FHWS/YASMIN
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started to add ble functions

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added ble as sensor to java and c++
added sensorlistener for ble
added ble to observation and onDataSensor in filter
started to work on ble fingerprints for optimization
This commit is contained in:
mail@toni-fetzer.de
2019-06-05 18:04:31 +02:00
parent b9b9d8f9ac
commit 20ae2f5c2a
23 changed files with 1341 additions and 1152 deletions
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64
nav/grid/NavControllerGrid.h
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@@ -21,68 +21,70 @@
namespace GridBased {
class NavControllerGrid : public NavController {
class NavControllerGrid : public NavController {
private:
private:
Grid<MyGridNode>* grid;
WiFiModelLogDistCeiling wifiModel;
Grid<MyGridNode>* grid;
WiFiModelLogDistCeiling wifiModel;
std::unique_ptr<SMC::ParticleFilter<MyState, MyControl, MyObservation>> pf;
DijkstraPath<MyGridNode> pathToDest;
DijkstraPath<MyGridNode> pathToDest;
MyObservation curObs;
MyControl curCtrl;
MyObservation curObs;
MyControl curCtrl;
public:
public:
NavControllerGrid(Controller* mainController, Floorplan::IndoorMap* im, Grid<MyGridNode>* grid);
NavControllerGrid(Controller* mainController, Floorplan::IndoorMap* im, Grid<MyGridNode>* grid);
void start() override;
void start() override;
void stop() override;
void stop() override;
void onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) override;
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<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) override;
void onSensorData(Sensor<BarometerData>* sensor, const Timestamp ts, const BarometerData& data) override;
void onSensorData(Sensor<BarometerData>* sensor, const Timestamp ts, const BarometerData& data) override;
void onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) override;
void onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) override;
void onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) override;
void onSensorData(Sensor<BeaconMeasurement>* sensor, const Timestamp ts, const BeaconMeasurement& data) override;
void onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) override ;
void onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) override;
void onSensorData(Sensor<TurnData>* sensor, const Timestamp ts, const TurnData& 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<ActivityData>* sensor, const Timestamp ts, const ActivityData& data) override ;
private:
private:
/** called when any sensor has received new data */
void gotSensorData(const Timestamp ts);
/** called when any sensor has received new data */
void gotSensorData(const Timestamp ts);
// void debugActivity(const ActivityData& activity);
// void debugActivity(const ActivityData& activity);
/** particle-filter update loop */
void filterUpdateLoop();
/** particle-filter update loop */
void filterUpdateLoop();
/** check whether its time for a filter update, and if so, execute the update and return true */
bool filterUpdateIfNeeded();
/** check whether its time for a filter update, and if so, execute the update and return true */
bool filterUpdateIfNeeded();
/** perform a filter-update (called from a background-loop) */
void filterUpdate();
/** perform a filter-update (called from a background-loop) */
void filterUpdate();
/** UI update loop */
void updateMapViewLoop();
/** UI update loop */
void updateMapViewLoop();
};
};
}