added gps support

added compass support
added ui elements for gps and compass
added support for writing sensor data

ui/debug/PlotGPS.cpp

@@ -0,0 +1,37 @@
+#include "PlotGPS.h"
+#include <QPainter>
+
+PlotGPS::PlotGPS(QWidget *parent) : QWidget(parent) {
+
+	setMinimumWidth(32);
+	setMinimumHeight(96);
+
+}
+
+void PlotGPS::add(const Timestamp ts, const GPSData& data) {
+	(void) ts;
+	this->gpsData = data;
+}
+
+void PlotGPS::paintEvent(QPaintEvent* evt) {
+
+	(void) evt;
+	QPainter p(this);
+
+	// frame
+	p.fillRect(0,0,width(),height(),QColor(255,255,255,192));
+	p.setPen(Qt::black);
+	p.drawRect(0,0,width()-1,height()-1);
+
+	// turn [relative]
+	const QPen pen(Qt::black);
+	p.setPen(pen);
+	p.drawText(4, 1*12, QString::number(gpsData.tsReceived.ms()));
+	p.drawText(4, 2*12, QString::number(gpsData.lat));
+	p.drawText(4, 3*12, QString::number(gpsData.lon));
+	p.drawText(4, 4*12, QString::number(gpsData.alt));
+	p.drawText(4, 5*12, QString::number(gpsData.accuracy));
+
+	p.end();
+
+}

ui/debug/PlotGPS.h

@@ -0,0 +1,32 @@
+#ifndef PLOTGPS_H
+#define PLOTGPS_H
+
+
+#include <QWidget>
+#include "../sensors/GPSSensor.h"
+
+#include <Indoor/data/Timestamp.h>
+
+class PlotGPS : public QWidget {
+
+	Q_OBJECT
+
+private:
+
+	GPSData gpsData;
+
+public:
+
+	explicit PlotGPS(QWidget *parent = 0);
+
+	void add(const Timestamp ts, const GPSData& data);
+
+signals:
+
+public slots:
+
+	void paintEvent(QPaintEvent*);
+
+};
+
+#endif // PLOTGPS_H

ui/debug/PlotTurns.cpp

@@ -17,7 +17,16 @@ PlotTurns::PlotTurns(QWidget *parent) : QWidget(parent) {
 
 void PlotTurns::add(const Timestamp ts, const TurnData& data) {
 	(void) ts;
-	this->data = data;
+	this->turnData = data;
+	static int i = 0;
+	if (++i % 4 == 0) {
+		QMetaObject::invokeMethod(this, "update", Qt::QueuedConnection);
+	}
+}
+
+void PlotTurns::add(const Timestamp ts, const CompassData& data) {
+	(void) ts;
+	this->compassData = data;
 	static int i = 0;
 	if (++i % 4 == 0) {
 		QMetaObject::invokeMethod(this, "update", Qt::QueuedConnection);
@@ -35,17 +44,26 @@ void PlotTurns::paintEvent(QPaintEvent* evt) {
 	const float cx = width() / 2;
 	const float cy = height() / 2;
 
-	const float x1 = cx + std::cos(data.radSinceStart-M_PI_2) * s1;
-	const float y1 = cy + std::sin(data.radSinceStart-M_PI_2) * s1;
-
 	p.fillRect(0,0,width(),height(),QColor(255,255,255,192));
 	p.setPen(Qt::black);
 	p.drawRect(0,0,width()-1,height()-1);
 
-	const QPen pen(Qt::black, 2);
-	p.setPen(pen);
+	// turn [relative]
+	const float x1 = cx + std::cos(turnData.radSinceStart-M_PI_2) * s1;
+	const float y1 = cy + std::sin(turnData.radSinceStart-M_PI_2) * s1;
+	const QPen pen1(Qt::black, 2);
+	p.setPen(pen1);
 	p.drawLine(cx, cy, x1, y1);
 
+	// compass [absolute]
+	if (compassData.isValid()) {
+		const float x2 = cx + std::cos(compassData.azimuth) * s1;
+		const float y2 = cy + std::sin(compassData.azimuth) * s1;
+		const QPen pen2(Qt::gray, 2);
+		p.setPen(pen2);
+		p.drawLine(cx, cy, x2, y2);
+	}
+
 	p.end();
 
 }

ui/debug/PlotTurns.h

@@ -3,6 +3,8 @@
 
 #include <QWidget>
 #include "../sensors/TurnSensor.h"
+#include "../sensors/CompassSensor.h"
+
 #include <Indoor/data/Timestamp.h>
 
 class PlotTurns : public QWidget {
@@ -11,7 +13,8 @@ class PlotTurns : public QWidget {
 
 private:
 
