driverID, 0, NLM_F_DUMP, NL80211_CMD_GET_SCAN, 0);
nla_put_u32(msg, NL80211_ATTR_IFINDEX, interfaceIndex);
// add the to-be-called function for each detected AP
nl_socket_modify_cb(state->socket, NL_CB_VALID, NL_CB_CUSTOM, callback_dump, res);
// send
int ret = nl_send_auto(state->socket, msg);
printf("NL80211_CMD_GET_SCAN sent %d bytes to the kernel.\n", ret);
// get answer (potential error-code)
ret = nl_recvmsgs_default(state->socket);
nlmsg_free(msg);
if (ret < 0) { printf("ERROR: nl_recvmsgs_default() returned %d (%s).\n", ret, nl_geterror(-ret)); return ret; }
}
int wifiTriggerScan(struct wifiState* state, int interfaceIndex, struct wifiChannels* channels) {
// Starts the scan and waits for it to finish. Does not return until the scan is done or has been aborted.
struct trigger_results results = { .done = 0, .aborted = 0 };
struct nl_msg *msg;
struct nl_cb *cb;
struct nl_msg *freqs_to_scan;
int err;
int ret;
// Allocate the messages and callback handler.
msg = nlmsg_alloc();
if (!msg) {
printf("ERROR: Failed to allocate netlink message for msg.\n");
return -ENOMEM;
}
freqs_to_scan = nlmsg_alloc();
if (!freqs_to_scan) {
printf("ERROR: Failed to allocate netlink message for ssids_to_scan.\n");
nlmsg_free(msg);
return -ENOMEM;
}
cb = nl_cb_alloc(NL_CB_DEFAULT);
if (!cb) {
printf("ERROR: Failed to allocate netlink callbacks.\n");
nlmsg_free(msg);
nlmsg_free(freqs_to_scan);
return -ENOMEM;
}
// Setup the messages and callback handler.
genlmsg_put(msg, 0, 0, state->driverID, 0, 0, NL80211_CMD_TRIGGER_SCAN, 0); // Setup which command to run.
nla_put_u32(msg, NL80211_ATTR_IFINDEX, interfaceIndex); // Add message attribute, which interface to use.
// limit to-be-scanned channels?
if (channels->numUsed > 0) {
for (int i = 0; i < channels->numUsed; ++i) { nla_put_u32(freqs_to_scan, 0, channels->frequencies[i]); }
nla_put_nested(msg, NL80211_ATTR_SCAN_FREQUENCIES, freqs_to_scan);
}
nlmsg_free(freqs_to_scan);
nl_cb_set(cb, NL_CB_VALID, NL_CB_CUSTOM, callback_trigger, &results); // Add the callback.
nl_cb_err(cb, NL_CB_CUSTOM, error_handler, &err);
nl_cb_set(cb, NL_CB_FINISH, NL_CB_CUSTOM, finish_handler, &err);
nl_cb_set(cb, NL_CB_ACK, NL_CB_CUSTOM, ack_handler, &err);
nl_cb_set(cb, NL_CB_SEQ_CHECK, NL_CB_CUSTOM, no_seq_check, NULL); // No sequence checking for multicast messages.
// Send NL80211_CMD_TRIGGER_SCAN to start the scan. The kernel may reply with NL80211_CMD_NEW_SCAN_RESULTS on
// success or NL80211_CMD_SCAN_ABORTED if another scan was started by another process.
err = 1;
ret = nl_send_auto(state->socket, msg); // Send the message.
printf("NL80211_CMD_TRIGGER_SCAN sent %d bytes to the kernel.\n", ret);
printf("Waiting for scan to complete...\n");
while (err > 0) ret = nl_recvmsgs(state->socket, cb); // First wait for ack_handler(). This helps with basic errors.
if (err < 0) {
printf("WARNING: err has a value of %d.\n", err);
}
if (ret < 0) {
printf("ERROR: nl_recvmsgs() returned %d (%s).\n", ret, nl_geterror(-ret));
return ret;
}
while (!results.done) nl_recvmsgs(state->socket, cb); // Now wait until the scan is done or aborted.
if (results.aborted) {
printf("ERROR: Kernel aborted scan.\n");
return 1;
}
printf("Scan is done.\n");
// Cleanup.
nlmsg_free(msg);
nl_cb_put(cb);
return 0;
}
int wifiGetInterfaceIndex(const char *name) {
return if_nametoindex(name);
}
#endif

49
sensors/linux/WiFiSensorLinuxC.h Normal file
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@@ -0,0 +1,49 @@
#ifndef WIFISENSORLINUXC_H
#define WIFISENSORLINUXC_H
#ifdef LINUX_DESKTOP
#include <errno.h>
#include <netlink/errno.h>
#include <netlink/netlink.h>
#include <netlink/genl/genl.h>
#include <netlink/genl/ctrl.h>
#include <linux/nl80211.h>
#include <net/if.h>
struct wifiChannels {
uint32_t* frequencies; // array of frequencies
uint32_t numUsed; // number of array elements
};
struct wifiScanResultEntry {
char mac[17];
int rssi;
};
struct wifiScanResult {
struct wifiScanResultEntry entries[128];
int numUsed;
};
struct wifiState {
struct nl_sock* socket;
int driverID;
int mcid;
};
/** get the driver used for scanning */
int wifiGetDriver(struct wifiState* state);
/** convert interface name to index number. 0 if interface is not present */
int wifiGetInterfaceIndex(const char* name);
/** trigger a scan on the given channels / the provided interface */
int wifiTriggerScan(struct wifiState* state, int interfaceIndex, struct wifiChannels* channels);
/** blocking get the result of a triggered scan */
int wifiGetScanResult(struct wifiState* state, int interfaceIndex, struct wifiScanResult* res);
#ifdef LINUX_DESKTOP
#endif // WIFISENSORLINUXC_H

110
sensors/offline/AllInOneSensor.h Normal file
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#ifndef ALLINONESENSOR_H
#define ALLINONESENSOR_H
#include "Settings.h"
#include <string>
#include "../WiFiSensor.h"
#include "../AccelerometerSensor.h"
#include "../GyroscopeSensor.h"
#include "../BarometerSensor.h"
#include <Indoor/sensors/offline/OfflineAndroid.h>
class AllInOneSensor :
public WiFiSensor, public AccelerometerSensor, public GyroscopeSensor, public BarometerSensor,
public OfflineAndroidListener {
private:
std::string file;
bool running = false;
std::thread thread;
public:
AllInOneSensor(const std::string& file) : file(file) {
;
}
void start() {
if (running) {return;}
running = true;
thread = std::thread(&AllInOneSensor::run, this);
}
void stop() {
if (!running) {return;}
running = false;
thread.join();
}
protected:
virtual void onGyroscope(const Timestamp _ts, const GyroscopeData data) override {
const Timestamp ts = relativeTS(_ts);
handbrake(ts);
GyroscopeSensor::informListeners(ts, data);
}
virtual void onAccelerometer(const Timestamp _ts, const AccelerometerData data) override {
const Timestamp ts = relativeTS(_ts);
handbrake(ts);
AccelerometerSensor::informListeners(ts, data);
}
virtual void onGravity(const Timestamp ts, const AccelerometerData data) override {
(void) ts;
(void) data;
}
virtual void onWiFi(const Timestamp _ts, const WiFiMeasurements data) override {
const Timestamp ts = relativeTS(_ts);
handbrake(ts);
WiFiMeasurements copy = data;
for (WiFiMeasurement& m : copy.entries) {m.ts = ts;} // make each timestmap also relative
WiFiSensor::informListeners(ts, copy);
}
virtual void onBarometer(const Timestamp _ts, const BarometerData data) override {
const Timestamp ts = relativeTS(_ts);
handbrake(ts);
BarometerSensor::informListeners(ts, data);
}
private:
Timestamp baseTS;
Timestamp relativeTS(const Timestamp ts) {
if (baseTS.isZero()) {baseTS = ts;}
return ts - baseTS;
}
/** handbrake for the offline-parser to ensure realtime events */
Timestamp startSensorTS;
Timestamp startSystemTS;
void handbrake(const Timestamp ts) {
if (startSensorTS.isZero()) {startSensorTS = ts;}
if (startSystemTS.isZero()) {startSystemTS = Timestamp::fromUnixTime();}
const Timestamp runtimeOfflineData = ts - startSensorTS;;
const Timestamp runtimeSystemTime = (Timestamp::fromUnixTime() - startSystemTS) * Settings::offlineSensorSpeedup;
const Timestamp diff = (runtimeOfflineData - runtimeSystemTime);
if (diff > Timestamp::fromMS(0)) {
std::this_thread::sleep_for(std::chrono::milliseconds(diff.ms()));
}
}
private:
/**
* file-parsing runs in a background thread
* the parsing is manually slowed down via handbrake()
* which blocks during the event callbacks
*/
void run() {
OfflineAndroid parser;
parser.parse(file, this);
}
};
#endif // ALLINONESENSOR_H

