started to add ble functions

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

Controller.cpp

@@ -80,6 +80,7 @@ Controller::Controller() {
         SensorFactory::get().getWiFi().start();
         SensorFactory::get().getGPS().start();
         SensorFactory::get().getCompass().start();
+        SensorFactory::get().getBLE().start();
 
     }
 

Settings.h

@@ -39,7 +39,7 @@ namespace Settings {
 
 	namespace WiFiModel {
 
-        constexpr float sigma = 8.0; //TODO: im Museum hatten wir 8.0
+        constexpr float sigma = 10.0; //TODO: im Museum hatten wir 8.0
 
 		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
         constexpr float TXP = -45;

_android/src/BLE.java

@@ -0,0 +1,111 @@
+package indoor.java;
+
+import android.app.Activity;
+import android.bluetooth.BluetoothAdapter;
+import android.bluetooth.BluetoothManager;
+import android.bluetooth.le.BluetoothLeScanner;
+import android.bluetooth.le.ScanCallback;
+import android.bluetooth.le.ScanFilter;
+import android.bluetooth.le.ScanSettings;
+import android.content.Context;
+import android.content.Intent;
+import android.content.pm.PackageManager;
+import android.util.Log;
+import android.widget.Toast;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.io.ByteArrayOutputStream;
+
+public class BLE {
+
+    private static Activity act;
+    private static BluetoothAdapter bt = null;
+    private static BluetoothLeScanner scanner = null;
+    private static ScanCallback mLeScanCallback;
+    private static ScanSettings mLeSettings;
+    private static final List<ScanFilter> mLeFilter = new ArrayList<>();
+
+    /** called when a scan is completed successfully */
+    public static native void onScanComplete(final byte[] result);
+
+    /**
+     * start bluetooth scanning in the background.
+     * will call onScanComplete() once a scan is available
+     */
+    public static int start() {
+
+        Log.d("ble", "start()");
+
+        MyActivity act = MyActivity.act;
+
+        // sanity check
+        if (!act.getPackageManager().hasSystemFeature(PackageManager.FEATURE_BLUETOOTH_LE)) {
+            Toast.makeText(act, "Bluetooth-LE not supported!", Toast.LENGTH_SHORT).show();
+            return 1338;
+        }
+
+        Log.d("ble", "Sanity Checks");
+
+        // Initializes a Bluetooth adapter. For API level 18 and above, get a reference to
+        // BluetoothAdapter through BluetoothManager.
+        final BluetoothManager mgr = (BluetoothManager) act.getSystemService(Context.BLUETOOTH_SERVICE);
+        bt = mgr.getAdapter();
+
+        Log.d("ble", "BLE Mangaer Start");
+
+        // create the scanner
+        scanner = bt.getBluetoothLeScanner();
+
+        // set the ble settings
+        mLeSettings = new ScanSettings.Builder()
+                        .setReportDelay(0)
+                        .setScanMode(ScanSettings.SCAN_MODE_LOW_LATENCY)
+                        .setNumOfMatches(ScanSettings.MATCH_NUM_MAX_ADVERTISEMENT)
+                        .build();
+
+        //mLeFilter.add(new ScanFilter.Builder().setServiceUuid(new ParcelUuid(UUID.fromString("fda50693-a4e2-4fb1-afcf-c6eb07647825"))).build());
+
+        // and attach the callback
+        mLeScanCallback = new ScanCallback() {
+            @Override public void onScanResult(int callbackType, android.bluetooth.le.ScanResult result) {
+                //Log.d("ble", result.getDevice() + " " + result.getRssi());
+
+                final byte[] rst = serialize(result);
+                BLE.onScanComplete(rst);
+            }
+
+//            @Override public void onBatchScanResults(List<android.bluetooth.le.ScanResult> results){
+
+//                for(android.bluetooth.le.ScanResult result : results){
+//                    Log.d("ble2", result.getDevice() + " " + result.getRssi());
+
+//                    final byte[] rst = serialize(result);
+//                    BLE.onScanComplete(rst);
+//                }
+//            }
+        };
+
+        if(bt == null){
+            Toast.makeText(act, "Bluetooth-LE not supported!", Toast.LENGTH_SHORT).show();
+            return 1338;
+        }
+        scanner.startScan(mLeFilter, mLeSettings, mLeScanCallback);
+
+        return 1337;
+    }
+
+    /** convert the given scan-result to a binary byte[] representation */
+    private static byte[] serialize(final android.bluetooth.le.ScanResult res) {
+        final ByteArrayOutputStream baos = new ByteArrayOutputStream();
+        try {
+            baos.write(res.getDevice().getAddress().getBytes());
+            baos.write((byte)res.getRssi());
+            baos.write((byte)0);
+            baos.write((byte)0);
+        } catch (final Exception e) {;}
+
+        return baos.toByteArray();
+    }
+
+}

