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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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1
Controller.cpp
View File

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

2
Settings.h
View File

@@ -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;

111
_android/src/BLE.java Normal file
View File

@@ -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();
}
}

1
nav/NavController.h
View File

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

4
nav/Observation.h
View File

@@ -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;

1
nav/grid/Filter.h
View File

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

11
nav/grid/NavControllerGrid.cpp
View File

@@ -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;

2
nav/grid/NavControllerGrid.h
View File

@@ -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 ;

20
nav/mesh/FilterMesh.h
View File

@@ -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.loc.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::FLOOR_INDOOR) {return kappa;}
if (p.state.pos.tria->getType() == (int) NM::NavMeshType::DOOR) {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.loc.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::STAIR_SKEWED) {return kappa;}
if (p.state.pos.tria->getType() == (int) NM::NavMeshType::STAIR_LEVELED) {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;

19
nav/mesh/NavControllerMesh.cpp
View File

@@ -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

2
nav/mesh/NavControllerMesh.h
View File

@@ -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;

28
nav/mesh/State.h
View File

@@ -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){
loc.pos = pos;
void setPosition(Point3 other){
pos.pos = other;
}
float getBinValue(const int dim) const {
switch (dim) {
case 0: return this->loc.pos.x;
case 1: return this->loc.pos.y;
case 2: return this->loc.pos.z;
case 0: return this->pos.pos.x;
case 1: return this->pos.pos.y;
case 2: return this->pos.pos.z;
case 3: return this->heading.getRAD();
}
throw "cant find this value within the bin";

6
sensors/SensorFactory.h
View File

@@ -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() {

1
sensors/SensorWriter.h
View File

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

1
sensors/TurnSensor.h
View File

@@ -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"

18
sensors/android/BLESensorAndroid.cpp Normal file
View File

@@ -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

5
sensors/android/SensorFactoryAndroid.h
View File

@@ -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

4
tools/calibration/BLECalibrationDataModel.h Normal file
View File

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

12
tools/calibration/WiFiCalibrationScanDialog.h
View File

@@ -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);
}
};

2
ui/map/2D/ColorPoints2D.h
View File

@@ -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);