43
sensors/offline/SensorFactoryOffline.h Normal file
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#ifndef SENSORFACTORYOFFLINE_H
#define SENSORFACTORYOFFLINE_H
#include <thread>
#include "../SensorFactory.h"
#include "AllInOneSensor.h"
#include <Indoor/sensors/offline/OfflineAndroid.h>
/**
* factory class that provides sensors that fire events from offline data
*/
class SensorFactoryOffline : public SensorFactory {
private:
AllInOneSensor allInOne;
public:
SensorFactoryOffline(const std::string& file) : allInOne(file) {
;
}
WiFiSensor& getWiFi() override {
return allInOne;
}
AccelerometerSensor& getAccelerometer() override {
return allInOne;
}
GyroscopeSensor& getGyroscope() override {
return allInOne;
}
BarometerSensor& getBarometer() override {
return allInOne;
}
};
#endif // SENSORFACTORYOFFLINE_H

90
ui/Icons.h Normal file
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#ifndef ICONS_H
#define ICONS_H
#include "../misc/fixc11.h"
#include <QIcon>
#include <QImage>
#include <QPainter>
#include <QRgb>
#include <QtSvg/QSvgRenderer>
#include <unordered_map>
class Icons {
public:
static const QPixmap& getPixmap(const std::string& name, const int size = 32) {
// caching
static std::unordered_map<std::string, QPixmap> cache;
// try to get the image from the cache
const std::string cacheKey = std::to_string(size) + name;
auto it = cache.find(cacheKey);
// not in cache?
if (it == cache.end()) {
// build
const QColor fill = Qt::transparent;
const std::string file = "://res/icons/" + name + ".svg";
QSvgRenderer renderer(QString(file.c_str()));
QPixmap pm(size, size);
pm.fill(fill);
QPainter painter(&pm);
renderer.render(&painter, pm.rect());
// add to cache
cache[cacheKey] = pm;
}
// done
return cache[cacheKey];
}
static const QPixmap& getPixmapColored(const std::string& name, const QColor color, const int size = 32) {
// caching
static std::unordered_map<std::string, QPixmap> cache;
// try to get the image from the cache
const QString hex = color.name();
const std::string cacheKey = hex.toStdString() + "_" + std::to_string(size) + "_" + name;
auto it = cache.find(cacheKey);
// not in cache?
if (it == cache.end()) {
// copy
QPixmap colored = getPixmap(name, size);
QPainter painter(&colored);
painter.setCompositionMode(QPainter::CompositionMode_SourceIn);
painter.fillRect(colored.rect(), color);
painter.end();
// add to cache
cache[cacheKey] = colored;
}
// done
return cache[cacheKey];
}
static QIcon getIcon(const std::string& name, const int size = 32) {
return QIcon(getPixmap(name, size));
}
};
#endif // ICONS_H

35
ui/MainWindow.cpp Normal file
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#include "MainWindow.h"
#include <QResizeEvent>
#include "map/MapView.h"
#include "menu/MainMenu.h"
#include "debug/SensorDataWidget.h"
MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
setMinimumHeight(500);
setMinimumWidth(500);
mapView = new MapView(this);
mainMenu = new MainMenu(this);
sensorWidget = new SensorDataWidget(this);
//sensorWidget->setVisible(false);
showMaximized();
}
void MainWindow::resizeEvent(QResizeEvent* event) {
const int w = event->size().width();
const int h = event->size().height();
mapView->setGeometry(0,0,w,h);
mainMenu->setGeometry(0,0,w,64);
sensorWidget->setGeometry(0,64,w,h-64);
}

43
ui/MainWindow.h Normal file
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#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QWidget>
class MapView;
class MainMenu;
class SensorDataWidget;
class MainWindow : public QWidget {
Q_OBJECT
public:
/** ctor */
explicit MainWindow(QWidget *parent = 0);
private:
MapView* mapView = nullptr;
MainMenu* mainMenu = nullptr;
SensorDataWidget* sensorWidget = nullptr;
public:
MapView* getMapView() const {return mapView;}
MainMenu* getMainMenu() const {return mainMenu;}
SensorDataWidget* getSensorDataWidget() const {return sensorWidget;}
// void setMapView(QWidget* widget) {mapView = widget; mapView->setParent(this);}
// void setMainMenu(QWidget* widget) {mainMenu = widget; mainMenu->setParent(this);}
// void setSensorWidget(QWidget* widget) {sensorWidget = widget; sensorWidget->setParent(this);}
signals:
public slots:
void resizeEvent(QResizeEvent* event);
};
#endif // MAINWINDOW_H

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#include "PlotTurns.h"
#include <QPainter>
PlotTurns::PlotTurns(QWidget *parent) : QWidget(parent) {
setMinimumWidth(96);
setMinimumHeight(96);
resize(96, 96);
// setMaximumWidth(64);
// setMaximumHeight(64);
}
void PlotTurns::add(const Timestamp ts, const TurnData& data) {
(void) ts;
this->data = data;
static int i = 0;
if (++i % 4 == 0) {
QMetaObject::invokeMethod(this, "update", Qt::QueuedConnection);
}
}
void PlotTurns::paintEvent(QPaintEvent* evt) {
(void) evt;
QPainter p(this);
const float s = std::min(width(), height());
const float s1 = s / 1.9;
const float cx = width() / 2;
const float cy = height() / 2;
const float x1 = cx + std::cos(data.radSinceStart-M_PI_2) * s1;
const float y1 = cy + std::sin(data.radSinceStart-M_PI_2) * s1;
p.fillRect(0,0,width(),height(),QColor(255,255,255,192));
p.setPen(Qt::black);
p.drawRect(0,0,width()-1,height()-1);
const QPen pen(Qt::black, 2);
p.setPen(pen);
p.drawLine(cx, cy, x1, y1);
p.end();
}

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#ifndef PLOTTURNS_H
#define PLOTTURNS_H
#include <QWidget>
#include "../sensors/TurnSensor.h"
#include <Indoor/data/Timestamp.h>
class PlotTurns : public QWidget {
Q_OBJECT
private:
TurnData data;
public:
explicit PlotTurns(QWidget *parent = 0);
void add(const Timestamp ts, const TurnData& data);
signals:
public slots:
void paintEvent(QPaintEvent*);
};
#endif // PLOTTURNS_H

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#include "../misc/fixc11.h"
#include "PlotWiFiScan.h"
#include <QPainter>
#include <QStaticText>
PlotWiFiScan::PlotWiFiScan(QWidget *parent) : QWidget(parent) {
setMinimumWidth(96);
setMinimumHeight(96);
//setAutoFillBackground(false);
}
void PlotWiFiScan::add(const Timestamp ts, const WiFiMeasurements& data) {
(void) ts;
this->data = data;
QMetaObject::invokeMethod(this, "update", Qt::QueuedConnection);
}
void PlotWiFiScan::paintEvent(QPaintEvent* evt) {
(void) evt;
QPainter p(this);
const int x0 = 4; const int xw = 150;
const int y0 = 3;
const int lh = 13;
int x = x0;
int y = y0;
p.fillRect(0,0,width(),height(),QColor(255,255,255,192));
p.setPen(Qt::black);
p.drawRect(0,0,width()-1,height()-1);
const QFont font("Arial", 9);
p.setFont(font);
p.setPen(Qt::black);
for (const WiFiMeasurement& m : data.entries) {
const std::string& mac = m.getAP().getMAC().asString();
std::string str = mac + ": " + std::to_string((int)m.getRSSI());
p.drawStaticText(x, y, QStaticText(str.c_str()));
y += lh;
if (y > 90) {y = y0; x += xw;}
}
p.end();
}

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#ifndef PLOTWIFISCAN_H
#define PLOTWIFISCAN_H
#include <QWidget>
#include "../sensors/WiFiSensor.h"
class PlotWiFiScan : public QWidget {
Q_OBJECT
private:
WiFiMeasurements data;
public:
/** ctor */
explicit PlotWiFiScan(QWidget *parent = 0);
void add(const Timestamp ts, const WiFiMeasurements& data);
signals:
public slots:
void paintEvent(QPaintEvent*);
};
#endif // PLOTWIFISCAN_H