nav/NavController.h

@@ -43,6 +43,7 @@ class Controller;
 
 class NavController :
         public SensorListener<AccelerometerData>,
+        public SensorListener<BeaconMeasurement>,
         public SensorListener<GyroscopeData>,
         public SensorListener<BarometerData>,
         public SensorListener<WiFiMeasurements>,

nav/Observation.h

@@ -2,6 +2,7 @@
 #define STATE_H
 
 #include <Indoor/sensors/radio/WiFiMeasurements.h>
+#include <Indoor/sensors/beacon/BeaconMeasurements.h>
 #include <Indoor/sensors/gps/GPSData.h>
 #include <Indoor/sensors/activity/Activity.h>
 
@@ -11,6 +12,9 @@ struct MyObservation {
         /** wifi measurements */
         WiFiMeasurements wifi;
 
+        /** ble measurements */
+        BeaconMeasurements ble;
+
         /** gps measurements */
         GPSData gps;
 

nav/grid/Filter.h

@@ -31,6 +31,7 @@
 #include "NodeResampling.h"
 #include "../Settings.h"
 
+#include <../misc/fixc11.h>
 #include <omp.h>
 #include <future>
 

nav/grid/NavControllerGrid.cpp

@@ -14,7 +14,7 @@
 #include "../ui/map/2D/MapView2D.h"
 #include "../ui/debug/InfoWidget.h"
 
-#include "../Controller.h"
+#include "../../Controller.h"
 
 Q_DECLARE_METATYPE(const void*)
 
@@ -57,6 +57,7 @@ GridBased::NavControllerGrid::NavControllerGrid(Controller* mainController, Floo
     SensorFactory::get().getSteps().addListener(this);
     SensorFactory::get().getTurns().addListener(this);
     SensorFactory::get().getActivity().addListener(this);
+    SensorFactory::get().getBLE().addListener(this);
 
 }
 
@@ -73,6 +74,7 @@ void GridBased::NavControllerGrid::start() {
     SensorFactory::get().getGyroscope().start();
     SensorFactory::get().getBarometer().start();
     SensorFactory::get().getWiFi().start();
+    SensorFactory::get().getBLE().start();
 
 #ifndef ANDROID
     // #include <valgrind/callgrind.h>
@@ -127,6 +129,13 @@ void GridBased::NavControllerGrid::onSensorData(Sensor<GPSData>* sensor, const T
     gotSensorData(ts);
 }
 
+void GridBased::NavControllerGrid::onSensorData(Sensor<BeaconMeasurement>* sensor, const Timestamp ts, const BeaconMeasurement& data) {
+    (void) sensor;
+    (void) ts;
+    //Log::add("Beacon", "MAC: " + data.getBeacon().getMAC().asString() + "RSSI: " + std::to_string(data.getRSSI()));
+    gotSensorData(ts);
+}
+
 void GridBased::NavControllerGrid::onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) {
     (void) sensor;
     (void) ts;

nav/grid/NavControllerGrid.h

@@ -54,6 +54,8 @@ namespace GridBased {
 
         void onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) override;
 