11
ui/map/2D/Floor2D.h
View File

@@ -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);
}

309
yasmin.pro
View File

@@ -7,27 +7,27 @@ QT += qml opengl svg
CONFIG+=ANDROID DEFINES+=ANDROID
ANDROID {
QT += androidextras
QT += sensors
QT += positioning
QT += androidextras
QT += sensors
QT += positioning
#http://stackoverflow.com/questions/28391685/opencv-with-hard-float-support-for-android#28393545
# wasn't faster... and seems dangerous :P
#QMAKE_CXXFLAGS -= -mfpu=vfp
#QMAKE_CFLAGS -= -mfpu=vfp
#QMAKE_CXXFLAGS += -mfpu=neon -funsafe-math-optimizations
#QMAKE_CFLAGS += -mfpu=neon -funsafe-math-optimizations
#http://stackoverflow.com/questions/28391685/opencv-with-hard-float-support-for-android#28393545
# wasn't faster... and seems dangerous :P
#QMAKE_CXXFLAGS -= -mfpu=vfp
#QMAKE_CFLAGS -= -mfpu=vfp
#QMAKE_CXXFLAGS += -mfpu=neon -funsafe-math-optimizations
#QMAKE_CFLAGS += -mfpu=neon -funsafe-math-optimizations
# wasn't faster..
#QMAKE_CXXFLAGS += -mtune=cortex-a57
#QMAKE_CFLAGS += -mtune=cortex-a57
# wasn't faster..
#QMAKE_CXXFLAGS += -mtune=cortex-a57
#QMAKE_CFLAGS += -mtune=cortex-a57
QMAKE_CXXFLAGS += -O2
#QMAKE_CFLAGS += -O3
QMAKE_CXXFLAGS += -O2
#QMAKE_CFLAGS += -O3
#QMAKE_CXXFLAGS_DEBUG -= -O2
#QMAKE_CXXFLAGS_DEBUG -= -O3
#QMAKE_CXXFLAGS_DEBUG += -O0
#QMAKE_CXXFLAGS_DEBUG -= -O2
#QMAKE_CXXFLAGS_DEBUG -= -O3
#QMAKE_CXXFLAGS_DEBUG += -O0
}
@@ -49,8 +49,8 @@ CONFIG += c++11
ANDROID_PACKAGE_SOURCE_DIR = $$PWD/_android
INCLUDEPATH += \
../ \
./lib/
../ \
./lib/
# linux desktop wifi
@@ -58,33 +58,35 @@ INCLUDEPATH += \
#LIBS += -lnl-genl-3 -lnl-3
OTHER_FILES += \
_android/src/WiFi.java \
_android/src/MyActivity.java \
_android/AndroidManifest.xml
_android/src/WiFi.java \
_android/src/MyActivity.java \
_android/AndroidManifest.xml \
_android/src/BLE.java
SOURCES += \
main.cpp \
lib/gpc/gpc.cpp \
../Indoor/lib/tinyxml/tinyxml2.cpp \
../Indoor/lib/Recast/*.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 \
ui/debug/InfoWidget.cpp \
ui/map/3D/MapView3D.cpp \
ui/map/2D/MapView2D.cpp \
tools/calibration/WiFiCalibrationScanDialog.cpp \
ui/debug/PlotGPS.cpp \
nav/NavController.cpp \
nav/mesh/NavControllerMesh.cpp \
nav/grid/NavControllerGrid.cpp
main.cpp \
lib/gpc/gpc.cpp \
../Indoor/lib/tinyxml/tinyxml2.cpp \
../Indoor/lib/Recast/*.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 \
ui/debug/InfoWidget.cpp \
ui/map/3D/MapView3D.cpp \
ui/map/2D/MapView2D.cpp \
tools/calibration/WiFiCalibrationScanDialog.cpp \
ui/debug/PlotGPS.cpp \
nav/NavController.cpp \
nav/mesh/NavControllerMesh.cpp \
nav/grid/NavControllerGrid.cpp \
sensors/android/BLESensorAndroid.cpp
RESOURCES += qml.qrc
@@ -102,113 +104,116 @@ INSTALLS += target
# android-sources/src/WiFi.java
HEADERS += \
lib/gpc/gpc.h \
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 \
lib/gpc/Polygon.h \
ui/map/3D/FloorRenderer.h \
ui/map/3D/gl/GL.h \
ui/map/3D/gl/GLHelper.h \
ui/map/3D/gl/GLLines.h \
ui/map/3D/gl/GLTriangles.h \
ui/map/3D/elements/Doors.h \
ui/map/3D/elements/Ground.h \
ui/map/3D/elements/Handrails.h \
ui/map/3D/elements/Path.h \
ui/map/3D/elements/Stairs.h \
ui/map/3D/elements/Walls.h \
ui/map/3D/gl/GLPoints.h \
ui/map/3D/elements/ColorPoints.h \
ui/map/3D/RenderParams.h \
ui/map/3D/Renderable.h \
ui/map/3D/gl/Shader.h \
ui/map/3D/elements/Object.h \
ui/Icons.h \
ui/MainWindow.h \
Controller.h \
ui/menu/MainMenu.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 \
sensors/linux/WiFiSensorLinuxC.h \
sensors/offline/SensorFactoryOffline.h \
sensors/dummy/SensorFactoryDummy.h \
sensors/android/SensorFactoryAndroid.h \
Settings.h \
sensors/offline/AllInOneSensor.h \
sensors/ActivitySensor.h \
ui/LoggerUI.h \
ui/debug/InfoWidget.h \
