├── .classpath
├── .gitignore
├── .project
├── AndroidManifest.xml
├── LICENSE.txt
├── README.txt
├── default.properties
├── res
    ├── drawable-hdpi
    │   └── icon.png
    ├── drawable-ldpi
    │   ├── arrow.png
    │   ├── arrowred.png
    │   ├── icon.png
    │   └── stairs.png
    ├── drawable-mdpi
    │   ├── arrow.png
    │   ├── arrowred.png
    │   └── icon.png
    ├── layout
    │   ├── calibrator.xml
    │   ├── displayroute.xml
    │   └── selectroom.xml
    ├── values
    │   └── strings.xml
    └── xml
    │   ├── map1og.osm
    │   ├── map1ug.osm
    │   ├── map2og.osm
    │   ├── map3og.osm
    │   ├── mapeg.osm
    │   └── parkinglot.osm
├── src
    └── de
    │   └── uvwxy
    │       ├── footpath
    │           ├── ToolBox.java
    │           ├── core
    │           │   ├── NPConfig.java
    │           │   ├── Positioner.java
    │           │   ├── Positioner_OnlineBestFit.java
    │           │   ├── Positioner_OnlineFirstFit.java
    │           │   ├── StepDetection.java
    │           │   └── StepTrigger.java
    │           ├── graph
    │           │   ├── Graph.java
    │           │   ├── GraphEdge.java
    │           │   ├── GraphElement.java
    │           │   ├── GraphNode.java
    │           │   ├── GraphWay.java
    │           │   └── LatLonPos.java
    │           ├── gui
    │           │   ├── Calibrator.java
    │           │   ├── Loader.java
    │           │   ├── Navigator.java
    │           │   ├── PaintBoxHistory.java
    │           │   ├── PaintBoxMap.java
    │           │   └── Tile.java
    │           └── log
    │           │   ├── AudioWriter.java
    │           │   ├── DataLogger.java
    │           │   └── FWriter.java
    │       └── paintbox
    │           ├── PaintBox.java
    │           └── PaintThread.java
├── tools
    ├── 4228_4222.png
    ├── 4228_5056.png
    ├── README
    └── URL2QR.jar
└── update-revfile.sh


/.classpath:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <classpath>
3 | 	<classpathentry kind="src" path="src"/>
4 | 	<classpathentry kind="src" path="gen"/>
5 | 	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
6 | 	<classpathentry kind="output" path="bin"/>
7 | </classpath>
8 | 


--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
1 | /bin/
2 | /gen/
3 | 


--------------------------------------------------------------------------------
/.project:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <projectDescription>
 3 | 	<name>FootPathMaster</name>
 4 | 	<comment></comment>
 5 | 	<projects>
 6 | 	</projects>
 7 | 	<buildSpec>
 8 | 		<buildCommand>
 9 | 			<name>com.android.ide.eclipse.adt.ResourceManagerBuilder</name>
10 | 			<arguments>
11 | 			</arguments>
12 | 		</buildCommand>
13 | 		<buildCommand>
14 | 			<name>com.android.ide.eclipse.adt.PreCompilerBuilder</name>
15 | 			<arguments>
16 | 			</arguments>
17 | 		</buildCommand>
18 | 		<buildCommand>
19 | 			<name>org.eclipse.jdt.core.javabuilder</name>
20 | 			<arguments>
21 | 			</arguments>
22 | 		</buildCommand>
23 | 		<buildCommand>
24 | 			<name>com.android.ide.eclipse.adt.ApkBuilder</name>
25 | 			<arguments>
26 | 			</arguments>
27 | 		</buildCommand>
28 | 	</buildSpec>
29 | 	<natures>
30 | 		<nature>com.android.ide.eclipse.adt.AndroidNature</nature>
31 | 		<nature>org.eclipse.jdt.core.javanature</nature>
32 | 	</natures>
33 | </projectDescription>
34 | 