+        void onSensorData(Sensor<BeaconMeasurement>* sensor, const Timestamp ts, const BeaconMeasurement& data) override;
+
         void onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) override;
 
         void onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) override ;

nav/mesh/FilterMesh.h

@@ -52,7 +52,7 @@ namespace MeshBased {
 			NM::NavMeshRandom<NM::NavMeshTriangle> rnd = mesh->getRandom();
 
 			for (SMC::Particle<MyState>& p : particles) {
-				p.state.loc = rnd.draw();
+				p.state.pos = rnd.draw();
 				p.state.heading = Heading(distHead(gen));		// random heading
 				p.weight = 1.0 / particles.size();				// equal weight
 			}
@@ -114,7 +114,7 @@ namespace MeshBased {
 				NM::NavMeshWalkParams<NM::NavMeshTriangle> params;
 				params.heading = p.state.heading + ctrl.turnSinceLastTransition_rad + dHeading.draw();
 				params.numSteps = ctrl.numStepsSinceLastTransition;
-                params.start = p.state.loc;
+				params.start = p.state.pos;
 
 				params.stepSizes.stepSizeFloor_m = dStepSizeFloor.draw();
 				params.stepSizes.stepSizeStair_m = dStepSizeStair.draw();
@@ -129,7 +129,7 @@ namespace MeshBased {
 
 				// assign back to particle's state
 				p.weight *= res.probability;
-                p.state.loc = res.location;
+				p.state.pos = res.location;
 				p.state.heading = res.heading;
 			}
 
@@ -150,16 +150,16 @@ namespace MeshBased {
 			switch (act) {
 
 			case Activity::WALKING:
-                if (p.state.loc.tria->getType() == (int) NM::NavMeshType::FLOOR_INDOOR)		{return kappa;}
+				if (p.state.pos.tria->getType() == (int) NM::NavMeshType::FLOOR_INDOOR)		{return kappa;}
-                if (p.state.loc.tria->getType() == (int) NM::NavMeshType::DOOR)             {return kappa;}
+				if (p.state.pos.tria->getType() == (int) NM::NavMeshType::DOOR)             {return kappa;}
-                if (p.state.loc.tria->getType() == (int) NM::NavMeshType::STAIR_LEVELED)    {return kappa;}
+				if (p.state.pos.tria->getType() == (int) NM::NavMeshType::STAIR_LEVELED)    {return kappa;}
 																							{return 1-kappa;}
 
 			case Activity::WALKING_UP:
 			case Activity::WALKING_DOWN:
-                if (p.state.loc.tria->getType() == (int) NM::NavMeshType::STAIR_SKEWED)		{return kappa;}
+				if (p.state.pos.tria->getType() == (int) NM::NavMeshType::STAIR_SKEWED)		{return kappa;}
-                if (p.state.loc.tria->getType() == (int) NM::NavMeshType::STAIR_LEVELED)    {return kappa;}
+				if (p.state.pos.tria->getType() == (int) NM::NavMeshType::STAIR_LEVELED)    {return kappa;}
-                if (p.state.loc.tria->getType() == (int) NM::NavMeshType::ELEVATOR)         {return kappa;}
+				if (p.state.pos.tria->getType() == (int) NM::NavMeshType::ELEVATOR)         {return kappa;}
 																							{return 1-kappa;}
 			}
 
@@ -191,7 +191,7 @@ namespace MeshBased {
 			for (size_t i = 0; i < particles.size(); ++i) {
 				SMC::Particle<MyState>& p = particles[i];
 
-                const double pWifi = wifiProbability.getProbability(p.state.loc.pos, observation.currentTime, wifiObs);
+				const double pWifi = wifiProbability.getProbability(p.state.pos.pos, observation.currentTime, wifiObs);
 				const double pStair = getStairProb(p, observation.activity);
 				const double pGPS = 1;
 

nav/mesh/NavControllerMesh.cpp

@@ -23,7 +23,7 @@
 #include <Indoor/floorplan/v2/Floorplan.h>
 
 #include <Indoor/smc/filtering/resampling/ParticleFilterResamplingPercent.h>
-#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingKDE.h>
+//#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingKDE.h>
 
