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fixed fallback step-logger

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moved vap-grouping to settings-file
sanity-checks
This commit is contained in:
FrankE
2016-10-02 18:28:17 +02:00
parent a4a8593023
commit 3a1cd1bccc
9 changed files with 95 additions and 32 deletions
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20
Controller.cpp
View File

@@ -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);
}

5
Controller.h
View File

@@ -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:

17
Settings.h
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@@ -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
}

7
ipin/Config.h
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@@ -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);

3
ipin/IPINHelper.h
View File

@@ -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

6
ipin/StepLogger.h
View File

@@ -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";}
outPositions.open(fPos); if (!outPositions.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 Exception("error while creating file");}
// reset current WayPoint
curWP = 0;

62
ipin/StepLoggerWrapper.h
View File

@@ -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;
QPushButton* btn;
QWidget* widget = nullptr;
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 h = geom.height() * 0.6;
const int w = std::min(geom.width(), geom.height()) * 0.4;
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 */

2
ipin/StepLoggerWrapperAndroid.h
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@@ -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
}

5
nav/Filter.h
View File

@@ -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));