fixed fallback step-logger

moved vap-grouping to settings-file
sanity-checks

Controller.cpp

@@ -33,7 +33,7 @@
 
 #include "nav/NavController.h"
 
-Controller::Controller() : sl(scaler) {
+Controller::Controller() {
 
 	// OpenGL setup
 	// MUST happen before anything gets visible (= gets initialized)
@@ -51,9 +51,9 @@ Controller::Controller() : sl(scaler) {
 
 	//SensorFactory::set(new SensorFactoryOffline(Settings::Data::getOfflineDir() + "bergwerk/path3/nexus/vor/1454782562231.csv"));
 	//SensorFactory::set(new SensorFactoryOffline(Settings::Data::getOfflineDir() + "/bergwerk/path4/nexus/rueck/1454776724285_rueck.csv"));
-	//SensorFactory::set(new SensorFactoryOffline(Settings::Data::getOfflineDir() + "/bergwerk/path4/nexus/vor/1454776525797.csv"));
+	SensorFactory::set(new SensorFactoryOffline(Settings::Data::getOfflineDir() + "/bergwerk/path4/nexus/vor/1454776525797.csv"));
 
-	SensorFactory::set(new SensorFactoryAndroid());
+//	SensorFactory::set(new SensorFactoryAndroid());
 //	SensorFactory::get().getAccelerometer().start();
 //	SensorFactory::get().getGyroscope().start();
 //	SensorFactory::get().getBarometer().start();
@@ -62,6 +62,9 @@ Controller::Controller() : sl(scaler) {
 
 	// create the main window
 	mainWindow = new MainWindow();
+	sl = new StepLoggerWrapperAndroid(scaler);
+	//sl = new StepLoggerWrapper(scaler, mainWindow);
+
 
 	// attach logger
 	LoggerComposite* log = new LoggerComposite();
@@ -120,10 +123,10 @@ void buildGridOnce(Grid<MyGridNode>* grid, Floorplan::IndoorMap* map, const std:
 	// WiFi setup
 	WiFiModelLogDistCeiling wifiModel(map);
 	if (replyWiFiFP == QMessageBox::Yes) {
-		VAPGrouper vg(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
+
 		WiFiCalibrationDataModel mdl(fpFile);
 		Assert::isFalse(mdl.getFingerprints().empty(), "no fingerprints available!");
-		WiFiOptimizer opt(map, vg);
+		WiFiOptimizer opt(map, Settings::WiFiModel::vg_calib);
 		for (const WiFiFingerprint& fp : mdl.getFingerprints()) {
 			opt.addFingerprint(fp);
 		}
@@ -135,8 +138,11 @@ void buildGridOnce(Grid<MyGridNode>* grid, Floorplan::IndoorMap* map, const std:
 		}
 	} else {
 
+		// NOTE IPIN UAH map does not make sense.. APs look like VAPs but are not
+		// -> disable VAP-grouping in Settings.h [this is for eval and here]
+
 		// load all APs from the floorplan and use same TXP/EXP/WAF for all of them
-		wifiModel.loadAPs(map, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
+		wifiModel.loadAPs(map, Settings::WiFiModel::vg_calib, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
 		Assert::isFalse(wifiModel.getAllAPs().empty(), "no AccessPoints stored within the map.xml");
 
 	}
@@ -227,7 +233,7 @@ void Controller::onLoadButton() {
 	getMapView3D()->setVisible(false);
 
 	// attach ipin step logger
-	nav->addListener(&sl);
+	nav->addListener(sl);
 
 
 }

Controller.h

@@ -44,8 +44,9 @@ protected:
 
 	// scaling for the UAH building
 	IPINScaler scaler = IPINScaler(1869, 1869, 40.51312440, -3.34959080, -40.73112000, 0.07596002);
-	//StepLoggerWrapper sl;
+
-	StepLoggerWrapperAndroid sl;
+	//StepLoggerWrapper* sl = nullptr;
+	StepLoggerWrapperAndroid* sl = nullptr;
 
 
 private slots:

Settings.h

@@ -3,6 +3,7 @@
 
 #include <Indoor/grid/GridPoint.h>
 #include <Indoor/data/Timestamp.h>
+#include <Indoor/sensors/radio/VAPGrouper.h>
 
 #include <QFile>
 
@@ -25,6 +26,9 @@ namespace Settings {
 	}
 
 
+
+
+
 	//const GridPoint destination = GridPoint(70*100, 35*100, 0*100);		// use destination
 	const GridPoint destination = GridPoint(0,0,0);							// do not use destination
 