 //#ifndef ANDROID
 //#include <valgrind/callgrind.h>
@@ -47,11 +47,11 @@ MeshBased::NavControllerMesh::NavControllerMesh(Controller* mainController, Floo
 
 
     // resampling
-    std::unique_ptr<SMC::ParticleFilterResamplingSimple<MyState>> resample(new SMC::ParticleFilterResamplingSimple<MyState>());
+    //std::unique_ptr<SMC::ParticleFilterResamplingSimple<MyState>> resample(new SMC::ParticleFilterResamplingSimple<MyState>());
     //std::unique_ptr<SMC::ParticleFilterResamplingKDE<MyState, NM::NavMeshTriangle>> resample(new SMC::ParticleFilterResamplingKDE<MyState, NM::NavMeshTriangle>(navMesh, 0.2, Point2(1,1)));
     //std::unique_ptr<SMC::ParticleFilterResamplingKLD<MyState>> resample(new SMC::ParticleFilterResamplingKLD<MyState>());
     //std::unique_ptr<SMC::ParticleFilterResamplingPercent<MyState>> resample(new SMC::ParticleFilterResamplingPercent<MyState>(0.95));
-    //std::unique_ptr<SMC::ParticleFilterResamplingSimpleImpoverishment<MeshBased::MyState, NM::NavMeshTriangle>> resample(new SMC::ParticleFilterResamplingSimpleImpoverishment<MeshBased::MyState, NM::NavMeshTriangle>());
+    std::unique_ptr<SMC::ParticleFilterResamplingSimpleImpoverishment<MeshBased::MyState, NM::NavMeshTriangle>> resample(new SMC::ParticleFilterResamplingSimpleImpoverishment<MeshBased::MyState, NM::NavMeshTriangle>());
 
     // eval and transition
     std::unique_ptr<SMC::ParticleFilterEvaluation<MyState, MyObservation>> eval(new MeshBased::PFEval(wifiModel));
@@ -76,6 +76,7 @@ MeshBased::NavControllerMesh::NavControllerMesh(Controller* mainController, Floo
     SensorFactory::get().getSteps().addListener(this);
     SensorFactory::get().getTurns().addListener(this);
     SensorFactory::get().getActivity().addListener(this);
+    SensorFactory::get().getBLE().addListener(this);
 
     // hacky.. but we need to call this one from the main thread!
     //mainController->getMapView()->showParticles(pf->getParticles());
@@ -97,6 +98,7 @@ void MeshBased::NavControllerMesh::start() {
     SensorFactory::get().getGyroscope().start();
     SensorFactory::get().getBarometer().start();
     SensorFactory::get().getWiFi().start();
+    SensorFactory::get().getBLE().start();
 
 //#ifndef ANDROID
 //		// #include <valgrind/callgrind.h>
@@ -145,6 +147,13 @@ void MeshBased::NavControllerMesh::onSensorData(Sensor<WiFiMeasurements>* sensor
     gotSensorData(ts);
 }
 
+void MeshBased::NavControllerMesh::onSensorData(Sensor<BeaconMeasurement>* sensor, const Timestamp ts, const BeaconMeasurement& data) {
+    (void) sensor;
+    (void) ts;
+    curObs.ble.add(data);
+    gotSensorData(ts);
+}
+
 void MeshBased::NavControllerMesh::onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) {
     (void) sensor;
     (void) ts;
@@ -263,7 +272,7 @@ void MeshBased::NavControllerMesh::debugActivity(const ActivityData& activity)
 
