075d8bb633
added main menu added debug display many debug widgets for plotting live data worked on android live sensors added offline-data sensor feeding some dummy data sensors worked on the map display added ui debug for grid-points, particles and weights added a cool dude to display the estimation added real filtering based on the Indoor components c++11 fixes for android compilation online and offline filtering support new resampling technique for testing map loading via dialog
136 lines
4.2 KiB
C++
136 lines
4.2 KiB
C++
#include "Controller.h"
|
|
|
|
#include "ui/map/MapView.h"
|
|
#include "ui/menu/MainMenu.h"
|
|
#include "ui/MainWindow.h"
|
|
#include "ui/dialog/LoadSetupDialog.h"
|
|
#include "ui/debug/SensorDataWidget.h"
|
|
|
|
#include <Indoor/grid/factory/v2/GridFactory.h>
|
|
#include <Indoor/grid/factory/v2/Importance.h>
|
|
|
|
#include <Indoor/floorplan/v2/Floorplan.h>
|
|
#include <Indoor/floorplan/v2/FloorplanReader.h>
|
|
#include <Indoor/Assertions.h>
|
|
|
|
#include "sensors/dummy/SensorFactoryDummy.h"
|
|
#include "sensors/android/SensorFactoryAndroid.h"
|
|
#include "sensors/offline/SensorFactoryOffline.h"
|
|
|
|
#include "nav/NavController.h"
|
|
|
|
Controller::Controller() {
|
|
|
|
// OpenGL setup
|
|
// MUST happen before anything gets visible (= gets initialized)
|
|
QSurfaceFormat format;
|
|
format.setDepthBufferSize(16);
|
|
QSurfaceFormat::setDefaultFormat(format);
|
|
|
|
// configure the to-be-used sensor factory
|
|
//SensorFactory::set(new SensorFactoryDummy());
|
|
//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/nexus6/kleinerKreis_216steps_6runden_telefongerade.csv"));
|
|
//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/s3mini/kleinerKreis_225steps_6runden_telefongerade.csv"));
|
|
//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/s4/kleinerKreis_220steps_6runden_telefongeneigt.csv"));
|
|
SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/bergwerk/path4/nexus/vor/1454776525797.csv"));
|
|
|
|
|
|
|
|
|
|
mainWindow = new MainWindow();
|
|
|
|
|
|
Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onLoadButton, this, &Controller::onLoadButton), "connect() failed");
|
|
Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onDebugButton, this, &Controller::onDebugButton), "connect() failed");
|
|
Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onStartButton, this, &Controller::onStartButton), "connect() failed");
|
|
Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onTransparentButton, this, &Controller::onTransparentButton), "connect() failed");
|
|
Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onCameraButton, this, &Controller::onCameraButton), "connect() failed");
|
|
|
|
// order is important! otherwise OpenGL fails!
|
|
mainWindow->show();
|
|
|
|
|
|
|
|
// start all sensors
|
|
SensorFactory::get().getAccelerometer().start();
|
|
SensorFactory::get().getGyroscope().start();
|
|
SensorFactory::get().getBarometer().start();
|
|
SensorFactory::get().getWiFi().start();
|
|
|
|
}
|
|
|
|
MapView* Controller::getMapView() const {
|
|
return mainWindow->getMapView();
|
|
}
|
|
|
|
|
|
void buildGridOnce(Grid<MyGridNode>* grid, Floorplan::IndoorMap* map, const std::string& saveFile) {
|
|
GridFactory<MyGridNode> gf(*grid);
|
|
gf.build(map);
|
|
Importance::addImportance(*grid);
|
|
std::ofstream out(saveFile, std::ofstream::binary);
|
|
grid->write(out);
|
|
out.close();
|
|
}
|
|
|
|
void Controller::onLoadButton() {
|
|
|
|
// pick a map to load
|
|
QDir dir = LoadSetupDialog::pickSetupFolder();
|
|
|
|
// cancelled?
|
|
if (dir.path() == ".") { return; }
|
|
|
|
QFile fMap(dir.path() + "/map.xml");
|
|
QFile fGrid(dir.path() + "/grid.dat");
|
|
|
|
Assert::isTrue(fMap.exists(), "map.xml missing");
|
|
//Assert::isTrue(fGrid.exists(), "grid.dat missing");
|
|
|
|
fMap.open(QIODevice::ReadOnly);
|
|
QString str = QString(fMap.readAll());
|
|
im = Floorplan::Reader::readFromString(str.toStdString());
|
|
|
|
|
|
|
|
const std::string sGrid = fGrid.fileName().toStdString();
|
|
std::ifstream inp(sGrid, std::ifstream::binary);
|
|
//Assert::isTrue(inp.good(), "failed to open grid.dat");
|
|
|
|
// create a new, empty grid
|
|
if (grid) {delete grid; grid = nullptr;}
|
|
grid = new Grid<MyGridNode>(20);
|
|
|
|
// grid.dat empty? -> build one and save it
|
|
if (!inp.good() || (inp.peek()&&0) || inp.eof()) {
|
|
buildGridOnce(grid, im, sGrid);
|
|
} else {
|
|
grid->read(inp);
|
|
}
|
|
|
|
// create a new navigator
|
|
if (nav) {delete nav; nav = nullptr;}
|
|
nav = new NavController(this, grid, im);
|
|
|
|
getMapView()->setMap(im);
|
|
getMapView()->showGridImportance(grid);
|
|
|
|
|
|
}
|
|
|
|
void Controller::onDebugButton() {
|
|
mainWindow->getSensorDataWidget()->setVisible( !mainWindow->getSensorDataWidget()->isVisible() );
|
|
}
|
|
|
|
void Controller::onStartButton() {
|
|
nav->start();
|
|
}
|
|
|
|
void Controller::onTransparentButton() {
|
|
mainWindow->getMapView()->toggleRenderMode();
|
|
}
|
|
|
|
void Controller::onCameraButton() {
|
|
nav->toggleCamera();
|
|
}
|