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
90 lines
2.3 KiB
C++
90 lines
2.3 KiB
C++
#ifndef NAVCONTROLLERGRID_H
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#define NAVCONTROLLERGRID_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 <Indoor/Assertions.h>
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#include <thread>
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#include "State.h"
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#include "Filter.h"
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#include "../Controller.h"
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#include "../NavController.h"
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namespace GridBased {
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class NavControllerGrid : public NavController {
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private:
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Grid<MyGridNode>* grid;
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WiFiModelLogDistCeiling wifiModel;
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std::unique_ptr<SMC::ParticleFilter<MyState, MyControl, MyObservation>> pf;
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DijkstraPath<MyGridNode> pathToDest;
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MyObservation curObs;
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MyControl curCtrl;
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public:
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NavControllerGrid(Controller* mainController, Floorplan::IndoorMap* im, Grid<MyGridNode>* grid);
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void start() override;
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void stop() override;
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void onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) override;
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void onSensorData(Sensor<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) override;
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void onSensorData(Sensor<BarometerData>* sensor, const Timestamp ts, const BarometerData& data) override;
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void onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) override;
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void onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) override;
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void onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) override ;
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void onSensorData(Sensor<TurnData>* sensor, const Timestamp ts, const TurnData& data) override;
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void onSensorData(Sensor<ActivityData>* sensor, const Timestamp ts, const ActivityData& data) override ;
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private:
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/** called when any sensor has received new data */
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void gotSensorData(const Timestamp ts);
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// void debugActivity(const ActivityData& activity);
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/** particle-filter update loop */
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void filterUpdateLoop();
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/** check whether its time for a filter update, and if so, execute the update and return true */
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bool filterUpdateIfNeeded();
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/** perform a filter-update (called from a background-loop) */
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void filterUpdate();
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/** UI update loop */
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void updateMapViewLoop();
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};
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}
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#endif // NAVCONTROLLERGRID_H
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