ef6066ae14
for this, we use the same ui interface and fingerprint positions as wifi. if wifi has done 30 scans, also the ble scans will be stopped. this is just a quick and dirte solution, as changing the gui completely for this two options was to time consuming
398 lines
14 KiB
C++
398 lines
14 KiB
C++
#include "Controller.h"
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#include "ui/map/3D/MapView3D.h"
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#include "ui/map/2D/MapView2D.h"
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#include "ui/menu/MainMenu.h"
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#include "ui/MainWindow.h"
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#include "ui/dialog/LoadSetupDialog.h"
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#include "ui/debug/SensorDataWidget.h"
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#include <Indoor/grid/factory/v2/GridFactory.h>
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#include <Indoor/grid/factory/v2/Importance.h>
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#include <Indoor/navMesh/NavMesh.h>
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#include <Indoor/navMesh/NavMeshFactory.h>
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#include <Indoor/floorplan/v2/Floorplan.h>
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#include <Indoor/floorplan/v2/FloorplanReader.h>
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#include <Indoor/floorplan/v2/FloorplanHelper.h>
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#include <Indoor/sensors/radio/WiFiGridEstimator.h>
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#include <Indoor/sensors/radio/setup/WiFiOptimizerLogDistCeiling.h>
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#include <Indoor/sensors/radio/model/WiFiModel.h>
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#include <Indoor/sensors/beacon/model/BeaconModel.h>
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#include <Indoor/sensors/beacon/model/BeaconModelLogDistCeiling.h>
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#include <Indoor/Assertions.h>
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#include "ui/LoggerUI.h"
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#include <Indoor/misc/log/LoggerComposite.h>
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#include <Indoor/misc/log/LoggerCOUT.h>
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#include <Indoor/misc/log/LoggerAndroid.h>
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#include "sensors/dummy/SensorFactoryDummy.h"
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#include "sensors/android/SensorFactoryAndroid.h"
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#include "sensors/offline/SensorFactoryOffline.h"
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#include "sensors/SensorWriter.h"
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#include "tools/calibration/WiFiCalibrationDataModel.h"
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#include "nav/NavController.h"
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#include "nav/grid/NavControllerGrid.h"
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#include "nav/mesh/NavControllerMesh.h"
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Controller::Controller() {
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// OpenGL setup
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// MUST happen before anything gets visible (= gets initialized)
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QSurfaceFormat format;
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format.setDepthBufferSize(16);
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QSurfaceFormat::setDefaultFormat(format);
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// configure the to-be-used sensor factory
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//SensorFactory::set(new SensorFactoryDummy());
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//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/nexus6/kleinerKreis_216steps_6runden_telefongerade.csv"));
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//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/s3mini/kleinerKreis_225steps_6runden_telefongerade.csv"));
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//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/s4/kleinerKreis_220steps_6runden_telefongeneigt.csv"));
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//SensorFactory::set(new SensorFactoryOffline(Settings::Data::getOfflineDir() + "bergwerk/path3/nexus/vor/1454782562231.csv"));
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//SensorFactory::set(new SensorFactoryOffline(Settings::Data::getOfflineDir() + "/bergwerk/path4/nexus/rueck/1454776724285_rueck.csv"));
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//SensorFactory::set(new SensorFactoryOffline(Settings::Data::getOfflineDir() + "/bergwerk/path4/nexus/vor/1454776525797.csv"));
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// live data on the smartphone
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if (1 == 1) {
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// use android's sensors
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SensorFactory::set(new SensorFactoryAndroid());
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// write them to file??
