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
127 lines
3.7 KiB
C++
127 lines
3.7 KiB
C++
#ifndef SETTINGS_H
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#define SETTINGS_H
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#include <Indoor/grid/GridPoint.h>
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#include <Indoor/data/Timestamp.h>
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#include <Indoor/sensors/radio/VAPGrouper.h>
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#include <QFile>
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#include <QDir>
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namespace Settings {
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const int numParticles = 5000;
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namespace IMU {
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const float turnSigma = 1.5; // 3.5
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const float stepLength = 0.80;
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const float stepSigma = 0.40; //toni changed
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}
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const float smartphoneAboveGround = 1.3;
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const float offlineSensorSpeedup = 2;
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namespace Grid {
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constexpr int gridSize_cm = 20;
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}
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//const GridPoint destination = GridPoint(70*100, 35*100, 0*100); // use destination
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const GridPoint destination = GridPoint(0,0,0); // do not use destination
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namespace SensorDebug {
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const Timestamp updateEvery = Timestamp::fromMS(200);
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}
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namespace WiFiModel {
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constexpr float sigma = 10.0; //TODO: im Museum hatten wir 8.0
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/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
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constexpr float TXP = -45;
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constexpr float EXP = 2.3;
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constexpr float WAF = -5.0;
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// how to perform VAP grouping. see
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// - calibration in Controller.cpp
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// - eval in Filter.h
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// NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
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const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
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const VAPGrouper vg_eval = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
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// const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::DISABLED, VAPGrouper::Aggregation::AVERAGE);
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// const VAPGrouper vg_eval = VAPGrouper(VAPGrouper::Mode::DISABLED, VAPGrouper::Aggregation::AVERAGE);
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}
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namespace MapView3D {
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const int maxColorPoints = 10000;
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constexpr int fps = 15;
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const Timestamp msPerFrame = Timestamp::fromMS(1000/fps);
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}
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namespace Filter {
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const Timestamp updateEvery = Timestamp::fromMS(500);
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constexpr bool useMainThread = false; // perform filtering in the main thread
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}
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namespace Data {
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// notes
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// copy: scp -P 2222 /tmp/grid.dat kazu@192.168.24.11:/storage/sdcard1/YASMIN/maps/car/
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// all: scp -P 2222 -r /apps/android/workspace/YASMIN_DATA/* kazu@192.168.24.11:/storage/sdcard1/YASMIN/
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static inline std::string getRoot() {
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#ifdef ANDROID
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// const std::string folder = getenv("EXTERNAL_STORAGE") + std::string("/YASMIN/maps/"); // this is NOT the sdcard?!
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// qDebug(folder.c_str());
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// return folder;
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//return "/storage/sdcard1/YASMIN/";
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//const std::string f1 = "/storage/sdcard1/YASMIN/";
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//const std::string f2 = "/sdcard/YASMIN/";
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//if (QFile(f1.c_str()).exists()) {return f1;}
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//if (QFile(f2.c_str()).exists()) {return f2;}
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std::string tried;
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QDir dStorage("/storage");
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QStringList lst = dStorage.entryList();
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lst.append("sdcard/YASMIN/");
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lst.append("emulated/0");
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//TODO: THIS IS A MESS, PURE CHAOS xD
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// try each potential folder
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for (const QString subfolder : lst) {
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QString path = dStorage.path() + "/" + subfolder + "/YASMIN/";
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if (QFile(path).exists()) {return path.toStdString();}
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tried += path.toStdString() + "\n";
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}
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throw Exception("data folder missing. tried:\n" + tried);
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#else
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//return "/home/toni/Documents/programme/localization/YASMIN/YASMIN_DATA/";
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return "/apps/android/workspace/YASMIN_DATA/";
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#endif
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}
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/** get the directory where maps are stored */
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static inline std::string getMapDir() {
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return getRoot() + "maps/";
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}
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static inline std::string getOfflineDir() {
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return getRoot() + "offline/";
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}
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static inline std::string getRecordsDir() {
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return getRoot() + "records/";
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}
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}
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}
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#endif // SETTINGS_H
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