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#include "../misc/fixc11.h"
#include "SensorDataWidget.h"
#include "plot/PlottWidget.h"
#include <QGridLayout>
#include <QColor>
#include "../sensors/SensorFactory.h"
#include "PlotTurns.h"
#include "PlotWiFiScan.h"
template <typename Data> void removeOld(Data& data, const Timestamp limit) {
if (data.size() < 2) {return;}
while ( (data.back().key - data.front().key) > limit.ms()) {
data.remove(0);
}
}
template <int num> class PlotXLines : public PlotWidget {
protected:
QColor colors[4] = {QColor(255,0,0), QColor(0,192,0), QColor(0,0,255), QColor(0,0,0)};
LinePlot line[num];
public:
PlotXLines(QWidget* parent) : PlotWidget(parent) {
for (int i = 0; i < num; ++i) {
pc.addPlot(&line[i]);
line[i].setColor(colors[i]);
}
}
void addLineNode(const Timestamp ts, const float y, const int idx) {
LinePlot& lp = line[idx];
lp.getData().add(ts.ms(), y);
}
Timestamp lastRefresh;
bool needsRefresh(const Timestamp ts) {
const Timestamp diff = ts - lastRefresh;
return (diff > Timestamp::fromMS(100));
}
void refresh(const Timestamp ts) {
// ensure event from main-thread using queued-connection
QMetaObject::invokeMethod(this, "update", Qt::QueuedConnection);
lastRefresh = ts;
}
};
class PlotAcc : public PlotXLines<3> {
protected:
PointPlot steps;
public:
PlotAcc(QWidget* parent) : PlotXLines(parent) {
steps.setColor(colors[2]);
steps.setPointSize(8);
pc.addPlot(&steps);
const float s = 4.2;
const float ref = 9.81;
pc.setValRange(Range(ref-s, ref+s));
}
void addStep(const Timestamp ts) {
steps.getData().add(ts.ms(), 9.81);
}
void add(const Timestamp ts, const AccelerometerData& data) {
addLineNode(ts, data.x, 0);
addLineNode(ts, data.y, 1);
addLineNode(ts, data.z, 2);
if (needsRefresh(ts)) {
limit();
refresh(ts);
}
}
void limit() {
const Timestamp limit = Timestamp::fromMS(3000);
removeOld(line[0].getData(), limit);
removeOld(line[1].getData(), limit);
removeOld(line[2].getData(), limit);
removeOld(steps.getData(), limit - Timestamp::fromMS(100)); // remove steps a little before. prevents errors
}
};
class PlotGyro : public PlotXLines<3> {
public:
PlotGyro(QWidget* parent) : PlotXLines(parent) {
const float s = 1;
const float ref = 0;
pc.setValRange(Range(ref-s, ref+s));
}
void add(const Timestamp ts, const GyroscopeData& data) {
addLineNode(ts, data.x, 0);
addLineNode(ts, data.y, 1);
addLineNode(ts, data.z, 2);
if (needsRefresh(ts)) {
limit();
refresh(ts);
}
}
void limit() {
const Timestamp limit = Timestamp::fromMS(3000);
removeOld(line[0].getData(), limit);
removeOld(line[1].getData(), limit);
removeOld(line[2].getData(), limit);
}
};
class PlotBaro : public PlotXLines<1> {
public:
PlotBaro(QWidget* parent) : PlotXLines(parent) {
}
void add(const Timestamp ts, const BarometerData& data) {
addLineNode(ts, data.hPa, 0);
if (needsRefresh(ts)) {
limit();
refresh(ts);
}
const float s = 0.5;
const float ref = line[0].getData().front().val;
pc.setValRange(Range(ref-s, ref+s));
}
void limit() {
removeOld(line[0].getData(), Timestamp::fromMS(8000));
}
};
class PlotTurn : public QWidget {
};
SensorDataWidget::SensorDataWidget(QWidget* parent) : QWidget(parent) {
QGridLayout* lay = new QGridLayout(this);
plotGyro = new PlotGyro(this);
plotAcc = new PlotAcc(this);
plotBaro = new PlotBaro(this);
plotTurn = new PlotTurns(this);
plotWiFi = new PlotWiFiScan(this);
lay->addWidget(plotGyro, 0, 0, 1, 4, Qt::AlignTop);
lay->addWidget(plotAcc, 1, 0, 1, 4, Qt::AlignTop);
lay->addWidget(plotBaro, 2, 0, 1, 4, Qt::AlignTop);
lay->addWidget(plotTurn, 3, 0, 1, 1, Qt::AlignTop);
lay->addWidget(plotWiFi, 3, 1, 1, 3, Qt::AlignTop);
SensorFactory::get().getAccelerometer().addListener(this);
SensorFactory::get().getGyroscope().addListener(this);
SensorFactory::get().getBarometer().addListener(this);
SensorFactory::get().getSteps().addListener(this);
SensorFactory::get().getTurns().addListener(this);
SensorFactory::get().getWiFi().addListener(this);
//setAutoFillBackground(false);
}
void SensorDataWidget::onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) {
(void) sensor;
((PlotAcc*)plotAcc)->add(ts, data);
}
void SensorDataWidget::onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) {
(void) sensor;
(void) data;
((PlotAcc*)plotAcc)->addStep(ts);
}
void SensorDataWidget::onSensorData(Sensor<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) {
(void) sensor;
((PlotGyro*)plotGyro)->add(ts, data);
}
void SensorDataWidget::onSensorData(Sensor<BarometerData>* sensor, const Timestamp ts, const BarometerData& data) {
(void) sensor;
((PlotBaro*)plotBaro)->add(ts, data);
}
void SensorDataWidget::onSensorData(Sensor<TurnData>* sensor, const Timestamp ts, const TurnData& data) {
(void) sensor;
((PlotTurns*)plotTurn)->add(ts, data);
}
void SensorDataWidget::onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) {
(void) sensor;
((PlotWiFiScan*)plotWiFi)->add(ts, data);
}

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#ifndef SENSORDATAWIDGET_H
#define SENSORDATAWIDGET_H
#include "../misc/fixc11.h"
#include "plot/PlottWidget.h"
#include <QWidget>
#include "../sensors/AccelerometerSensor.h"
#include "../sensors/GyroscopeSensor.h"
#include "../sensors/BarometerSensor.h"
#include "../sensors/StepSensor.h"
#include "../sensors/TurnSensor.h"
#include "../sensors/WiFiSensor.h"
class PlotWidget;
/** debug display for sensor data */
class SensorDataWidget :
public QWidget,
public SensorListener<AccelerometerData>,
public SensorListener<GyroscopeData>,
public SensorListener<BarometerData>,
public SensorListener<StepData>,
public SensorListener<TurnData>,
public SensorListener<WiFiMeasurements> {
Q_OBJECT
public:
SensorDataWidget(QWidget* parent);
void onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) override;
void onSensorData(Sensor<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) override;
void onSensorData(Sensor<BarometerData>* sensor, const Timestamp ts, const BarometerData& data) override;
void onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) override;
void onSensorData(Sensor<TurnData>* sensor, const Timestamp ts, const TurnData& data) override;
void onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) override;
private:
PlotWidget* plotGyro;
PlotWidget* plotAcc;
PlotWidget* plotBaro;
QWidget* plotTurn;
QWidget* plotWiFi;
};
#endif // SENSORDATAWIDGET_H

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#ifndef AXES_H
#define AXES_H
#include "Range.h"
class Axes {
/** min/max value to display */
Range range;
/** number of available pixels for above range */
int pixels;
/** whether to invert the axes */
bool invert = false;
public:
void setMin(const float min) {this->range.min = min;}
float getMin() const {return this->range.min;}
void setMax(const float max) {this->range.max = max;}
float getMax() const {return this->range.max;}
void setRange(const Range& range) {this->range = range;}
const Range& getRange() const {return this->range;}
void setPixels(const int px) {this->pixels = px;}
int getPixels() const {return this->pixels;}
void setInverted(const bool inverted) {this->invert = inverted;}
bool isInverted() const {return this->invert;}
float convert(const float val) const {
float percent = (val - range.min) / (range.getSize());
if (invert) {percent = 1-percent;}
return percent * pixels;
}
};
class AxesX : public Axes {
public:
AxesX() {
setInverted(false);
}
void setWidth(const int px) {setPixels(px);}
};
class AxesY : public Axes {
public:
AxesY() {
setInverted(true);
}
void setHeight(const int px) {setPixels(px);}
};
#endif // AXES_H

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#ifndef PLOT_DATA_H
#define PLOT_DATA_H
#include <vector>
#include "Range.h"
#include <cmath>
class Data {
using Key = float;
using Value = float;
public:
struct KeyVal {
Key key;
Value val;
KeyVal(const Key& key, const Value& val) : key(key), val(val) {;}
};
private:
/** contained data */
std::vector<KeyVal> data;
public:
/** add a new value */
void add(const Key key, const Value val) {
data.push_back(KeyVal(key,val));
}
/** remove the given index */
void remove(const int idx) {
data.erase(data.begin()+idx);
}
Key getKey(const int idx) const {
return data[idx].key;
}
Value getValue(const int idx) const {
return data[idx].val;
}
const KeyVal& getKeyValue(const int idx) const {
return data[idx];
}
const KeyVal& operator [] (const int idx) const {
return data[idx];
}
const KeyVal& front() const {return data.front();}
const KeyVal& back() const {return data.back();}
/** get the range (min/max) for the key-data (x-axes) */
Range getKeyRange() const {
Range range(+INFINITY,-INFINITY);
for (const KeyVal& kv : data) {range.adjust(kv.key);}
return range;
}
/** get the range (min/max) for the value-data (y-axes) */
Range getValueRange() const {
Range range(+INFINITY,-INFINITY);
for (const KeyVal& kv : data) {range.adjust(kv.val);}
return range;
}
/** get the number of entries */
size_t size() const {
return data.size();
}
};
#endif // PLOT_DATA_H

