FHWS/YASMIN
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added c++11 fixes

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removed old components
disabled activity (for compiling reasons)
added wifi 2.4ghz hack
This commit is contained in:
k-a-z-u
2018-07-11 13:23:18 +02:00
parent b0712ec005
commit bb974d3871
18 changed files with 107 additions and 80 deletions
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9
nav/Filter.h
View File

@@ -167,20 +167,21 @@ public:
}
double getStairProb(const K::Particle<MyState>& p, const ActivityButterPressure::Activity act) {
double getStairProb(const K::Particle<MyState>& p, const Activity act) {
const float kappa = 0.75;
const MyGridNode& gn = grid->getNodeFor(p.state.position);
switch (act) {
case ActivityButterPressure::Activity::STAY:
case Activity::STANDING:
case Activity::WALKING:
if (gn.getType() == GridNode::TYPE_FLOOR) {return kappa;}
if (gn.getType() == GridNode::TYPE_DOOR) {return kappa;}
{return 1-kappa;}
case ActivityButterPressure::Activity::UP:
case ActivityButterPressure::Activity::DOWN:
case Activity::WALKING_UP:
case Activity::WALKING_DOWN:
if (gn.getType() == GridNode::TYPE_STAIR) {return kappa;}
if (gn.getType() == GridNode::TYPE_ELEVATOR) {return kappa;}
{return 1-kappa;}

43
nav/NavController.h
View File

@@ -45,8 +45,9 @@ class NavController :
public SensorListener<WiFiMeasurements>,
public SensorListener<GPSData>,
public SensorListener<StepData>,
public SensorListener<TurnData>,
public SensorListener<ActivityData> {
public SensorListener<TurnData>
//public SensorListener<ActivityData>
{
private:
@@ -116,7 +117,7 @@ public:
SensorFactory::get().getWiFi().addListener(this);
SensorFactory::get().getSteps().addListener(this);
SensorFactory::get().getTurns().addListener(this);
SensorFactory::get().getActivity().addListener(this);
//SensorFactory::get().getActivity().addListener(this);
// hacky.. but we need to call this one from the main thread!
//mainController->getMapView()->showParticles(pf->getParticles());
@@ -211,14 +212,14 @@ public:
gotSensorData(ts);
}
void onSensorData(Sensor<ActivityData>* sensor, const Timestamp ts, const ActivityData& data) override {
(void) sensor;
(void) ts;
curCtrl.activity = data.curActivity;
curObs.activity = data.curActivity;
debugActivity(data.curActivity);
gotSensorData(ts);
}
// void onSensorData(Sensor<ActivityData>* sensor, const Timestamp ts, const ActivityData& data) override {
// (void) sensor;
// (void) ts;
// curCtrl.activity = data.curActivity;
// curObs.activity = data.curActivity;
// debugActivity(data.curActivity);
// gotSensorData(ts);
// }
int cameraMode = 0;
void toggleCamera() {
@@ -234,16 +235,16 @@ private:
}
void debugActivity(const ActivityData& activity) {
QString act;
switch(activity.curActivity) {
case ActivityButterPressure::Activity::STAY: act = "STAY"; break;
case ActivityButterPressure::Activity::DOWN: act = "DOWN"; break;
case ActivityButterPressure::Activity::UP: act = "UP"; break;
default: act = "???"; break;
}
Assert::isTrue(QMetaObject::invokeMethod(mainController->getInfoWidget(), "showActivity", Qt::QueuedConnection, Q_ARG(const QString&, act)), "call failed");
}
// void debugActivity(const ActivityData& activity) {
// QString act;
// switch(activity.curActivity) {
// case ActivityButterPressure::Activity::STAY: act = "STAY"; break;
// case ActivityButterPressure::Activity::DOWN: act = "DOWN"; break;
// case ActivityButterPressure::Activity::UP: act = "UP"; break;
// default: act = "???"; break;
// }
// Assert::isTrue(QMetaObject::invokeMethod(mainController->getInfoWidget(), "showActivity", Qt::QueuedConnection, Q_ARG(const QString&, act)), "call failed");
// }
/** particle-filter update loop */
void filterUpdateLoop() {

4
nav/State.h
View File

@@ -54,7 +54,7 @@ struct MyObservation {
// TODO: switch to a general activity enum/detector for barometer + accelerometer + ...?
/** detected activity */
ActivityButterPressure::Activity activity;
Activity activity;
/** time of evaluation */
Timestamp currentTime;
@@ -72,7 +72,7 @@ struct MyControl {
// TODO: switch to a general activity enum/detector using barometer + accelerometer?
/** currently detected activity */
ActivityButterPressure::Activity activity;
Activity activity;
/** reset the control-data after each transition */
void resetAfterTransition() {