--------------------------------------------------------------------------------
/AndroidManifest.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <manifest xmlns:android="http://schemas.android.com/apk/res/android"
 3 | 	package="de.uvwxy.footpath" android:versionCode="1"
 4 | 	android:versionName="1.0">
 5 | 	<application android:icon="@drawable/icon" android:label="@string/app_name"
 6 | 		android:debuggable="true">
 7 | 		<activity android:name=".gui.Loader" android:label="@string/app_name"
 8 | 			android:configChanges="keyboardHidden|orientation"
 9 | 			android:screenOrientation="portrait">
10 | 			<intent-filter>
11 | 				<action android:name="android.intent.action.MAIN" />
12 | 				<category android:name="android.intent.category.LAUNCHER" />
13 | 			</intent-filter>
14 | 		</activity>
15 | 
16 | 		<activity android:name=".gui.Calibrator" android:label="@string/app_name"
17 | 			android:configChanges="keyboardHidden|orientation"
18 | 			android:screenOrientation="portrait">
19 | 		</activity>
20 | 
21 | 		<activity android:name=".gui.Navigator" android:label="@string/app_name"
22 | 			android:configChanges="keyboardHidden|orientation"
23 | 			android:screenOrientation="portrait">
24 | 		</activity>
25 | 	</application>
26 | 	<uses-sdk android:minSdkVersion="7" />
27 | 
28 | 
29 | 	<uses-permission android:name="android.permission.INTERNET"></uses-permission>
30 | 	<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"></uses-permission>
31 | 	<uses-permission android:name="android.permission.RECORD_AUDIO"></uses-permission>
32 | 	<uses-permission android:name="android.permission.CHANGE_WIFI_STATE"></uses-permission>
33 | 	<uses-permission android:name="android.permission.ACCESS_WIFI_STATE"></uses-permission>
34 | 	<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"></uses-permission>
35 | 
36 | 
37 | </manifest> 


--------------------------------------------------------------------------------
/README.txt:
--------------------------------------------------------------------------------
 1 | FootPath (Infrastructureless indoor navigation for smart phones) 
 2 | 
 3 | Copyright (C) 2010-2011, Paul Smith <paul.smith@rwth-aachen.de>
 4 | Copyright (C) 2010-2011, Jó Ágila Bitsch <jo.bitsch@cs.rwth-aachen.de>
 5 | Copyright (C) 2010-2011, Chair of Computer Science 4, RWTH Aachen University, <klaus@comsys.rwth-aachen.de>
 6 | 
 7 | 
 8 | 
 9 | FREE SOFTWARE
10 | #############
11 | 
12 | This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
13 | 
14 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more details.
15 | 
16 | You should have received a copy of the GNU General Public License along with this program.  If not, see <http://www.gnu.org/licenses/>.
17 | 
18 | IF YOU NEED ANOTHER LICENSE
19 | ###########################
20 | 
21 | If you are planning to integrate FootPath into a commercial product, please contact us for licensing options via email at:
22 | 
23 |   jo.bitsch@cs.rwth-aachen.de
24 | 
25 | 
26 | IF YOU REALLY LIKE OUR SOFTWARE
27 | ###############################
28 | 
29 | Buy us a beer when the situation arises :-)
30 | 
31 | 
32 | OTHER ISSUES
33 | ############
34 | 
35 | This software is currently a proof of concept. It needs some more work to make it generally useable for a non technical person.
36 | 
37 | Open issues include:
38 | * Automatically downloading available indoor maps
39 | * Better UI
40 | * Looking at several possible paths at once.
41 | 
42 | 
43 | HOW TO USE THIS SOFTWARE
44 | ########################
45 | * Create your maps with JOSM and put them into the folder res/xml
46 |     * NOTE: ways and nodes should have an attribute indoor=yes and a name
47 |     * compare with our maps. (TODO)
48 | * Change lines 199-204 in Loader.java to load your maps on startup 
49 | * Run update-revfile.sh after every commit, so that log messages refer to the correct revision.
50 | 


--------------------------------------------------------------------------------
/default.properties:
--------------------------------------------------------------------------------
 1 | # This file is automatically generated by Android Tools.
 2 | # Do not modify this file -- YOUR CHANGES WILL BE ERASED!
 3 | #
 4 | # This file must be checked in Version Control Systems.
 5 | #
 6 | # To customize properties used by the Ant build system use,
 7 | # "build.properties", and override values to adapt the script to your
 8 | # project structure.
 9 | 
10 | # Project target.
11 | target=android-8
12 | 


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/res/drawable-hdpi/icon.png:
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https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/res/drawable-hdpi/icon.png


--------------------------------------------------------------------------------
/res/drawable-ldpi/arrow.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/res/drawable-ldpi/arrow.png


--------------------------------------------------------------------------------
/res/drawable-ldpi/arrowred.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/res/drawable-ldpi/arrowred.png