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#ifndef PLOT_H
#define PLOT_H
#include <QPainter>
#include "Axes.h"
#include "Data.h"
#include <Indoor/geo/Point2.h>
/** describes a plot-setup */
struct PlotParameters {
AxesX xAxes;
AxesY yAxes;
int w;
int h;
/** helper method */
Point2 getPoint(const typename Data::KeyVal& kv) const {
const float x1 = xAxes.convert(kv.key);
const float y1 = yAxes.convert(kv.val);
return Point2(x1, y1);
}
};
/** interface for all plots */
class Plot {
protected:
Data data;
QColor bg = QColor(255,255,255,128);
public:
virtual ~Plot() {;}
void render(QPainter& p, const PlotParameters& params) {
// maybe do something here?
renderSub(p, params);
}
Data& getData() {return data;}
Range getKeyRange() const {return data.getKeyRange();}
Range getValueRange() const {return data.getValueRange();}
protected:
/** subclasses must render themselves here */
virtual void renderSub(QPainter& p, const PlotParameters& params) = 0;
};
/** combine several plots (several lines, points, ...) together into one plot */
class PlotContainer {
private:
PlotParameters params;
std::vector<Plot*> plots;
public:
/** ctor */
PlotContainer() {
;
}
AxesX& getAxesX() {return params.xAxes;}
AxesY& getAxesY() {return params.yAxes;}
Range overwriteRangeKey = Range(0,0);
Range overwriteRangeVal = Range(0,0);
void setValRange(const Range& range) {overwriteRangeVal = range;}
void setKeyRange(const Range& range) {overwriteRangeKey = range;}
void resize(const int w, const int h) {
params.w = w;
params.h = h;
}
void addPlot(Plot* plt) {
plots.push_back(plt);
}
void render(QPainter& p) {
setupAxes();
QColor bg(255,255,255,192);
p.fillRect(0,0,params.w,params.h,bg);
p.setPen(Qt::black);
p.drawRect(0,0,params.w-1,params.h-1);
for (Plot* plt : plots) {
plt->render(p, params);
}
}
void setupAxes() {
params.xAxes.setPixels(params.w);
params.yAxes.setPixels(params.h);
Range keyRange(+INFINITY,-INFINITY);
Range valRange(+INFINITY,-INFINITY);
if (overwriteRangeKey.isValid()) {keyRange.adjust(overwriteRangeKey);}
if (overwriteRangeVal.isValid()) {valRange.adjust(overwriteRangeVal);}
/** calculate min/max for both x and y axis */
for (Plot* plt : plots) {
if (!overwriteRangeKey.isValid()) {keyRange.adjust(plt->getKeyRange());}
if (!overwriteRangeVal.isValid()) {valRange.adjust(plt->getValueRange());}
}
valRange.scale(1.1);
params.xAxes.setRange(keyRange);
params.yAxes.setRange(valRange);
}
};
class LinePlot : public Plot {
private:
QColor lineColor = QColor(0,0,255);
public:
void setColor(const QColor c) {
this->lineColor = c;
}
protected:
void renderSub(QPainter& p , const PlotParameters& params) override {
p.setPen(lineColor);
for (int i = 0; i < (int) data.size()-1; ++i) {
const typename Data::KeyVal kv1 = data[i+0];
const typename Data::KeyVal kv2 = data[i+1];
const Point2 p1 = params.getPoint(kv1);
const Point2 p2 = params.getPoint(kv2);
p.drawLine(p1.x, p1.y, p2.x, p2.y);
}
}
};
class PointPlot : public Plot {
private:
QColor pointColor = QColor(0,0,255);
float pointSize = 4;
public:
void setColor(const QColor c) {
this->pointColor = c;
}
void setPointSize(const float size) {
this->pointSize = size;
}
protected:
void renderSub(QPainter& p , const PlotParameters& params) override {
p.setPen(Qt::NoPen);
p.setBrush(pointColor);
for (int i = 0; i < (int) data.size(); ++i) {
const typename Data::KeyVal kv1 = data[i+0];
const Point2 p1 = params.getPoint(kv1);
p.drawEllipse(p1.x, p1.y, pointSize, pointSize);
}
}
};
#endif // PLOT_H

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#include "PlottWidget.h"
#include <QResizeEvent>
#include <QPaintEvent>
#include <QPainter>
PlotWidget::PlotWidget(QWidget *parent) : QWidget(parent) {
setMinimumSize(100, 100);
// LinePlot* lp = new LinePlot();
// pc.addPlot(lp);
// lp->getData().add(1, 1);
// lp->getData().add(2, 2);
// lp->getData().add(3, 3);
// lp->getData().add(4, 1);
// lp->getData().add(5, 2);
// lp->getData().add(6, 3);
// lp->getData().add(7, 1);
// lp->getData().add(8, 2);
// lp->getData().add(9, 3);
}
void PlotWidget::resizeEvent(QResizeEvent* evt) {
(void) evt;
pc.resize(width(), height());
}
void PlotWidget::paintEvent(QPaintEvent* evt) {
(void) evt;
QPainter p(this);
pc.render(p);
p.end();
}

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#ifndef PLOTTI_H
#define PLOTTI_H
#include <QWidget>
#include "Plot.h"
/** widget to render one plot */
class PlotWidget : public QWidget {
Q_OBJECT
public:
/** ctor */
explicit PlotWidget(QWidget *parent = 0);
protected:
PlotContainer pc;
signals:
public slots:
void paintEvent(QPaintEvent*);
void resizeEvent(QResizeEvent*);
};
#endif // PLOTTI_H

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#ifndef PLOT_RANGE_H
#define PLOT_RANGE_H
struct Range {
float min;
float max;
Range() : min(0), max(0) {;}
Range(const float min, const float max) : min(min), max(max) {
;
}
float getSize() const {
return max-min;
}
float getCenter() const {
return (max+min)/2;
}
bool isValid() const {
return getSize() > 0;
}
/** resize the region. 1.0 = keep-as-is */
void scale(const float val) {
const float center = getCenter();
const float size = getSize();
min = center - size / 2 * val;
max = center + size / 2 * val;
}
/** adjust (grow) the range */
void adjust(const float val) {
if (val < min) {min = val;}
if (val > max) {max = val;}
}
void adjust(const Range& o) {
if (o.min < min) {min = o.min;}
if (o.max > max) {max = o.max;}
}
};
#endif // PLOT_RANGE_H

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#include "LoadSetupDialog.h"
#include <QLabel>
#include <QPushButton>
#include <QListView>
#include <QFile>
#include <QDir>
#include <QStringListModel>
#include <iostream>
#include <Indoor/Assertions.h>
#include "../Config.h"
LoadSetupDialog::LoadSetupDialog() {
// the folder all map-setups reside within
const std::string base = Config::getMapDir();
QDir mapFolder(QString(base.c_str()));
// sanity check. folder must exist
Assert::isTrue(mapFolder.exists(), "folder not found: " + base);
// get all subfolders (each subfolder descibres one setup), skip the first two folders: "." and ".."
QStringList subfolders = mapFolder.entryList(QDir::Dirs);
subfolders.removeFirst();
subfolders.removeFirst();
// for (int i = 2; i < subfolders.size(); ++i) {
// const QString subfolder = subfolders[i];
// std::cout << subfolder.toStdString() << std::endl;
// }
int w = 350;
int h = 350;
const QFont font("Arial", 20);
QListView* lst = new QListView(this);
lst->setGeometry(5,5,w-5-5,h-5-5);
lst->setFont(font);
QStringListModel* mdl = new QStringListModel(subfolders);
lst->setModel(mdl);
// list item selected
connect(lst, &QListView::clicked, [this, base, subfolders] (const QModelIndex& idx) {
const int i = idx.row();
selDir = base + subfolders[i].toStdString();
this->close();
});
// QPushButton* btnOK = new QPushButton(this);
// btnOK->setText("OK");
// btnOK->setGeometry(5,h-32-5,w-5-5,32);
// // OK button clicked
// btnOK->connect(btnOK, &QPushButton::clicked, [&] () {
// this->close();
// });
this->resize(w,h);
}
QDir LoadSetupDialog::pickSetupFolder() {
LoadSetupDialog dlg;
dlg.exec();
return QDir(QString(dlg.selDir.c_str()));
}

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#ifndef LOADSETUPDIALOG_H
#define LOADSETUPDIALOG_H
#include <QDialog>
#include <QDir>
class LoadSetupDialog : public QDialog {
Q_OBJECT
private:
/** hidden ctor */
explicit LoadSetupDialog();
std::string selDir = "";
public:
/** show a dialog to open a data-folder */
static QDir pickSetupFolder();
};
#endif // LOADSETUPDIALOG_H