@@ -33,11 +37,21 @@ namespace Settings {
 	}
 
 	namespace WiFiModel {
+
 		constexpr float sigma = 13.0;
+
 		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
 		constexpr float TXP = -48;
 		constexpr float EXP = 2.5;
 		constexpr float WAF = -5.0;
+
+		// how to perform VAP grouping. see
+		// - calibration in Controller.cpp
+		// - eval in Filter.h
+		// NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
+		const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
+		const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
+
 	}
 
 
@@ -71,7 +85,8 @@ namespace Settings {
 				if (QFile(f2.c_str()).exists()) {return f2;}
 				throw Exception("data folder missing");
 			#else
-                    return "/home/toni/Documents/programme/localization/YASMIN/YASMIN_DATA/";
+				//return "/home/toni/Documents/programme/localization/YASMIN/YASMIN_DATA/";
+				return "/apps/android/workspace/YASMIN_DATA/";
 			#endif
 		}
 

ipin/Config.h

@@ -7,6 +7,8 @@
 #include <unordered_map>
 #include "IPINHelper.h"
 
+#include <Indoor/Exception.h>
+
 class EvalConfig {
 
 private:
@@ -31,9 +33,10 @@ public:
 	/** load the given configuration file */
 	void load(const std::string& file) {
 
+
 		std::ifstream inp(file);
 
-		if (!inp.good()) {throw "error while opening config file " + file;}
+		if (!inp.good()) {throw Exception("error while opening config file " + file);}
 
 
 		std::string line;
@@ -78,7 +81,7 @@ private:
 
 		// split key and value
 		const size_t pos = line.find(" = ");
-		if (pos == std::string::npos) {throw "something wrong";}
+		if (pos == std::string::npos) {throw Exception("something wrong");}
 
 		const std::string key = line.substr(0, pos);
 		const std::string val = line.substr(pos+3);

ipin/IPINHelper.h

@@ -11,7 +11,8 @@ public:
 	static std::string getDataFolder() {
 
 #ifdef ANDROID
-		return getenv("DIRECTORY_DOWNLOADS");
+		//return std::string(getenv("DIRECTORY_DOWNLOADS")) + "/";
+		return "/sdcard/Download/";
 #else
 		return "/apps/android/workspace/YASMIN_DATA/";
 #endif

ipin/StepLogger.h

@@ -43,7 +43,7 @@ public:
 	void onButtonPress() {
 
 		// sanity check
-		if (isDone()) {throw "all waypoints were processed";}
+		if (isDone()) {throw Exception("all waypoints were processed");}
 
 		// construct output string
 		std::stringstream ss;
@@ -142,8 +142,8 @@ private:
 		const std::string fPos = folder + "positions.log";
 
 		// open two output files
-		outButtons.open(fBtn);		if (!outButtons.good())		{throw "error while creating file";}
+		outButtons.open(fBtn);		if (!outButtons.good())		{throw Exception("error while creating file");}
-		outPositions.open(fPos);	if (!outPositions.good())	{throw "error while creating file";}
+		outPositions.open(fPos);	if (!outPositions.good())	{throw Exception("error while creating file");}
 
 		// reset current WayPoint
 		curWP = 0;

ipin/StepLoggerWrapper.h

@@ -6,10 +6,15 @@
 #include "../nav/NavControllerListener.h"
 
 #include <QWidget>
+#include <QDialog>
 #include <QPushButton>
 #include <QWindow>
 #include <QMainWindow>
 #include <QDesktopWidget>
+#include <QGridLayout>
+#include <QLabel>
+
+#include <Indoor/data/Timestamp.h>
 
 /**
  * helper class to connect our NavigationController with the StepLogger
@@ -21,13 +26,17 @@ private:
 	/** convert from our position-format to ipin position-format */
 	IPINScaler& scaler;
 
-	QMainWindow* window;
+	QWidget* widget = nullptr;
-	QPushButton* btn;
+	QPushButton* btn = nullptr;
+	QLabel* lblInfo = nullptr;
+	QWidget* parent;// = nullptr;
+	int cnt = 0;
+	Timestamp lastEstTS;
 
 public:
 
 	/** ctor */
-	StepLoggerWrapper(IPINScaler& scaler) : scaler(scaler) {
+	StepLoggerWrapper(IPINScaler& scaler, QWidget* parent) : scaler(scaler), parent(parent) {
 		setupUI();
 	}
 
@@ -44,6 +53,12 @@ public:
 		// inform the logger
 		StepLogger::onNewEstimation(ipin.lat, ipin.lon, ipin.floorNr);
 