ui/UIHelper.h \
ui/map/3D/MapView3D.h \
ui/map/2D/MapView2D.h \
ui/map/2D/Floor2D.h \
ui/map/2D/Scaler2D.h \
ui/map/2D/Renderable2D.h \
ui/map/2D/RenderParams2D.h \
ui/map/2D/ColorPoints2D.h \
ui/map/2D/Path2D.h \
ui/map/2D/WiFiCalibTool.h \
ui/map/2D/HasSelectableNodes.h \
tools/calibration/WiFiCalibrationDataModel.h \
tools/calibration/WiFiCalibrationScanDialog.h \
tests/RuntimeTests.h \
ipin/StepLogger.h \
ipin/Scaler.h \
ipin/Config.h \
ipin/IPINHelper.h \
nav/NavControllerListener.h \
ipin/StepLoggerWrapper.h \
ipin/StepLoggerWrapperAndroid.h \
sensors/GPSSensor.h \
sensors/android/GPSSensorAndroid.h \
sensors/CompassSensor.h \
sensors/android/CompassSensorAndroid.h \
sensors/dummy/CompassSensorDummy.h \
sensors/dummy/GPSSensorDummy.h \
ui/debug/PlotGPS.h \
sensors/SensorWriter.h \
nav/mesh/State.h \
nav/mesh/NavControllerMesh.h \
nav/mesh/FilterMesh.h \
nav/grid/Filter.h \
nav/grid/NavControllerGrid.h \
nav/grid/Node.h \
nav/grid/NodeResampling.h \
nav/grid/RegionalResampling.h \
nav/Observation.h \
nav/grid/State.h \
nav/CurEst.h
lib/gpc/gpc.h \
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/android/BLESensorAndroid.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 \
lib/gpc/Polygon.h \
ui/map/3D/FloorRenderer.h \
ui/map/3D/gl/GL.h \
ui/map/3D/gl/GLHelper.h \
ui/map/3D/gl/GLLines.h \
ui/map/3D/gl/GLTriangles.h \
ui/map/3D/elements/Doors.h \
ui/map/3D/elements/Ground.h \
ui/map/3D/elements/Handrails.h \
ui/map/3D/elements/Path.h \
ui/map/3D/elements/Stairs.h \
ui/map/3D/elements/Walls.h \
ui/map/3D/gl/GLPoints.h \
ui/map/3D/elements/ColorPoints.h \
ui/map/3D/RenderParams.h \
ui/map/3D/Renderable.h \
ui/map/3D/gl/Shader.h \
ui/map/3D/elements/Object.h \
ui/Icons.h \
ui/MainWindow.h \
Controller.h \
ui/menu/MainMenu.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 \
sensors/linux/WiFiSensorLinuxC.h \
sensors/offline/SensorFactoryOffline.h \
sensors/dummy/SensorFactoryDummy.h \
sensors/android/SensorFactoryAndroid.h \
Settings.h \
sensors/offline/AllInOneSensor.h \
sensors/ActivitySensor.h \
ui/LoggerUI.h \
ui/debug/InfoWidget.h \
ui/UIHelper.h \
ui/map/3D/MapView3D.h \
ui/map/2D/MapView2D.h \
ui/map/2D/Floor2D.h \
ui/map/2D/Scaler2D.h \
ui/map/2D/Renderable2D.h \
ui/map/2D/RenderParams2D.h \
ui/map/2D/ColorPoints2D.h \
ui/map/2D/Path2D.h \
ui/map/2D/WiFiCalibTool.h \
ui/map/2D/HasSelectableNodes.h \
tools/calibration/WiFiCalibrationDataModel.h \
tools/calibration/WiFiCalibrationScanDialog.h \
tests/RuntimeTests.h \
ipin/StepLogger.h \
ipin/Scaler.h \
ipin/Config.h \
ipin/IPINHelper.h \
nav/NavControllerListener.h \
ipin/StepLoggerWrapper.h \
ipin/StepLoggerWrapperAndroid.h \
sensors/GPSSensor.h \
sensors/android/GPSSensorAndroid.h \
sensors/CompassSensor.h \
sensors/android/CompassSensorAndroid.h \
sensors/dummy/CompassSensorDummy.h \
sensors/dummy/GPSSensorDummy.h \
ui/debug/PlotGPS.h \
sensors/SensorWriter.h \
nav/mesh/State.h \
nav/mesh/NavControllerMesh.h \
nav/mesh/FilterMesh.h \
nav/grid/Filter.h \
nav/grid/NavControllerGrid.h \
nav/grid/Node.h \
nav/grid/NodeResampling.h \
nav/grid/RegionalResampling.h \
nav/Observation.h \
nav/grid/State.h \
nav/CurEst.h \
sensors/BLESensor.h \
tools/calibration/BLECalibrationDataModel.h
DISTFILES += \
android-sources/src/MyActivity.java \
res/gl/vertex1.glsl \
res/gl/fragment1.glsl \
res/gl/tex/empty_normals.jpg \
_android/src/aidl/it/cnr/isti/steplogger/IStepLoggerService.aidl \
_android/src/StepLoggerClient.java
android-sources/src/MyActivity.java \
res/gl/vertex1.glsl \
res/gl/fragment1.glsl \
res/gl/tex/empty_normals.jpg \
_android/src/aidl/it/cnr/isti/steplogger/IStepLoggerService.aidl \
_android/src/StepLoggerClient.java