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map/FloorRenderer.h → ui/map/FloorRenderer.h
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266
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#include "MapView.h"
#include <QMouseEvent>
#include <QGLShaderProgram>
#include "elements/Walls.h"
#include "elements/Ground.h"
#include "elements/Handrails.h"
#include "elements/Stairs.h"
#include "elements/Doors.h"
#include "elements/Path.h"
#include "elements/ColorPoints.h"
#include "elements/Object.h"
#include <Indoor/data/Timestamp.h>
#include <QDebug>
/**
* before adding elements to the MapView via setMap(),
* the MapViews openGL context must be initialized
* that means: the MapView must have been added to a window,
* which is already visible!
*/
MapView::MapView(QWidget* parent) : QOpenGLWidget(parent) {
};
void MapView::clear() {
for (Renderable* r : elements) {delete r;}
elements.clear();
}
void MapView::setMap(Floorplan::IndoorMap* map) {
clear();
if (!isGLInitialized) {throw Exception("openGL is not yet initialized. add mapView to a visible window!");}
// first to be rendered
this->colorPoints = new ColorPoints();
elements.push_back(this->colorPoints);
//leDude = new Object("/mnt/firma/tmp/3D/minion/minion.obj", "/mnt/firma/tmp/3D/minion/minion.png", "", 0.35);
leDude = new Object("/mnt/firma/tmp/3D/gnome/gnome.obj", "/mnt/firma/tmp/3D/gnome/gnome_diffuse.jpg", "/mnt/firma/tmp/3D/gnome/gnome_normal.jpg", 0.033);
//leDude = new Object("/mnt/firma/tmp/3D/squirrel/squirrel.obj", "/mnt/firma/tmp/3D/squirrel/squirrel.jpg", "/mnt/firma/tmp/3D/squirrel/squirrel_normal.jpg", 0.033);
elements.push_back(leDude);
for (Floorplan::Floor* floor : map->floors) {
elements.push_back(new Ground(floor));
elements.push_back(new Walls(floor));
elements.push_back(new Handrails(floor));
elements.push_back(new Stairs(floor));
elements.push_back(new Doors(floor));
}
this->path = new Path();
elements.push_back(this->path);
// initialize the OpenGL context of all contained elements
for (Renderable* r : elements) {
r->initGL();
}
// i want the focus! needed for key-events
setFocusPolicy(Qt::StrongFocus);
}
void MapView::setPath(const std::vector<Point3>& path) {
this->path->set(path);
}
void MapView::timerEvent(QTimerEvent *) {
update();
}
void MapView::initializeGL() {
initializeOpenGLFunctions();
// basic config
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
// start background update timer
const int fps = 25;
const int interval = 1000 / fps;
timer.start(interval, this);
// OpenGL is now initialized
isGLInitialized = true;
}
void MapView::paintGL() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
draw();
}
void MapView::resizeGL(int w, int h) {
// Calculate aspect ratio
qreal aspect = qreal(w) / qreal(h ? h : 1);
// viewing frustrum [0:50] meter
const qreal zNear = 0.02, zFar = 50, fov = 50.0;
// Reset projection
matProject.setToIdentity();
matProject.scale(-1, 1, 1);
glCullFace(GL_FRONT);
//matProject.scale(0.05, 0.05, 0.05);
matProject.perspective(fov, aspect, zNear, zFar);
//matProject.scale(-0.01, 0.01, 0.01);
}
void MapView::rebuildLookat() {
// QVector3D qDir(lookAt.dir.x, lookAt.dir.z, lookAt.dir.y);
// QVector3D at = QVector3D(lookAt.pos.x, lookAt.pos.z, lookAt.pos.y);
// QVector3D eye = at + qDir * 0.1;
// QVector3D up = QVector3D(0,1,0);
// matView.setToIdentity();
// //matView.scale(0.01, 0.01, 0.01);
// matView.lookAt(eye, at, up);
// //matView.scale(0.99, 1, 1);
// //matView.translate(0.7, 0, 0);
// lightPos = eye + QVector3D(0.0, 4.0, 0.0);
// eyePos = eye;
const Point3 dir = lookAt.getDir();
QVector3D qDir(dir.x, dir.z, dir.y);
QVector3D eye(lookAt.eye_m.x, lookAt.eye_m.z, lookAt.eye_m.y);
QVector3D at = eye + qDir * 0.5;
QVector3D up = QVector3D(0,1,0);
matView.setToIdentity();
matView.lookAt(eye, at, up);
lightPos = eye + QVector3D(0.0, 0.5, 0.0) + qDir * 1.2;
eyePos = eye;
}
void MapView::setCurrentEstimation(const Point3 pos, const Point3 dir) {
const float angle = std::atan2(dir.y, dir.x) * 180 / M_PI;
if (leDude) {
leDude->setPosition(pos.x, pos.y, pos.z);
leDude->setRotation(0, 0, -angle + 90);
}
}
void MapView::setLookAt(const Point3 pos_m, const Point3 dir) {
lookAt.eye_m = pos_m + dir * 0.1;
lookAt.dir = dir;
rebuildLookat();
}
void MapView::setLookDir(const Point3 dir) {
lookAt.dir = dir;
rebuildLookat();
}
void MapView::setLookEye(const Point3 eye_m) {
lookAt.eye_m = eye_m;
rebuildLookat();
}
void MapView::mousePressEvent(QMouseEvent* evt) {
mouseState.down = true;
mouseState.x = evt->x();
mouseState.y = evt->y();
}
void MapView::mouseMoveEvent(QMouseEvent* evt) {
const float dx = evt->x() - mouseState.x;
const float dy = evt->y() - mouseState.y;
// PI*0.3 head movement left/right and up/down
const float yFac = (this->height() / 2) / (M_PI * 0.3);
const float xFac = (this->width() / 2) / (M_PI * 0.3);
lookAt.dirOffset = Point3(0, std::sin(dx/xFac), std::sin(-dy/yFac));
rebuildLookat();
}
void MapView::mouseReleaseEvent(QMouseEvent* evt) {
mouseState.down = false;
}
void MapView::keyPressEvent(QKeyEvent* evt) {
if (evt->key() == Qt::Key_W) {lookAt.eye_m += lookAt.getDir(); rebuildLookat();}
if (evt->key() == Qt::Key_S) {lookAt.eye_m -= lookAt.getDir(); rebuildLookat();}
}
void MapView::toggleRenderMode() {
renderMode = (RenderMode) (((int)renderMode + 1) % 3);
for (Renderable* r : elements) {
if (renderMode == RenderMode::OUTLINE) {
r->setOutlineOnly(true);
} else {
r->setOutlineOnly(false);
}
}
}
void MapView::draw() {
//const Timestamp ts1 = Timestamp::fromUnixTime();
// clear everything
glClearColor(0,0,0,1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (renderMode == RenderMode::TRANSPARENT) {
glEnable(GL_BLEND);
} else {
glDisable(GL_BLEND);
}
glBlendEquationSeparate(GL_FUNC_ADD, GL_FUNC_ADD);
glBlendFuncSeparate(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA, GL_ONE, GL_ZERO);
for (Renderable* r : elements) {
QOpenGLShaderProgram& program = r->getProgram();
program.bind();
// set the matrices
program.setUniformValue("m_matrix", r->modelMatrix.mat);
program.setUniformValue("mv_matrix", matView * r->modelMatrix.mat);
program.setUniformValue("mvp_matrix", matProject * matView * r->modelMatrix.mat);
program.setUniformValue("lightWorldPos", lightPos);
program.setUniformValue("eyeWorldPos", eyePos);
r->render();
}
//const Timestamp ts2 = Timestamp::fromUnixTime();
//qDebug("%d ms", (ts2-ts1).ms());
}

152
ui/map/MapView.h Normal file
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@@ -0,0 +1,152 @@
#ifndef MAPVIEW_H
#define MAPVIEW_H
#include <../misc/fixc11.h>
#include <QOpenGLWidget>
#include <QOpenGLFunctions>
#include <QOpenGLShaderProgram>
#include <QBasicTimer>
#include <Indoor/geo/Point3.h>
#include <Indoor/nav/dijkstra/DijkstraPath.h>
#include "elements/Path.h"
#include "elements/ColorPoints.h"
#include "elements/Object.h"
#include "../nav/State.h"
namespace Floorplan {
class IndoorMap;
}
class Renderable;
class Path;
class MapView : public QOpenGLWidget, protected QOpenGLFunctions {
Q_OBJECT
private:
QMatrix4x4 matProject;
QMatrix4x4 matView;
QVector3D lightPos;
QVector3D eyePos;
QBasicTimer timer;
std::vector<Renderable*> elements;
Path* path = nullptr;
ColorPoints* colorPoints = nullptr;
Object* leDude = nullptr;
struct LookAt {
Point3 eye_m = Point3(0,0,1);
Point3 dir = Point3(1,0,-0.1);
Point3 dirOffset = Point3(0,0,0);
Point3 getDir() const {return dir + dirOffset;}
} lookAt;
struct MouseState {
float x = 0;
float y = 0;
bool down = false;
} mouseState;
void rebuildLookat();
void clear();
public:
MapView(QWidget* parent = 0);
/** set the map to display */
void setMap(Floorplan::IndoorMap* map);
/** the position to look at + looking direction */
void setLookAt(const Point3 pos, const Point3 dir = Point3(1, 0, -0.1));
/** set the eye's looking direction (looking from eye into this direction) */
void setLookDir(const Point3 dir);
/** set the eye's position (looking from here) */
void setLookEye(const Point3 eye_m);
/** set the currently estimated position */
void setCurrentEstimation(const Point3 pos, const Point3 dir);
/** set the path to disply */
void setPath(const std::vector<Point3>& path);
/** NOTE: must be called from Qt's main thread! */
/** set the path to disply */
Q_INVOKABLE void setPath(const void* path) {
setPath( (const DijkstraPath<MyGridNode>*) path);
}
/** NOTE: must be called from Qt's main thread! */
/** set the path to disply */
template <typename Node> void setPath(const DijkstraPath<Node>* path) {
this->path->set(*path);
}
/** NOTE: must be called from Qt's main thread! */
void showGridImportance(Grid<MyGridNode>* grid) {
this->colorPoints->setFromGridImportance(grid);
}
/** NOTE: must be called from Qt's main thread! */
Q_INVOKABLE void showParticles(const void* particles) {
showParticles((const std::vector<K::Particle<MyState>>*) particles);
}
/** NOTE: must be called from Qt's main thread! */
void showParticles(const std::vector<K::Particle<MyState>>* particles) {
this->colorPoints->setFromParticles(*particles);
}
enum RenderMode {
NORMAL,
TRANSPARENT,
OUTLINE,
};
RenderMode renderMode = RenderMode::NORMAL;
void toggleRenderMode();
public slots:
void mousePressEvent(QMouseEvent*);
void mouseMoveEvent(QMouseEvent*);
void mouseReleaseEvent(QMouseEvent*);
void keyPressEvent(QKeyEvent*);
protected:
void timerEvent(QTimerEvent *e) Q_DECL_OVERRIDE;
void initializeGL();
void paintGL();
void resizeGL(int width, int height);
private:
bool isGLInitialized = false;
void draw();
};
#endif // MAPVIEW_H