         //lastEst = curEst;
         MyState sCurEst = pf->updateEvaluationOnly(curObs);
-        curEst.pos_m = sCurEst.loc.pos;
+        curEst.pos_m = sCurEst.pos.pos;
         curEst.head = sCurEst.heading;
 
         // inform listeners about the new estimation
@@ -283,7 +292,7 @@ void MeshBased::NavControllerMesh::debugActivity(const ActivityData& activity)
 
         //lastEst = curEst;
         MyState sCurEst = pf->update(&curCtrl, curObs);
-        curEst.pos_m = sCurEst.loc.pos;
+        curEst.pos_m = sCurEst.pos.pos;
         curEst.head = sCurEst.heading;
 
         // inform listeners about the new estimation

nav/mesh/NavControllerMesh.h

@@ -54,6 +54,8 @@ namespace MeshBased {
 
         void onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) override;
 
+        void onSensorData(Sensor<BeaconMeasurement>* sensor, const Timestamp ts, const BeaconMeasurement& data) override;
+
         void onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) override;
 
         void onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) override;

nav/mesh/State.h

@@ -9,56 +9,56 @@ namespace MeshBased {
 
 	struct MyState {
 
-		NM::NavMeshLocation<NM::NavMeshTriangle> loc;
+		NM::NavMeshLocation<NM::NavMeshTriangle> pos;
 		Heading heading;
 
 		/** ctor */
-		MyState() : loc(), heading(0) {
+		MyState() : pos(), heading(0) {
 			;
 		}
 
 		/** ctor */
-		MyState(NM::NavMeshLocation<NM::NavMeshTriangle> loc, Heading h) : loc(loc), heading(h) {
+		MyState(NM::NavMeshLocation<NM::NavMeshTriangle> loc, Heading h) : pos(loc), heading(h) {
 			;
 		}
 
 		MyState& operator += (const MyState& o) {
-            loc.pos += o.loc.pos;
+			pos.pos += o.pos.pos;
 			return *this;
 		}
 
 		MyState& operator /= (const float val) {
-            loc.pos /= val;
+			pos.pos /= val;
 			return *this;
 		}
 
 		MyState operator * (const float val) const {
 			MyState copy = *this;
-            copy.loc.pos = copy.loc.pos * val;
+			copy.pos.pos = copy.pos.pos * val;
 			return copy;
 		}
 
 		float getX(){
-            return loc.pos.x;
+			return pos.pos.x;
 		}
 
 		float getY() {
-            return loc.pos.y;
+			return pos.pos.y;
 		}
 
 		float getZ() {
-            return loc.pos.z;
+			return pos.pos.z;
 		}
 
-        void setPosition(Point3 pos){
+		void setPosition(Point3 other){
-            loc.pos = pos;
+			pos.pos = other;
 		}
 
 		float getBinValue(const int dim) const {
 			switch (dim) {
-                case 0: return this->loc.pos.x;
+				case 0: return this->pos.pos.x;
-                case 1: return this->loc.pos.y;
+				case 1: return this->pos.pos.y;
-                case 2: return this->loc.pos.z;
+				case 2: return this->pos.pos.z;
 				case 3: return this->heading.getRAD();
 			}
 			throw "cant find this value within the bin";

sensors/SensorFactory.h

@@ -8,6 +8,9 @@
 #include "linux/WiFiSensorLinux.h"
 #include "android/WiFiSensorAndroid.h"
 
+#include "BLESensor.h"
+#include "android/BLESensorAndroid.h"
+
 #include "AccelerometerSensor.h"
 #include "dummy/AccelerometerSensorDummy.h"
 #include "android/AccelerometerSensorAndroid.h"
@@ -77,6 +80,9 @@ public:
     /** get the gps sensor */
     virtual GPSSensor& getGPS() = 0;
 
+    /** get the bluetooth low energy sensor */
+    virtual BLESensor& getBLE() = 0;
+
 