-	TurnData data;
+	TurnData turnData;
+	CompassData compassData;
 
 public:
 
@@ -19,7 +22,7 @@ public:
 
 	void add(const Timestamp ts, const TurnData& data);
 
-	//QSize sizeHint() const {return QSize(96, 96);}
+	void add(const Timestamp ts, const CompassData& data);
 
 signals:
 

ui/debug/SensorDataWidget.cpp

@@ -7,6 +7,7 @@
 
 #include "../sensors/SensorFactory.h"
 #include "PlotTurns.h"
+#include "PlotGPS.h"
 #include "PlotWiFiScan.h"
 
 #include "../Settings.h"
@@ -196,14 +197,17 @@ SensorDataWidget::SensorDataWidget(QWidget* parent) : QWidget(parent) {
 	plotBaro = new PlotBaro(this);
 	plotTurn = new PlotTurns(this);
 	plotWiFi = new PlotWiFiScan(this);
+	plotGPS = new PlotGPS(this);
 
 	// layout setup
 	lay = new QGridLayout(this);
 	lay->addWidget(plotGyro,	0, 0, 1, 4);
 	lay->addWidget(plotAcc,		1, 0, 1, 4);
 	lay->addWidget(plotBaro,	2, 0, 1, 4);
+
 	lay->addWidget(plotTurn,	3, 0, 1, 1);
-	lay->addWidget(plotWiFi,	3, 1, 1, 3);
+	lay->addWidget(plotGPS,		3, 1, 1, 1);
+	lay->addWidget(plotWiFi,	3, 2, 1, 2);
 
 //	lay->setRowStretch(0, 1);
 //	lay->setRowStretch(1, 1);
@@ -221,6 +225,8 @@ SensorDataWidget::SensorDataWidget(QWidget* parent) : QWidget(parent) {
 	SensorFactory::get().getTurns().addListener(this);
 	SensorFactory::get().getWiFi().addListener(this);
 	SensorFactory::get().getActivity().addListener(this);
+	SensorFactory::get().getCompass().addListener(this);
+	SensorFactory::get().getGPS().addListener(this);
 
 }
 
@@ -257,6 +263,16 @@ void SensorDataWidget::onSensorData(Sensor<TurnData>* sensor, const Timestamp ts
 	((PlotTurns*)plotTurn)->add(ts, data);
 }
 
+void SensorDataWidget::onSensorData(Sensor<CompassData>* sensor, const Timestamp ts, const CompassData& data) {
+	(void) sensor;
+	((PlotTurns*)plotTurn)->add(ts, data);
+}
+
+void SensorDataWidget::onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) {
+	(void) sensor;
+	((PlotGPS*)plotGPS)->add(ts, data);
+}
+
 void SensorDataWidget::onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) {
 	(void) sensor;
 	((PlotWiFiScan*)plotWiFi)->add(ts, data);

ui/debug/SensorDataWidget.h

@@ -13,6 +13,8 @@
 #include "../sensors/TurnSensor.h"
 #include "../sensors/WiFiSensor.h"
 #include "../sensors/ActivitySensor.h"
+#include "../sensors/GPSSensor.h"
+#include "../sensors/CompassSensor.h"
 
 class PlotWidget;
 class QGridLayout;
@@ -26,7 +28,9 @@ class SensorDataWidget :
 		public SensorListener<ActivityData>,
 		public SensorListener<StepData>,
 		public SensorListener<TurnData>,
-		public SensorListener<WiFiMeasurements> {
+		public SensorListener<WiFiMeasurements>,
+		public SensorListener<GPSData>,
+		public SensorListener<CompassData> {
 
 
 	Q_OBJECT
@@ -43,18 +47,21 @@ public:
 	void onSensorData(Sensor<TurnData>* sensor, const Timestamp ts, const TurnData& data) override;
 	void onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) override;
 	void onSensorData(Sensor<ActivityData>* sensor, const Timestamp ts, const ActivityData& data) override;
+	void onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) override;
+	void onSensorData(Sensor<CompassData>* sensor, const Timestamp ts, const CompassData& data) override;
 
 private:
 
 	PlotWidget* plotGyro;
 	PlotWidget* plotAcc;
 	PlotWidget* plotBaro;
+
 	QWidget* plotTurn;
 	QWidget* plotWiFi;
+	QWidget* plotGPS;
 
 	QGridLayout* lay;
 
-
 };
 
 #endif // SENSORDATAWIDGET_H

ui/debug/plot/PlottWidget.h

@@ -2,6 +2,7 @@
 #define PLOTTI_H
 
 #include <QWidget>
+#include "../misc/fixc11.h"
 #include "Plot.h"
 
 /** widget to render one plot */