76
ui/map/Renderable.h Normal file
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@@ -0,0 +1,76 @@
#ifndef RENDERABLE_H
#define RENDERABLE_H
#include <QOpenGLShaderProgram>
class Renderable {
protected:
QOpenGLShaderProgram program;
public:
/** dtor */
virtual ~Renderable() {;}
/** get the renderable's shader */
QOpenGLShaderProgram& getProgram() {return program;}
/** render the renderable */
void render() {
program.bind();
_render();
}
struct ModelMatrix {
QVector3D pos = QVector3D(0,0,0);
QVector3D rot = QVector3D(0,0,0);
QVector3D scale = QVector3D(1,1,1);
QMatrix4x4 mat;
ModelMatrix() {mat.setToIdentity();}
void update() {
const QVector3D _rot = rot.normalized();
const float rotDeg = rot.length();
mat.setToIdentity();
mat.scale(scale.x(), scale.y(), scale.z());
mat.translate(pos.x(), pos.y(), pos.z());
mat.rotate(rotDeg, _rot.x(), _rot.y(), _rot.z());
}
} modelMatrix;
void setPosition(QVector3D vec) {
modelMatrix.pos = vec * 0.99;
modelMatrix.update();
}
void setPosition(const float x, const float y, const float z) {
setPosition(QVector3D(x,z,y));
}
/** in degrees! */
void setRotation(const float x, const float y, const float z) {
modelMatrix.rot = QVector3D(x,z,y);
modelMatrix.update();
}
virtual void setOutlineOnly(const bool outline) {;}
virtual void initGL() = 0;
virtual void _render() = 0;
protected:
/** helper method to build the shader */
void loadShader(const QString& vertex, const QString& fragment) {
program.removeAllShaders();
if (!program.addShaderFromSourceFile(QOpenGLShader::Vertex, vertex)) {throw "1";}
if (!program.addShaderFromSourceFile(QOpenGLShader::Fragment, fragment)) {throw "2";}
if (!program.link()) {throw "3";}
if (!program.bind()) {throw "4";}
}
};
#endif // RENDERABLE_H

114
ui/map/elements/ColorPoints.h Normal file
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@@ -0,0 +1,114 @@
#ifndef GL_PARTICLES_H
#define GL_PARTICLES_H
#include <Indoor/floorplan/v2/Floorplan.h>
#include <KLib/math/filter/particles/ParticleFilter.h>
#include "../gl/GLHelper.h"
#include "../gl/GLPoints.h"
#include "../Renderable.h"
#include "../../../nav/Node.h"
class ColorPoints : public Renderable {
private:
GLPoints points;
float size = 3.0f;
public:
/** ctor */
ColorPoints() {
}
/** NOTE: must be called from Qt's main thread! */
void setFromGridImportance(Grid<MyGridNode>* grid) {
points.clear();
for (const MyGridNode& n : *grid) {
const QVector3D pt(n.x_cm/100.0f, n.z_cm/100.0f + 0.1f, n.y_cm/100.0f); // swap z and y
const float f = n.getNavImportance();
float h = 0.66 - (f*0.20); // 0.66 is blue on the HSV-scale
if (h < 0) {h = 0;}
if (h > 1) {h = 1;}
const QColor color = QColor::fromHsvF(h, 1, 1);
points.addPoint(pt, color);
}
size = 3.0f;
points.rebuild();
}
/** NOTE: must be called from Qt's main thread! */
template <typename T> void setFromParticles(const std::vector<K::Particle<T>>& particles) {
points.clear();
// group particles by grid-point
std::unordered_map<GridPoint, float> weights;
for (const K::Particle<T>& p : particles) {
const GridPoint gp = p.state.position;
weights[gp] += p.weight;
}
// find min/max
float min = +INFINITY;
float max = -INFINITY;
for (auto it : weights) {
if (it.second > max) {max = it.second;}
if (it.second < min) {min = it.second;}
}
// draw colored
for (auto it : weights) {
const GridPoint gp = it.first;
const float w = it.second;
const float p = (w-min) / (max-min); // [0:1]
const QVector3D pt(gp.x_cm/100.0f, gp.z_cm/100.0f + 0.1f, gp.y_cm/100.0f); // swap z and y
float h = 0.66 - (p*0.66); // 0.66 is blue on the HSV-scale
const QColor color = QColor::fromHsvF(h, 1, 1);
points.addPoint(pt, color);
}
// for (const K::Particle<T>& p : particles) {
// const GridPoint gp = p.state.position;
// const QVector3D pt(gp.x_cm/100.0f, gp.z_cm/100.0f + 0.1f, gp.y_cm/100.0f); // swap z and y
// const QColor color = Qt::blue;
// points.addPoint(pt, color);
// }
size = 6.0f;
points.rebuild();
}
void initGL() override {
loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentColorPoint.glsl");
//program.setUniformValue("color", QVector4D(0.5, 0.5, 0.5, 1.0));
points.initGL();
}
/** render the floor */
void _render() override {
//glDisable(GL_DEPTH_TEST);
//glPointSize()
#ifndef ANDROID
glPointSize(size);
#endif
points.render(&program);
//glEnable(GL_DEPTH_TEST);
}
};
#endif // GL_PARTICLES_H

0
map/elements/Doors.h → ui/map/elements/Doors.h
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47
map/elements/Ground.h → ui/map/elements/Ground.h
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@@ -4,9 +4,10 @@
#include <Indoor/floorplan/v2/Floorplan.h>
#include "../gl/GLHelper.h"
#include "../gl/GLTriangles.h"
#include "../gl/GLLines.h"
#include "../Renderable.h"
#include "../../lib/gpc/Polygon.h"
#include "../../../lib/gpc/Polygon.h"
class Ground : public Renderable {
@@ -17,11 +18,14 @@ private:
GLTriangles<VertNormTexTan> flooring;
GLTriangles<VertNormTexTan> ceiling;
GLLines outline;
bool outlineOnly = false;
public:
/** ctor */
Ground(Floorplan::Floor* floor) : floor(floor) {
;
Ground(Floorplan::Floor* floor) : floor(floor) {
setOutlineOnly(false);
}
@@ -37,17 +41,36 @@ public:
flooring.build();
ceiling.build();
outline.build();
loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
program.setUniformValue("texDiffuse", 0);
program.setUniformValue("texNormalMap", 1);
//loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
//program.setUniformValue("texDiffuse", 0);
//program.setUniformValue("texNormalMap", 1);
}
/** render the floor */
void _render() override {
flooring.render(&program);
ceiling.render(&program);
void _render() override {
if (outlineOnly) {
glLineWidth(5);
outline.render(&program);
} else {
flooring.render(&program);
ceiling.render(&program);
}
}
/** render only the outline? */
void setOutlineOnly(const bool outline) override {
// this->outlineOnly = outline;
// if (outlineOnly) {
// loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentLine.glsl");
// program.setUniformValue("color", QVector4D(0.0, 0.0, 0.4, 1.0));
// } else {
loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
program.setUniformValue("texDiffuse", 0);
program.setUniformValue("texNormalMap", 1);
// }
}
@@ -80,7 +103,7 @@ private:
const QVector3D normFloor(0, +1, 0);
const QVector3D normCeil(0, +1, 0); // why +1???
const QVector3D normCeil(0, -1, 0);
const QVector3D t(1,0,0);
const float s = 0.6;
@@ -108,6 +131,10 @@ private:
ceiling.addFaceCW(vnt1, vnt2, vnt3);
}
outline.addLine(vert1, vert2);
outline.addLine(vert2, vert3);
outline.addLine(vert3, vert1);
}
}

