625f5fe04d
removed KLib stuff added new activity filter is uncommand! at the moment, the app is not able to load new maps and breaks using old maps
109 lines
2.3 KiB
C++
109 lines
2.3 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<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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