394 lines
13 KiB
C++
394 lines
13 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 "State.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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Q_DECLARE_METATYPE(const void*)
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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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private:
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Controller* mainController;
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Grid<MyGridNode>* grid;
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WiFiModelLogDistCeiling wifiModel;
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Floorplan::IndoorMap* im;
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MyObservation curObs;
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MyControl curCtrl;
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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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std::unique_ptr<K::ParticleFilter<MyState, MyControl, MyObservation>> pf;
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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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public:
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virtual ~NavController() {
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if (running) {stop();}
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}
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/** ctor */
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NavController(Controller* mainController, Grid<MyGridNode>* grid, Floorplan::IndoorMap* im) : mainController(mainController), grid(grid), wifiModel(im), im(im) {
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// filter init
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std::unique_ptr<K::ParticleFilterInitializer<MyState>> init(new PFInit(grid));
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// estimation
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//std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>> estimation(new K::ParticleFilterEstimationWeightedAverage<MyState>());
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std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>> estimation(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.5));
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// resampling
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std::unique_ptr<NodeResampling<MyState, MyGridNode>> resample(new NodeResampling<MyState, MyGridNode>(*grid));
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//std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>> resample(new K::ParticleFilterResamplingSimple<MyState>());
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//std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>> resample(new K::ParticleFilterResamplingPercent<MyState>(0.05));
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//std::unique_ptr<RegionalResampling> resample(new RegionalResampling());
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// eval and transition
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wifiModel.loadAPs(im, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
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std::unique_ptr<K::ParticleFilterEvaluation<MyState, MyObservation>> eval(new PFEval(grid, wifiModel));
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std::unique_ptr<K::ParticleFilterTransition<MyState, MyControl>> transition(new PFTrans(grid));
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// setup the filter
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pf = std::unique_ptr<K::ParticleFilter<MyState, MyControl, MyObservation>>(new K::ParticleFilter<MyState, MyControl, MyObservation>(Settings::numParticles, std::move(init)));
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pf->setTransition(std::move(transition));
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pf->setEvaluation(std::move(eval));
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pf->setEstimation(std::move(estimation));
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pf->setResampling(std::move(resample));
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pf->setNEffThreshold(0.85); //before 0.75, edit by toni
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//pf->setNEffThreshold(0.65); // still too low?
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//pf->setNEffThreshold(0.25); // too low
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// attach as listener to all sensors
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SensorFactory::get().getAccelerometer().addListener(this);
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SensorFactory::get().getGyroscope().addListener(this);
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SensorFactory::get().getBarometer().addListener(this);
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SensorFactory::get().getWiFi().addListener(this);
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SensorFactory::get().getSteps().addListener(this);
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SensorFactory::get().getTurns().addListener(this);
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SensorFactory::get().getActivity().addListener(this);
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// hacky.. but we need to call this one from the main thread!
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//mainController->getMapView()->showParticles(pf->getParticles());
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qRegisterMetaType<const void*>();
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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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void start() {
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Assert::isFalse(running, "already started!");
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running = true;
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curCtrl.resetAfterTransition(); // ensure we start empty ;)
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tFilter = std::thread(&NavController::filterUpdateLoop, this);
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tDisplay = std::thread(&NavController::updateMapViewLoop, this);
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// start all sensors
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SensorFactory::get().getAccelerometer().start();
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SensorFactory::get().getGyroscope().start();
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SensorFactory::get().getBarometer().start();
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SensorFactory::get().getWiFi().start();
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#ifndef ANDROID
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// #include <valgrind/callgrind.h>
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// run with
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// valgrind --tool=callgrind --quiet --instr-atstart=no ./yasmin
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// show with
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// kcachegrind callgrind.out.xxxx
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CALLGRIND_START_INSTRUMENTATION;
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#endif
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}
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void stop() {
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Assert::isTrue(running, "not started!");
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running = false;
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tFilter.join();
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tDisplay.join();
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}
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void onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) override {