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//const std::string file = Settings::Data::getRecordsDir() + "/" + std::to_string(Timestamp::fromUnixTime().ms()) + ".csv";
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//SensorWriter* writer = new SensorWriter();
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//writer->start(file);
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// start the 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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SensorFactory::get().getGPS().start();
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SensorFactory::get().getCompass().start();
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SensorFactory::get().getBLE().start();
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}
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// create the main window
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mainWindow = new MainWindow();
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//sl = new StepLoggerWrapperAndroid(scaler);
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//sl = new StepLoggerWrapper(scaler, mainWindow);
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// attach logger
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LoggerComposite* log = new LoggerComposite();
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log->addLogger(new LoggerCOUT());
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log->addLogger(new LoggerAndroid());
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log->addLogger(new LoggerUI(mainWindow->getInfoWidget()));
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Log::setLogger(log);
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Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onLoadButton, this, &Controller::onLoadButton), "connect() failed");
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Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onDebugButton, this, &Controller::onDebugButton), "connect() failed");
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Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onStartButton, this, &Controller::onStartButton), "connect() failed");
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Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onTransparentButton, this, &Controller::onTransparentButton), "connect() failed");
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Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onCameraButton, this, &Controller::onCameraButton), "connect() failed");
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Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::on3DButton, this, &Controller::on3DButton), "connect() failed");
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// order is important! otherwise OpenGL fails!
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mainWindow->show();
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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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}
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MapView3D* Controller::getMapView3D() const {
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return mainWindow->getMapView3D();
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}
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MapView2D* Controller::getMapView2D() const {
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return mainWindow->getMapView2D();
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}
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MainMenu* Controller::getMainMenu() const {
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return mainWindow->getMainMenu();
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}
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InfoWidget* Controller::getInfoWidget() const {
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return mainWindow->getInfoWidget();
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}
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#include <QMessageBox>
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#include <Indoor/sensors/radio/setup/WiFiOptimizer.h>
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void buildGridOnce(Grid<MyGridNode>* grid, Floorplan::IndoorMap* map, const std::string& fpFile, const std::string& saveFile) {
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//FloorplanHelper::align(map, grid->getGridSize_cm());
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// ask questions
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const QMessageBox::StandardButton replyWiFiFP = QMessageBox::question(nullptr, "WiFi", "Use Fingerprints for WiFiCalibration?\n\nYes: Use fingerprints and num-optimize AP-Params\nNo: Use APs from the map.xml (pos+params)", QMessageBox::Yes|QMessageBox::No);
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// WiFi setup
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WiFiModelLogDistCeiling wifiModel(map);
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if (replyWiFiFP == QMessageBox::Yes) {
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WiFiCalibrationDataModel mdl(fpFile);
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Assert::isFalse(mdl.getFingerprints().empty(), "no fingerprints available!");
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WiFiOptimizer::LogDistCeiling opt(map, Settings::WiFiModel::vg_calib);
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for (const WiFiFingerprint& fp : mdl.getFingerprints()) {
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opt.addFingerprint(fp);
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}
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const WiFiOptimizer::LogDistCeiling::APParamsList res = opt.optimizeAll(opt.NONE);
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WiFiGridEstimator::estimate(*grid, wifiModel, Settings::smartphoneAboveGround);
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for (const WiFiOptimizer::LogDistCeiling::APParamsMAC& ap : res.get()) {
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const WiFiModelLogDistCeiling::APEntry entry(ap.params.getPos(), ap.params.txp, ap.params.exp, ap.params.waf);
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wifiModel.addAP(ap.mac, entry);
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}
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} else {
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// NOTE IPIN UAH map does not make sense.. APs look like VAPs but are not
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// -> disable VAP-grouping in Settings.h [this is for eval and here]
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// load all APs from the floorplan and use same TXP/EXP/WAF for all of them