0
map/elements/Handrails.h → ui/map/elements/Handrails.h
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84
ui/map/elements/Object.h Normal file
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@@ -0,0 +1,84 @@
#ifndef OBJECT_H
#define OBJECT_H
#include <Indoor/floorplan/v2/Floorplan.h>
#include "../gl/GLHelper.h"
#include "../gl/GLTriangles.h"
#include "../Renderable.h"
#include <KLib/data/obj/ObjectFile.h>
class Object : public Renderable {
private:
GLTriangles<VertNormTex> triangles;
public:
/** ctor */
Object(const std::string& file, const std::string& colorTexture, std::string normalsTexture, const float scale = 1.0) {
K::ObjFileReader reader(file, false);
if (normalsTexture.empty()) {normalsTexture = ":/res/gl/tex/empty_normals.jpg";}
triangles.setDiffuse(colorTexture.c_str());
triangles.setNormalMap(normalsTexture.c_str());
for (const K::ObjFileReader::Face& face : reader.getData().faces) {
const QVector3D vertex1(face.vnt[0].vertex.x, face.vnt[0].vertex.y, face.vnt[0].vertex.z);
const QVector3D vertex2(face.vnt[1].vertex.x, face.vnt[1].vertex.y, face.vnt[1].vertex.z);
const QVector3D vertex3(face.vnt[2].vertex.x, face.vnt[2].vertex.y, face.vnt[2].vertex.z);
const QVector3D normal1(face.vnt[0].normal.x, face.vnt[0].normal.y, face.vnt[0].normal.z);
const QVector3D normal2(face.vnt[1].normal.x, face.vnt[1].normal.y, face.vnt[1].normal.z);
const QVector3D normal3(face.vnt[2].normal.x, face.vnt[2].normal.y, face.vnt[2].normal.z);
const QVector2D texture1(face.vnt[0].texture.x, face.vnt[0].texture.y);
const QVector2D texture2(face.vnt[1].texture.x, face.vnt[1].texture.y);
const QVector2D texture3(face.vnt[2].texture.x, face.vnt[2].texture.y);
const QVector3D o(0, 0.0, 0);
const VertNormTex vnt1(vertex1*scale+o, normal1, texture1);
const VertNormTex vnt2(vertex2*scale+o, normal2, texture2);
const VertNormTex vnt3(vertex3*scale+o, normal3, texture3);
triangles.addFace(vnt1, vnt2, vnt3);
}
}
void initGL() override {
build();
triangles.build();
loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
program.setUniformValue("texDiffuse", 0);
program.setUniformValue("texNormalMap", 1);
}
/** render the floor */
void _render() override {
triangles.render(&program);
}
private:
void build() {
triangles.build();
}
};
#endif // OBJECT_H

1
map/elements/Path.h → ui/map/elements/Path.h
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@@ -9,7 +9,6 @@
#include "../gl/GLTriangles.h"
#include "../Renderable.h"
#include "../../lib/gpc/Polygon.h"
class Path : public Renderable {

6
map/elements/Stairs.h → ui/map/elements/Stairs.h
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@@ -27,8 +27,10 @@ public:
void initGL() override {
build();
parts.setDiffuse(":/res/gl/tex/granite1.jpg");
parts.setNormalMap(":/res/gl/tex/granite1_normal.jpg");
// parts.setDiffuse(":/res/gl/tex/granite1.jpg");
// parts.setNormalMap(":/res/gl/tex/granite1_normal.jpg");
parts.setDiffuse(":/res/gl/tex/floor4.jpg");
parts.setNormalMap(":/res/gl/tex/floor4_normal.jpg");
parts.build();
loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");

50
map/elements/Walls.h → ui/map/elements/Walls.h
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@@ -4,9 +4,10 @@
#include <Indoor/floorplan/v2/Floorplan.h>
#include "../gl/GLHelper.h"
#include "../gl/GLTriangles.h"
#include "../gl/GLLines.h"
#include "../Renderable.h"
#include "../gl/Shader.h"
#include "../../lib/gpc/Polygon.h"
class Walls : public Renderable {
@@ -14,36 +15,54 @@ private:
Floorplan::Floor* floor;
GLTriangles<VertNormTexTan> walls;
GLTriangles<VertNormTexTan> triangles;
GLLines outlines;
bool outlineOnly = false;
public:
/** ctor */
Walls(Floorplan::Floor* floor) : floor(floor) {
;
setOutlineOnly(false);
}
void initGL() override {
build();
walls.setDiffuse(":/res/gl/tex/floor3.jpg");
walls.setNormalMap(":/res/gl/tex/floor3_normal.jpg");
walls.build();
triangles.build();
triangles.setDiffuse(":/res/gl/tex/wall3.jpg");
triangles.setNormalMap(":/res/gl/tex/wall3_normal.jpg");
loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
program.setUniformValue("texDiffuse", 0);
program.setUniformValue("texNormalMap", 1);
//glEnable(GL_TEXTURE0 + 1);
outlines.build();
}
/** render the floor */
void _render() override {
walls.render(&program);
if (outlineOnly) {
glLineWidth(1);
outlines.render(&program);
} else {
triangles.render(&program);
}
}
/** render only the outline? */
void setOutlineOnly(const bool outline) override {
this->outlineOnly = outline;
if (outlineOnly) {
loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentLine.glsl");
program.setUniformValue("color", QVector4D(0.9, 0.9, 0.9, 1.0));
} else {
loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
program.setUniformValue("texDiffuse", 0);
program.setUniformValue("texNormalMap", 1);
}
}
private:
@@ -98,15 +117,20 @@ private:
const VertNormTexTan vnt2(vert2, n1, tex2*s, tan);
const VertNormTexTan vnt3(vert3, n1, tex3*s, tan);
const VertNormTexTan vnt4(vert4, n1, tex4*s, tan);
walls.addQuadCCW(vnt1, vnt2, vnt3, vnt4);
triangles.addQuadCCW(vnt1, vnt2, vnt3, vnt4);
} {
const VertNormTexTan vnt1(vert1, n2, tex1*s, -tan);
const VertNormTexTan vnt2(vert2, n2, tex2*s, -tan);
const VertNormTexTan vnt3(vert3, n2, tex3*s, -tan);
const VertNormTexTan vnt4(vert4, n2, tex4*s, -tan);
walls.addQuadCW(vnt1, vnt2, vnt3, vnt4);
triangles.addQuadCW(vnt1, vnt2, vnt3, vnt4);
}
outlines.addLine(vert1, vert2);
outlines.addLine(vert2, vert3);
outlines.addLine(vert3, vert4);
outlines.addLine(vert4, vert1);
}
//private:

12
map/gl/GL.h → ui/map/gl/GL.h
View File

@@ -13,6 +13,18 @@ struct Vert {
bool operator == (const Vert& o) const {return (vert == o.vert);}
};
struct VertColor {
QVector3D vert;
QVector3D color;
VertColor(QVector3D vert, QVector3D color) : vert(vert), color(color) {;}
int getVertOffset() const {return 0;}
int getColorOffset() const {return sizeof(QVector3D);}
int getTanOffset() const {throw "error";}
bool operator == (const VertColor& o) const {return (vert == o.vert) && (color == o.color);}
static bool hasTangent() {return false;}
static bool hasColor() {return true;}
};
struct VertNorm {
QVector3D vert;
QVector3D norm;

0
map/gl/GLHelper.h → ui/map/gl/GLHelper.h
View File

0
map/gl/GLLines.h → ui/map/gl/GLLines.h
View File

111
ui/map/gl/GLPoints.h Normal file
View File

@@ -0,0 +1,111 @@
#ifndef GLPOINTS_H
#define GLPOINTS_H
#include <QOpenGLFunctions>
#include "GL.h"
#include "GLHelper.h"
#include <Indoor/geo/Point3.h>
class GLPoints : protected QOpenGLFunctions {
private:
QOpenGLBuffer arrayBuf;
QOpenGLBuffer indexBuf;
std::vector<VertColor> vertices;
std::vector<GLuint> indices;
int mode = GL_POINTS;
bool initOnce = true;
public:
/** ctor */
GLPoints() : arrayBuf(QOpenGLBuffer::VertexBuffer), indexBuf(QOpenGLBuffer::IndexBuffer) {
alloc();
}
/** dtor */
~GLPoints() {
destroy();
}
/** add a new face to this element */
void addPoint(const QVector3D& pt, const QColor& color) {
indices.push_back(vertices.size());
QVector3D c(color.redF(), color.greenF(), color.blueF());
vertices.push_back(VertColor(pt, c));
}
void alloc() {
if (!indexBuf.isCreated()) {indexBuf.create();}
if (!arrayBuf.isCreated()) {arrayBuf.create();}
}
void destroy() {
if (indexBuf.isCreated()) {indexBuf.destroy();}
if (arrayBuf.isCreated()) {arrayBuf.destroy();}
}
/** build the underlying buffers */
void build() {
// Transfer vertex data to VBO 0
arrayBuf.bind();
arrayBuf.allocate(vertices.data(), vertices.size() * sizeof(vertices[0]));
// Transfer index data to VBO 1
indexBuf.bind();
indexBuf.allocate(indices.data(), indices.size() * sizeof(indices[0]));
}
void initGL() {
initializeOpenGLFunctions();
}
void rebuild() {
build();
}
void clear() {
indices.clear();
vertices.clear();
}
void setMode(const int mode) {
this->mode = mode;
}
/** render the element */
void render(QOpenGLShaderProgram *program) {
if (indices.empty()) {return;}
// Tell OpenGL which VBOs to use
arrayBuf.bind();
indexBuf.bind();
// vertices
int vertLoc = program->attributeLocation("a_position");
program->enableAttributeArray(vertLoc);
program->setAttributeBuffer(vertLoc, GL_FLOAT, vertices[0].getVertOffset(), 3, sizeof(vertices[0]));
// colors
int colorLoc = program->attributeLocation("a_color");
program->enableAttributeArray(colorLoc);
program->setAttributeBuffer(colorLoc, GL_FLOAT, vertices[0].getColorOffset(), 3, sizeof(vertices[0]));
// Draw cube geometry using indices from VBO 1
glDrawElements(mode, indices.size(), GL_UNSIGNED_INT, 0);
}
};
#endif // GLPOINTS_H