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(void) sensor;
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(void) data;
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(void) ts;
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gotSensorData(ts);
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}
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void onSensorData(Sensor<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) override {
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(void) sensor;
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(void) ts;
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(void) data;
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gotSensorData(ts);
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}
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void onSensorData(Sensor<BarometerData>* sensor, const Timestamp ts, const BarometerData& data) override {
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(void) sensor;
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(void) ts;
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(void) data;
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gotSensorData(ts);
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}
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void onSensorData(Sensor<WiFiMeasurements>* sensor, const Timestamp ts, const WiFiMeasurements& data) override {
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(void) sensor;
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(void) ts;
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curObs.wifi = data;
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gotSensorData(ts);
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}
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void onSensorData(Sensor<GPSData>* sensor, const Timestamp ts, const GPSData& data) override {
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(void) sensor;
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(void) ts;
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curObs.gps = data;
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gotSensorData(ts);
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}
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void onSensorData(Sensor<StepData>* sensor, const Timestamp ts, const StepData& data) override {
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(void) sensor;
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(void) ts;
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curCtrl.numStepsSinceLastTransition += data.stepsSinceLastEvent; // set to zero after each transition
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gotSensorData(ts);
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}
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void onSensorData(Sensor<TurnData>* sensor, const Timestamp ts, const TurnData& data) override {
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(void) sensor;
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(void) ts;
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curCtrl.turnSinceLastTransition_rad += data.radSinceLastEvent; // set to zero after each transition
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gotSensorData(ts);
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}
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void onSensorData(Sensor<ActivityData>* sensor, const Timestamp ts, const ActivityData& data) override {
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(void) sensor;
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(void) ts;
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curCtrl.activity = data.curActivity;
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curObs.activity = data.curActivity;
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debugActivity(data.curActivity);
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gotSensorData(ts);
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}
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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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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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curObs.currentTime = ts;
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if (Settings::Filter::useMainThread) {filterUpdateIfNeeded();}
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}
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void debugActivity(const ActivityData& activity) {
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QString act;
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switch(activity.curActivity) {
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case ActivityButterPressure::Activity::STAY: act = "STAY"; break;
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case ActivityButterPressure::Activity::DOWN: act = "DOWN"; break;
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case ActivityButterPressure::Activity::UP: act = "UP"; break;
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default: act = "???"; break;
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}
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Assert::isTrue(QMetaObject::invokeMethod(mainController->getInfoWidget(), "showActivity", Qt::QueuedConnection, Q_ARG(const QString&, act)), "call failed");
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}
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/** particle-filter update loop */
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void filterUpdateLoop() {
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while(running && !Settings::Filter::useMainThread) {
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// // fixed update rate based on the systems time -> LIVE! even for offline data
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// const Timestamp ts1 = Timestamp::fromUnixTime();
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// doUpdate();
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// const Timestamp ts2 = Timestamp::fromUnixTime();
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// const Timestamp needed = ts2-ts1;
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// const Timestamp sleep = Timestamp::fromMS(500) - needed;
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// std::this_thread::sleep_for(std::chrono::milliseconds(sleep.ms()));
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const bool wasUpdated = filterUpdateIfNeeded();
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if (!wasUpdated) { std::this_thread::sleep_for(std::chrono::milliseconds(2)); }
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}
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}
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Timestamp lastTransition;
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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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static float avgSum = 0;
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static int avgCount = 0;
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// fixed update rate based on incoming sensor data
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// allows working with live data and faster for offline data
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const Timestamp diff = curObs.currentTime - lastTransition;
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if (diff >= Settings::Filter::updateEvery) {
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// as the difference is slightly above the 500ms, calculate the error and incorporate it into the next one
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const Timestamp err = diff - Settings::Filter::updateEvery;
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lastTransition = curObs.currentTime - err;
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const Timestamp ts1 = Timestamp::fromUnixTime();
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filterUpdate();