     /** get the Step sensor */
     StepSensor& getSteps() {

sensors/SensorWriter.h

@@ -49,7 +49,6 @@ public:
         SensorFactory::get().getWiFi().addListener(this);
         SensorFactory::get().getCompass().addListener(this);
         SensorFactory::get().getGPS().addListener(this);
-
     }
 
 

sensors/TurnSensor.h

@@ -1,6 +1,7 @@
 #ifndef TURNSENSOR_H
 #define TURNSENSOR_H
 
+#include <Indoor/sensors/imu/PoseDetection.h>
 #include <Indoor/sensors/imu/TurnDetection.h>
 #include "AccelerometerSensor.h"
 #include "GyroscopeSensor.h"

sensors/android/BLESensorAndroid.cpp

@@ -0,0 +1,18 @@
+#ifdef ANDROID
+
+#include "BLESensorAndroid.h"
+
+extern "C" {
+
+    /** called after each successful WiFi scan */
+    JNIEXPORT void JNICALL Java_indoor_java_BLE_onScanComplete(JNIEnv* env, jobject jobj, jbyteArray arrayID) {
+        (void) env; (void) jobj;
+        jsize length = env->GetArrayLength(arrayID);
+        jbyte* data = env->GetByteArrayElements(arrayID, 0);
+        std::string str((char*)data, length);
+        env->ReleaseByteArrayElements(arrayID, data, JNI_ABORT);
+        BLESensorAndroid::get().handle(str);
+    }
+}
+
+#endif

sensors/android/SensorFactoryAndroid.h

@@ -5,6 +5,7 @@
 
 #include "../SensorFactory.h"
 
+#include "BLESensorAndroid.h"
 #include "WiFiSensorAndroid.h"
 #include "AccelerometerSensorAndroid.h"
 #include "GyroscopeSensorAndroid.h"
@@ -44,6 +45,10 @@ public:
         return GPSSensorAndroid::get();
     }
 
+    BLESensor& getBLE() override {
+        return BLESensorAndroid::get();
+    }
+
 };
 
 #endif

tools/calibration/BLECalibrationDataModel.h

@@ -0,0 +1,4 @@
+#ifndef BLECALIBRATIONDATAMODEL_H
+#define BLECALIBRATIONDATAMODEL_H
+
+#endif // BLECALIBRATIONDATAMODEL_H

tools/calibration/WiFiCalibrationScanDialog.h

@@ -16,7 +16,7 @@
 /**
  * show a dialog to perform a WiFiScan
  */
-class WiFiCalibrationScanDialog : public QObject, public SensorListener<WiFiMeasurements> {
+class WiFiCalibrationScanDialog : public QObject, public SensorListener<WiFiMeasurements>, public SensorListener<BeaconMeasurement> {
 
     Q_OBJECT
 
@@ -34,6 +34,7 @@ private:
 
     /** the measurements model to fill with scan-entries */
     WiFiFingerprint& model;
+    //BeaconFingerprint& blemodel;
 
 public:
 
@@ -95,6 +96,15 @@ private:
         QMetaObject::invokeMethod(this, "refresh", Qt::QueuedConnection);
     }
 
+    //tmp stuff
+    virtual void onSensorData(Sensor<BeaconMeasurement>* sensor, const Timestamp ts, const BeaconMeasurement& data) override {
+        (void) sensor;
+        (void) ts;
+
+
+        QMetaObject::invokeMethod(this, "refresh", Qt::QueuedConnection);
+    }
+
 
 };
 

ui/map/2D/ColorPoints2D.h

@@ -109,7 +109,7 @@ public:
 		}
 
 		for (const auto p : particles) {
-            const Point3 pt(p.state.loc.pos.x, p.state.loc.pos.y, p.state.loc.pos.z);
+			const Point3 pt(p.state.pos.pos.x, p.state.pos.pos.y, p.state.pos.pos.z);
 			const float prob = (p.weight-min) / (max-min);
 			float h = 0.66 - (prob*0.66);				// 0.66 is blue on the HSV-scale
 			const QColor color = QColor::fromHsvF(h, 1, 1);

