a lot!!! of changes

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
2016-09-16 19:30:04 +02:00
parent d910e88220
commit 075d8bb633
90 changed files with 4735 additions and 624 deletions
--- a/Controller.cpp
+++ b/Controller.cpp
@@ -0,0 +1,135 @@
+#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();
+}