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//wifiModel.loadAPs(map, Settings::WiFiModel::vg_calib, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
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wifiModel.loadAPs(map, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
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Assert::isFalse(wifiModel.getAllAPs().empty(), "no AccessPoints stored within the map.xml");
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}
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// build the grid
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GridFactory<MyGridNode> gf(*grid);
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gf.build(map);
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// add node-importance
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Importance::addImportance(*grid);
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// stamp WiFi signal-strengths onto the grid
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WiFiGridEstimator::estimate(*grid, wifiModel, Settings::smartphoneAboveGround);
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// serialize the grid
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std::ofstream out(saveFile, std::ofstream::binary);
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grid->write(out);
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out.close();
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}
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WiFiModel* buildWiFiModelOnce(Floorplan::IndoorMap* map, const std::string& fpFile, const std::string& wifiModelFile){
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// ask questions
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const QMessageBox::StandardButton replyWiFiFP = QMessageBox::question(nullptr, "WiFi", "Use Fingerprints for WiFiCalibration?\n\nYes: Use fingerprints and num-optimize AP-Params\nNo: Use APs from the map.xml (pos+params)", QMessageBox::Yes|QMessageBox::No);
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WiFiModel* wifiModel = new WiFiModelLogDistCeiling(map);
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// WiFi setup
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if (replyWiFiFP == QMessageBox::Yes) {
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std::ifstream inp(wifiModelFile, std::ifstream::binary);
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if (!inp.good() || (inp.peek()&&0) || inp.eof()) {
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Log::add("Controller", "Create new WiFiModel");
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WiFiCalibrationDataModel mdl(fpFile);
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Assert::isFalse(mdl.getFingerprints().empty(), "no fingerprints available!");
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WiFiOptimizer::LogDistCeiling opt(map, Settings::WiFiModel::vg_calib);
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for (const WiFiFingerprint& fp : mdl.getFingerprints()) {
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opt.addFingerprint(fp);
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}
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const WiFiOptimizer::LogDistCeiling::APParamsList res = opt.optimizeAll(opt.NONE);
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for (const WiFiOptimizer::LogDistCeiling::APParamsMAC& ap : res.get()) {
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const WiFiModelLogDistCeiling::APEntry entry(ap.params.getPos(), ap.params.txp, ap.params.exp, ap.params.waf);
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((WiFiModelLogDistCeiling*) wifiModel)->addAP(ap.mac, entry);
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}
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((WiFiModelLogDistCeiling*) wifiModel)->saveXML(wifiModelFile);
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} else {
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Log::add("Controller", "Use existing WifiModel");
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// load WiFiModel from file. The factory will create the correct instance
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//WiFiModel->loadXML(setup.wifiModel);
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WiFiModelFactory fac(map);
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if(wifiModel){delete wifiModel;}
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wifiModel = fac.loadXML(wifiModelFile);
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}
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} else {
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Log::add("Controller", "Read AP from File");
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// load all APs from the floorplan and use same TXP/EXP/WAF for all of them
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((WiFiModelLogDistCeiling*)wifiModel)->loadAPs(map, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
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Assert::isFalse(wifiModel->getAllAPs().empty(), "no AccessPoints stored within the map.xml");
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}
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return wifiModel;
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}
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BeaconModel* buildBLEModelOnce(Floorplan::IndoorMap* map, const std::string& fpFile, const std::string& bleModelFile){
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// ask questions
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const QMessageBox::StandardButton replyWiFiFP = QMessageBox::question(nullptr, "BLE", "Use Fingerprints for Bluetooth Calibration?\n\nYes: Use fingerprints and num-optimize AP-Params\nNo: Use Beacons from the map.xml (pos+params)", QMessageBox::Yes|QMessageBox::No);
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BeaconModel* bleModel = new BeaconModelLogDistCeiling(map);
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return bleModel;
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}
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void Controller::on3DButton() {
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static bool use3D = false;
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use3D = !use3D;
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getMapView2D()->setVisible(!use3D);
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getMapView3D()->setVisible( use3D);
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}
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void Controller::onLoadButton() {
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// pick a map to load
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QDir dir = LoadSetupDialog::pickSetupFolder();
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// cancelled?