ui/map/2D/Floor2D.h

@@ -29,7 +29,7 @@ protected:
 		if (floor->atHeight > r.clip.aboveHeight_m) {return;}
 
 		for (const Floorplan::FloorObstacle* obs : floor->obstacles) {
-			const Floorplan::FloorObstacleLine* line = dynamic_cast<const Floorplan::FloorObstacleLine*>(obs);
+			const Floorplan::FloorObstacleWall* line = dynamic_cast<const Floorplan::FloorObstacleWall*>(obs);
 			if (line) {drawObstacle(qp, s, line);}
 		}
 
@@ -51,10 +51,11 @@ protected:
 
 private:
 
-	static inline QPen getPen(Floorplan::Material mat, Floorplan::ObstacleType type) {
+	static inline QPen getPen(Floorplan::Material mat, Floorplan::ObstacleType type, int thickness) {
 		using namespace Floorplan;
 		QPen pen; pen.setColor(Qt::darkGray);
-		if (mat == Material::CONCRETE) {pen.setWidth(3);}
+		if (mat == Material::CONCRETE) {pen.setWidth(thickness);}
+		if (mat == Material::DRYWALL) {pen.setWidth(thickness); pen.setColor(Qt::gray);}
 		if (mat == Material::GLASS) {pen.setStyle(Qt::PenStyle::DotLine);}
 		if (type == ObstacleType::HANDRAIL) {pen.setStyle(Qt::PenStyle::DashLine);}
 		if (type == ObstacleType::UNKNOWN) {pen.setColor(Qt::red); pen.setWidth(5);}
@@ -63,10 +64,10 @@ private:
 		return pen;
 	}
 
-	void drawObstacle(QPainter& qp, const Scaler2D& s, const Floorplan::FloorObstacleLine* line) {
+	void drawObstacle(QPainter& qp, const Scaler2D& s, const Floorplan::FloorObstacleWall* line) {
 		const Point2 pt1 = s.mapToScreen(line->from);
 		const Point2 pt2 = s.mapToScreen(line->to);
-		qp.setPen(getPen(line->material, line->type));
+		qp.setPen(getPen(line->material, line->type, static_cast<int>(s.mToPX(line->thickness_m))));
 		qp.drawLine(pt1.x, pt1.y, pt2.x, pt2.y);
 	}
 

yasmin.pro

@@ -60,7 +60,8 @@ INCLUDEPATH += \
 OTHER_FILES += \
 _android/src/WiFi.java \
 _android/src/MyActivity.java \
-	_android/AndroidManifest.xml
+_android/AndroidManifest.xml \
+_android/src/BLE.java
 
 SOURCES += \
 main.cpp \
@@ -84,7 +85,8 @@ SOURCES += \
 ui/debug/PlotGPS.cpp \
 nav/NavController.cpp \
 nav/mesh/NavControllerMesh.cpp \
-    nav/grid/NavControllerGrid.cpp
+nav/grid/NavControllerGrid.cpp \
+    sensors/android/BLESensorAndroid.cpp
 
 RESOURCES += qml.qrc
 
@@ -113,6 +115,7 @@ HEADERS += \
 sensors/android/AccelerometerSensorAndroid.h \
 sensors/android/GyroscopeSensorAndroid.h \
 sensors/android/BarometerSensorAndroid.h \
+sensors/android/BLESensorAndroid.h \
 sensors/dummy/AccelerometerSensorDummy.h \
 sensors/dummy/GyroscopeSensorDummy.h \
 sensors/dummy/BarometerSensorDummy.h \
@@ -203,7 +206,9 @@ HEADERS += \
 nav/grid/RegionalResampling.h \
 nav/Observation.h \
 nav/grid/State.h \
-    nav/CurEst.h
+nav/CurEst.h \
+sensors/BLESensor.h \
+    tools/calibration/BLECalibrationDataModel.h
 
 DISTFILES += \
 android-sources/src/MyActivity.java \