20ae2f5c2a
added ble as sensor to java and c++ added sensorlistener for ble added ble to observation and onDataSensor in filter started to work on ble fingerprints for optimization
110 lines
2.5 KiB
C++
110 lines
2.5 KiB
C++
#ifndef NAVCONTROLLER_H
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#define NAVCONTROLLER_H
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#include "../sensors/AccelerometerSensor.h"
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#include "../sensors/GyroscopeSensor.h"
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#include "../sensors/BarometerSensor.h"
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#include "../sensors/WiFiSensor.h"
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#include "../sensors/SensorFactory.h"
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#include "../sensors/StepSensor.h"
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#include "../sensors/TurnSensor.h"
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//#include "../ui/debug/SensorDataWidget.h"
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//#include "../ui/map/3D/MapView3D.h"
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//#include "../ui/debug/InfoWidget.h"
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#include <Indoor/Assertions.h>
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#include <thread>
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#include "Observation.h"
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#include "../Settings.h"
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//#include "Filter.h"
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//#include "Controller.h"
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//#include "NavControllerListener.h"
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//#include <KLib/misc/gnuplot/Gnuplot.h>
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//#include <KLib/misc/gnuplot/GnuplotSplot.h>
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//#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
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//#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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////#ifndef ANDROID
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////#include <valgrind/callgrind.h>
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////#endif
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//#include "Settings.h"
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//#include "RegionalResampling.h"
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//#include "NodeResampling.h"
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#include "NavControllerListener.h"
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#include "CurEst.h"
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class Controller;
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class NavController :
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public SensorListener<AccelerometerData>,
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public SensorListener<BeaconMeasurement>,
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public SensorListener<GyroscopeData>,
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public SensorListener<BarometerData>,
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public SensorListener<WiFiMeasurements>,
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public SensorListener<GPSData>,
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public SensorListener<StepData>,
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public SensorListener<TurnData>,
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public SensorListener<ActivityData>
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{
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protected:
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Controller* mainController;
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Floorplan::IndoorMap* im;
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bool running = false;
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std::thread tFilter;
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std::thread tDisplay;
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/** the estimated path */
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std::vector<Point3> estPath;
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/** all listeners */
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std::vector<NavControllerListener*> listeners;
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/** display stuff */
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const int display_ms = Settings::MapView3D::msPerFrame.ms();
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Point3 curPosFast;
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Point3 curPosSlow;
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CurEst curEst;
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Timestamp lastTransition;
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public:
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NavController(Controller* mainController, Floorplan::IndoorMap* im);
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virtual ~NavController() {
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if (running) {stop();}
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}
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/** attach a new event listener */
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void addListener(NavControllerListener* l) {
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listeners.push_back(l);
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}
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public:
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virtual void stop() {;}
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virtual void start() = 0;
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int cameraMode = 0;
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void toggleCamera() {
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cameraMode = (cameraMode + 1) % 3;
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}
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/** update the map-view (called from within a background-loop) */
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void updateMapView();
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};
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#endif // NAVCONTROLLER_H
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