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if (dir.path() == ".") { return; }
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loadNavMesh(dir);
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}
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void Controller::loadGrid(QDir dir) {
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QFile fMap(dir.path() + "/map.xml");
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QFile fGrid(dir.path() + "/grid.dat");
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QFile fWiFiFP(dir.path() + "/wifi_fp.dat");
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QFile fBLEFP(dir.path() + "/ble_fp.dat");
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Assert::isTrue(fMap.exists(), "map.xml missing");
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//Assert::isTrue(fGrid.exists(), "grid.dat missing");
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fMap.open(QIODevice::ReadOnly);
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QString str = QString(fMap.readAll());
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im = Floorplan::Reader::readFromString(str.toStdString());
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const std::string sGrid = fGrid.fileName().toStdString();
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std::ifstream inp(sGrid, std::ifstream::binary);
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//Assert::isTrue(inp.good(), "failed to open grid.dat");
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const std::string sWiFiFP = fWiFiFP.fileName().toStdString();
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const std::string sBLEFP = fBLEFP.fileName().toStdString();
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// create a new, empty grid
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if (grid) {delete grid; grid = nullptr;}
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grid = new Grid<MyGridNode>(Settings::Grid::gridSize_cm);
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// grid.dat empty? -> build one and save it
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if (!inp.good() || (inp.peek()&&0) || inp.eof()) {
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buildGridOnce(grid, im, sWiFiFP, sGrid);
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} else {
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grid->read(inp);
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}
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// create a new navigator
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if (nav) {delete nav; nav = nullptr;}
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nav = new GridBased::NavControllerGrid(this, im, grid);
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WiFiCalibrationDataModel* wifiCalib = new WiFiCalibrationDataModel(sWiFiFP);
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BLECalibrationDataModel* bleCalib = new BLECalibrationDataModel(sBLEFP);
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getMapView3D()->setMap(im);
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getMapView2D()->setMap(wifiCalib, bleCalib, im);
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getMapView3D()->showGridImportance(grid);
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getMapView2D()->showGridImportance(grid);
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getMapView3D()->setVisible(false);
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// attach ipin step logger
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//nav->addListener(sl);
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}
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void Controller::loadNavMesh(QDir dir) {
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QFile fMap(dir.path() + "/map.xml");
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QFile fGrid(dir.path() + "/grid.dat");
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QFile fWiFiFP(dir.path() + "/wifi_fp.dat");
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QFile fWiFiModel(dir.path() + "/wifimodel.dat");
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QFile fBLEFP(dir.path() + "/ble_fp.dat");
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Assert::isTrue(fMap.exists(), "map.xml missing");
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fMap.open(QIODevice::ReadOnly);
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QString str = QString(fMap.readAll());
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im = Floorplan::Reader::readFromString(str.toStdString());
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const std::string sWiFiFP = fWiFiFP.fileName().toStdString();
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const std::string sWiFiModel = fWiFiModel.fileName().toStdString();
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const std::string sBLEFP = fBLEFP.fileName().toStdString();
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wifiModel = buildWiFiModelOnce(im, sWiFiFP, sWiFiModel);
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// create navmesh
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if (navMesh) {delete navMesh; navMesh = nullptr;}
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NM::NavMeshSettings settings;
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navMesh = new NM::NavMesh<NM::NavMeshTriangle>();
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NM::NavMeshFactory<NM::NavMeshTriangle> fac(navMesh, settings);
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fac.build(im);
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// create a new navigator
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if (nav) {delete nav; nav = nullptr;}
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nav = new MeshBased::NavControllerMesh(this, im, navMesh, wifiModel);
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WiFiCalibrationDataModel* wifiCalib = new WiFiCalibrationDataModel(sWiFiFP);
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BLECalibrationDataModel* bleCalib = new BLECalibrationDataModel(sBLEFP);
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getMapView3D()->setMap(im);
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getMapView2D()->setMap(wifiCalib, bleCalib, im);
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//getMapView3D()->showGridImportance(grid);
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//getMapView2D()->showGridImportance(grid);
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getMapView3D()->setVisible(false);
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// attach ipin step logger
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//nav->addListener(sl);
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}
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void Controller::onDebugButton() {
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mainWindow->getSensorDataWidget()->setVisible( !mainWindow->getSensorDataWidget()->isVisible() );
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}
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void Controller::onStartButton() {
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nav->start();
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}
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void Controller::onTransparentButton() {
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mainWindow->getMapView3D()->toggleRenderMode();
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}
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void Controller::onCameraButton() {
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nav->toggleCamera();
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}
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