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const Timestamp ts2 = Timestamp::fromUnixTime();
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const Timestamp tsDiff = ts2-ts1;
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const QString filterTime = QString::number(tsDiff.ms());
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avgSum += tsDiff.ms(); ++avgCount;
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//Log::add("xxx", "ts:" + std::to_string(curObs.currentTime.ms()) + " avg:" + std::to_string(avgSum/avgCount));
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QMetaObject::invokeMethod(mainController->getInfoWidget(), "showFilterTime", Qt::QueuedConnection, Q_ARG(const QString&, filterTime));
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return true;
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} else {
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return false;
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}
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}
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MyState curEst;
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DijkstraPath<MyGridNode> pathToDest;
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/** perform a filter-update (called from a background-loop) */
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void filterUpdate() {
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//lastEst = curEst;
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curEst = pf->update(&curCtrl, curObs);
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//Log::add("Nav", "cur est: " + curEst.position.asString());
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// inform listeners about the new estimation
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for (NavControllerListener* l : listeners) {l->onNewEstimation(curEst.position.inMeter());}
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Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView3D(), "showParticles", Qt::QueuedConnection, Q_ARG(const void*, &pf->getParticles())), "call failed");
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Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView2D(), "showParticles", Qt::QueuedConnection, Q_ARG(const void*, &pf->getParticles())), "call failed");
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// update estimated path
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estPath.push_back(curEst.position.inMeter());
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Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView3D(), "setPathWalked", Qt::QueuedConnection, Q_ARG(const void*, &estPath)), "call failed");
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Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView2D(), "setPathWalked", Qt::QueuedConnection, Q_ARG(const void*, &estPath)), "call failed");
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PFTrans* trans = (PFTrans*)pf->getTransition();
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const MyGridNode* node = grid->getNodePtrFor(curEst.position);
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if (node) {
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try {
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pathToDest = trans->modDestination.getShortestPath(*node);
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Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView3D(), "setPathToDestination", Qt::QueuedConnection, Q_ARG(const void*, &pathToDest)), "call failed");
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Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView2D(), "setPathToDestination", Qt::QueuedConnection, Q_ARG(const void*, &pathToDest)), "call failed");
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} catch (...) {;}
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}
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// mainController->getMapView()->showGridImportance();
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}
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const int display_ms = Settings::MapView3D::msPerFrame.ms();
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/** UI update loop */
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void updateMapViewLoop() {
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while(running) {
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const Timestamp ts1 = Timestamp::fromUnixTime();
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updateMapView();
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const Timestamp ts2 = Timestamp::fromUnixTime();
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const Timestamp tsDiff = ts2-ts1;
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const QString mapViewTime = QString::number(tsDiff.ms());
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//QMetaObject::invokeMethod(mainController->getInfoWidget(), "showMapViewTime", Qt::QueuedConnection, Q_ARG(const QString&, mapViewTime));
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std::this_thread::sleep_for(std::chrono::milliseconds(display_ms));
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}
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}
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Point3 curPosFast;
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Point3 curPosSlow;
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/** update the map-view (called from within a background-loop) */
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void updateMapView() {
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const float kappa1 = display_ms / 1000.0f;
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const float kappa2 = kappa1 * 0.7;
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const float myHeight_m = 1.80;
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curPosFast = curPosFast * (1-kappa1) + curEst.position.inMeter() * (kappa1);
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curPosSlow = curPosSlow * (1-kappa2) + curEst.position.inMeter() * (kappa2);
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const Point3 dir = (curPosFast - curPosSlow).normalized();
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const Point3 dir2 = Point3(dir.x, dir.y, -0.2).normalized();
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// how to update the camera
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if (cameraMode == 0) {
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mainController->getMapView3D()->setLookAt(curPosFast + Point3(0,0,myHeight_m), dir);
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} else if (cameraMode == 1) {
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mainController->getMapView3D()->setLookAt(curPosFast + Point3(0,0,myHeight_m) - dir2*4, dir2);
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} else if (cameraMode == 2) {
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const Point3 spectator = curPosFast + Point3(0,0,25) - dir*15;
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const Point3 spectatorDir = (curPosFast - spectator).normalized();
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mainController->getMapView3D()->setLookEye(spectator);
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mainController->getMapView3D()->setLookDir(spectatorDir);
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}
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mainController->getMapView3D()->setClipAbove(curEst.position.inMeter().z + 2);
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mainController->getMapView3D()->setCurrentEstimation(curEst.position.inMeter(), dir);
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mainController->getMapView2D()->setCurrentEstimation(curEst.position.inMeter(), dir);
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}
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};
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#endif // NAVCONTROLLER_H
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