+		++cnt;
+		const Timestamp curTS = Timestamp::fromUnixTime();
+		const Timestamp diff = curTS - lastEstTS;
+		lastEstTS = curTS;
+		lblInfo->setText("Est: " + QString::number(cnt) + " time: " + QString::number(diff.ms()));
+
 	}
 
 private:
@@ -51,23 +66,43 @@ private:
 	/** create a clickable check button */
 	void setupUI() {
 
-		window = new QMainWindow();
-		//window->setTitle("StepLogger");
-		btn = new QPushButton(window);
-
 		// almost fullscreen
 		QRect geom = QDesktopWidget().availableGeometry();
-		const int w = geom.width() * 0.9;
+		const int w = std::min(geom.width(), geom.height()) * 0.4;
-		const int h = geom.height() * 0.6;
+		const int h = w;
+
+		/*
+		window = new QDialog();
 
 		// center and set always-on-top
-		window->setGeometry(geom.width()/2 - w/2, geom.height()/2 - h/2, w, h);
+		window->setGeometry(geom.width()*0.7 - w/2, geom.height()*0.7 - h/2, w, h);
 		const Qt::WindowFlags flags = window->windowFlags();
 		window->setWindowFlags(flags | Qt::CustomizeWindowHint | Qt::WindowStaysOnTopHint);
 
 
+		btn = new QPushButton(window);
 		btn->setGeometry(5,5,w-5-5,h-5-5);
-		window->show();
+		*/
+
+
+		widget = new QWidget(parent);
+		widget->setGeometry(geom.width() - w - 5, geom.height()*0.85 - h, w, h);
+		widget->setWindowFlags(widget->windowFlags() | Qt::CustomizeWindowHint | Qt::WindowStaysOnTopHint);
+		widget->setVisible(true);
+
+		QGridLayout* lay = new QGridLayout(widget);
+
+		btn = new QPushButton();
+		btn->setMinimumSize(w-10, h*0.8);
+		btn->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+		btn->setWindowFlags(btn->windowFlags() | Qt::CustomizeWindowHint | Qt::WindowStaysOnTopHint);
+
+		lay->addWidget(btn, 0, 0, 1, 1);
+
+		lblInfo = new QLabel();
+		lblInfo->setMinimumHeight(32); lblInfo->setMaximumHeight(32);
+		lblInfo->setText("123");
+		lay->addWidget(lblInfo, 1, 0, 1, 1);
 
 		// button clicked -> next waypoint
 		btn->connect(btn, &QPushButton::clicked, [&] () {
@@ -78,6 +113,11 @@ private:
 		// show the current waypoint
 		updateButton();
 
+//		//window->exec();
+//		window->setFocusPolicy(Qt::StrongFocus);
+//		window->setAttribute(Qt::WA_AcceptTouchEvents, true);
+//		window->show();
+
 	}
 
 	/** update the current button label */

ipin/StepLoggerWrapperAndroid.h

@@ -53,7 +53,7 @@ private:
 
         double rounded_z = std::round(z);
         int res = QAndroidJniObject::callStaticMethod<int>("indoor/java/StepLoggerClient", "log", "(DDD)I", x, y, rounded_z);
-		//if (res != 1337) {throw Exception("invalid return code while sending the current position to StepLogger.\nService Down?");}
+		if (res != 1337) {throw Exception("invalid return code while sending the current position to StepLogger.\nService Down?");}
 #endif
 
 	}

nav/Filter.h

@@ -154,9 +154,6 @@ class PFEval : public K::ParticleFilterEvaluation<MyState, MyObservation> {
 	//WiFiObserverFree wiFiProbability;					// free-calculation
 	WiFiObserverGrid<MyGridNode> wiFiProbability;		// grid-calculation
 
-	// how to perform VAP grouping. also see calibration in Controller.cpp
-	VAPGrouper vg = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
-
 	// smartphone is 1.3 meter above ground
 	const Point3 person = Point3(0,0,Settings::smartphoneAboveGround);
 
@@ -203,7 +200,7 @@ public:
 
 		// vap-grouping
 		const int numAP1 = observation.wifi.entries.size();
-		const WiFiMeasurements wifiObs = vg.group(_observation.wifi);
+		const WiFiMeasurements wifiObs = Settings::WiFiModel::vg_eval.group(_observation.wifi);
 		const int numAP2 = wifiObs.entries.size();
 
         Log::add("Filter", "VAP: " + std::to_string(numAP1) + " -> " + std::to_string(numAP2));