5
map/gl/GLTriangles.h → ui/map/gl/GLTriangles.h
View File

@@ -59,6 +59,11 @@ public:
setTexture(1, textureFile);
}
/** add a new face to this element */
void addFace(const T& vnt1, const T& vnt2, const T& vnt3) {
addFace(vnt1, vnt2, vnt3, 0);
}
/** add a new face to this element */
void addFaceCCW(const T& vnt1, const T& vnt2, const T& vnt3) {
addFace(vnt1, vnt2, vnt3, 1);

31
ui/map/gl/Shader.h Normal file
View File

@@ -0,0 +1,31 @@
#ifndef SHADER_H
#define SHADER_H
#include <QOpenGLShaderProgram>
/**
* just some helper methods
*/
class Shader {
private:
QOpenGLShaderProgram program;
public:
/** get the underlying program */
QOpenGLShaderProgram* getProgram() {return &program;}
/** helper method to build the shader */
void loadShaderFromFile(const QString& vertex, const QString& fragment) {
if (!program.addShaderFromSourceFile(QOpenGLShader::Vertex, vertex)) {throw "1";}
if (!program.addShaderFromSourceFile(QOpenGLShader::Fragment, fragment)) {throw "2";}
if (!program.link()) {throw "3";}
if (!program.bind()) {throw "4";}
}
};
#endif // SHADER_H

55
ui/menu/MainMenu.cpp Normal file
View File

@@ -0,0 +1,55 @@
#include "MainMenu.h"
#include "../Icons.h"
#include <QPushButton>
#include <QGridLayout>
#include <Indoor/Assertions.h>
MainMenu::MainMenu(QWidget* parent) : QWidget(parent) {
setMinimumHeight(64);
QGridLayout* lay = new QGridLayout(this);
int row = 0;
int col = 0;
btnLoadMap = getButton("load");
Assert::isTrue(connect(btnLoadMap, &QPushButton::clicked, this, &MainMenu::onLoadButton), "connect() failed");
lay->addWidget(btnLoadMap, row, col, 1,1,Qt::AlignTop); ++col;
btnDebug = getButton("bug");
Assert::isTrue(connect(btnDebug, &QPushButton::clicked, this, &MainMenu::onDebugButton), "connect() failed");
lay->addWidget(btnDebug, row, col, 1,1,Qt::AlignTop); ++col;
btnCamera = getButton("camera");
Assert::isTrue(connect(btnCamera, &QPushButton::clicked, this, &MainMenu::onCameraButton), "connect() failed");
lay->addWidget(btnCamera, row, col, 1,1,Qt::AlignTop); ++col;
btnTransparent = getButton("cube");
Assert::isTrue(connect(btnTransparent, &QPushButton::clicked, this, &MainMenu::onTransparentButton), "connect() failed");
lay->addWidget(btnTransparent, row, col, 1,1,Qt::AlignTop); ++col;
btnStart = getButton("run");
Assert::isTrue(connect(btnStart, &QPushButton::clicked, this, &MainMenu::onStartButton), "connect() failed");
lay->addWidget(btnStart, row, col, 1,1,Qt::AlignTop); ++col;
}
QPushButton* MainMenu::getButton(const std::string& icon) {
const int size = 48;
const int border = 4;
QPushButton* btn = new QPushButton(Icons::getIcon(icon, size), "");
btn->setIconSize(QSize(size,size));
btn->setMinimumHeight(size+border);
btn->setMaximumHeight(size+border);
btn->setMinimumWidth(size+border);
btn->setMaximumWidth(size+border);
return btn;
}

36
ui/menu/MainMenu.h Normal file
View File

@@ -0,0 +1,36 @@
#ifndef MAINMENU_H
#define MAINMENU_H
#include <QWidget>
class QPushButton;
class MainMenu : public QWidget {
Q_OBJECT
public:
/** ctor */
explicit MainMenu(QWidget* parent);
signals:
void onLoadButton();
void onStartButton();
void onDebugButton();
void onCameraButton();
void onTransparentButton();
private:
QPushButton* getButton(const std::string& icon);
QPushButton* btnLoadMap;
QPushButton* btnStart;
QPushButton* btnDebug;
QPushButton* btnCamera;
QPushButton* btnTransparent;
};
#endif

101
yasmin.pro
View File

@@ -1,10 +1,19 @@
TEMPLATE = app
QT += qml opengl
QT += qml opengl svg
# android?
#QT += androidextras sensors
#DEFINES += ANDROID
# CONFIG+=ANDROID DEFINES+=ANDROID
ANDROID {
QT += androidextras
QT += sensors
}
# debug
DEFINES += WITH_DEBUG_LOG
DEFINES += WITH_ASSERTIONS
CONFIG += c++11
@@ -12,7 +21,13 @@ CONFIG += c++11
ANDROID_PACKAGE_SOURCE_DIR = $$PWD/_android
INCLUDEPATH += \
../
../ \
./lib/
# linux desktop wifi
#INCLUDEPATH +=/usr/include/libnl3/
#LIBS += -lnl-genl-3 -lnl-3
OTHER_FILES += \
_android/src/WiFi.java \
@@ -21,15 +36,24 @@ OTHER_FILES += \
SOURCES += \
main.cpp \
map/MapView.cpp \
map/Geometry.cpp \
lib/gpc/gpc.cpp \
../Indoor/lib/tinyxml/tinyxml2.cpp
lib/gpc/gpc.cpp \
../Indoor/lib/tinyxml/tinyxml2.cpp \
ui/map/MapView.cpp \
ui/menu/MainMenu.cpp \
ui/MainWindow.cpp \
Controller.cpp \
ui/dialog/LoadSetupDialog.cpp \
ui/debug/SensorDataWidget.cpp \
ui/debug/plot/PlottWidget.cpp \
ui/debug/PlotTurns.cpp \
ui/debug/PlotWiFiScan.cpp \
sensors/android/WiFiSensorAndroid.cpp \
sensors/linux/WiFiSensorLinuxC.c
RESOURCES += qml.qrc
# Additional import path used to resolve QML modules in Qt Creator's code model
QML_IMPORT_PATH =
#QML_IMPORT_PATH =
# Default rules for deployment.
include(deployment.pri)
@@ -46,24 +70,69 @@ HEADERS += \
sensors/linux/WiFiSensorLinux.h \
sensors/android/WiFiSensorAndroid.h \
sensors/StepSensor.h \
sensors/TurnSensor.h \
sensors/AccelerometerSensor.h \
sensors/GyroscopeSensor.h \
sensors/BarometerSensor.h \
sensors/android/AccelerometerSensorAndroid.h \
sensors/android/GyroscopeSensorAndroid.h \
sensors/android/BarometerSensorAndroid.h \
sensors/dummy/AccelerometerSensorDummy.h \
sensors/dummy/GyroscopeSensorDummy.h \
sensors/dummy/BarometerSensorDummy.h \
sensors/Sensor.h \
sensors/SensorFactory.h \
sensors/WiFiSensor.h \
misc/Debug.h \
misc/fixc11.h \
sensors/dummy/WiFiSensorDummy.h \
map/MapView.h \
map/Geometry.h \
map/FloorRenderer.h \
map/Ground.h \
lib/gpc/Polygon.h \
map/GL.h \
Stairs.h
Stairs.h \
ui/map/MapView.h \
ui/map/FloorRenderer.h \
ui/map/gl/GL.h \
ui/map/gl/GLHelper.h \
ui/map/gl/GLLines.h \
ui/map/gl/GLTriangles.h \
ui/map/elements/Doors.h \
ui/map/elements/Ground.h \
ui/map/elements/Handrails.h \
ui/map/elements/Path.h \
ui/map/elements/Stairs.h \
ui/map/elements/Walls.h \
ui/Icons.h \
ui/MainWindow.h \
Controller.h \
ui/menu/MainMenu.h \
Config.h \
ui/dialog/LoadSetupDialog.h \
ui/debug/plot/Axes.h \
ui/debug/plot/Plot.h \
ui/debug/plot/Data.h \
ui/debug/plot/Range.h \
nav/NavController.h \
sensors/dummy/RandomSensor.h \
ui/debug/SensorDataWidget.h \
ui/debug/plot/PlottWidget.h \
ui/debug/PlotTurns.h \
ui/debug/PlotWiFiScan.h \
nav/State.h \
nav/Filter.h \
nav/Node.h \
sensors/linux/WiFiSensorLinuxC.h \
ui/map/gl/GLPoints.h \
ui/map/elements/ColorPoints.h \
sensors/offline/SensorFactoryOffline.h \
sensors/dummy/SensorFactoryDummy.h \
sensors/android/SensorFactoryAndroid.h \
ui/map/gl/Shader.h \
ui/map/elements/Object.h \
Settings.h \
nav/RegionalResampling.h \
sensors/offline/AllInOneSensor.h
DISTFILES += \
android-sources/src/MyActivity.java \
res/gl/vertex1.glsl \
res/gl/fragment1.glsl
res/gl/fragment1.glsl \
res/gl/tex/empty_normals.jpg