--------------------------------------------------------------------------------
/res/drawable-ldpi/icon.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/res/drawable-ldpi/icon.png


--------------------------------------------------------------------------------
/res/drawable-ldpi/stairs.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/res/drawable-ldpi/stairs.png


--------------------------------------------------------------------------------
/res/drawable-mdpi/arrow.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/res/drawable-mdpi/arrow.png


--------------------------------------------------------------------------------
/res/drawable-mdpi/arrowred.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/res/drawable-mdpi/arrowred.png


--------------------------------------------------------------------------------
/res/drawable-mdpi/icon.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/res/drawable-mdpi/icon.png


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/res/layout/calibrator.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | 
 3 | 
 4 | <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:layout_width="fill_parent" android:id="@+id/LinearLayout01" android:layout_height="fill_parent" android:orientation="vertical"><TextView android:layout_height="wrap_content" android:layout_width="fill_parent" android:text="Set peak value: (current)" android:id="@+id/tvPeak"></TextView><SeekBar android:layout_height="wrap_content" android:layout_width="fill_parent" android:max="100" android:progress="18" android:id="@+id/sbPeak"></SeekBar><TextView android:layout_height="wrap_content" android:layout_width="fill_parent" android:text="Set filter value: (current)" android:id="@+id/tvFilter"></TextView><SeekBar android:layout_height="wrap_content" android:progress="60" android:layout_width="fill_parent" android:max="100" android:id="@+id/sbFilter"></SeekBar><TextView android:layout_height="wrap_content" android:layout_width="fill_parent" android:text="Set step timout: (current)" android:id="@+id/tvTimeout"></TextView><SeekBar android:layout_height="wrap_content" android:layout_width="fill_parent" android:progress="500" android:max="1000" android:id="@+id/sbTimeout"></SeekBar><SurfaceView android:layout_width="fill_parent" android:layout_height="256px" android:id="@+id/svHistory"></SurfaceView>
 5 | 
 6 | 
 7 | 
 8 | 
 9 | 
10 | 
11 | 
12 | 
13 | 
14 | 
15 | 
16 | 
17 | 
18 | 
19 | 
20 | 
21 | </LinearLayout>
22 | 


--------------------------------------------------------------------------------
/res/layout/displayroute.xml:
--------------------------------------------------------------------------------
 1 | 
 2 | <RelativeLayout android:layout_width="fill_parent"
 3 | 	android:layout_height="fill_parent" xmlns:android="http://schemas.android.com/apk/res/android"
 4 | 	android:id="@+id/baselayout" android:keepScreenOn="true">
 5 | 
 6 | 
 7 | 
 8 | 	<LinearLayout android:layout_below="@+id/svPath"
 9 | 		android:layout_alignLeft="@+id/svPath" android:layout_width="fill_parent" android:layout_height="fill_parent" android:id="@+id/ll01">
10 | 		<SurfaceView android:layout_height="fill_parent" android:layout_width="fill_parent" android:id="@+id/svPath"></SurfaceView>
11 | </LinearLayout>
12 | 	<ZoomControls android:layout_height="wrap_content"
13 | 		android:id="@+id/zoomCtrl" android:layout_width="wrap_content" android:layout_alignBottom="@+id/ll01" android:layout_alignRight="@+id/ll01"></ZoomControls>
14 | 	<Button android:layout_height="wrap_content"
15 | 		android:layout_width="wrap_content" android:id="@+id/btnRecalc"
16 | 		android:layout_alignBottom="@+id/ll01" android:layout_alignLeft="@+id/ll01" android:text="Recalc First Fit"></Button>
17 | 	<Button android:layout_width="wrap_content" android:layout_height="wrap_content" android:id="@+id/btnSwitchFit" android:text="Switch to First Fit Algorithm" android:layout_above="@id/btnRecalc" android:layout_alignRight="@id/btnRecalc"></Button>
18 | 
19 | 
20 | 
21 | </RelativeLayout>
22 | 


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/res/layout/selectroom.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <RelativeLayout android:id="@+id/relSelect"
 3 | 	android:layout_width="fill_parent" android:layout_height="fill_parent"
 4 | 	xmlns:android="http://schemas.android.com/apk/res/android"
 5 | 	android:keepScreenOn="true">
 6 | 	<TextView android:layout_height="wrap_content"
 7 | 		android:layout_width="wrap_content" android:layout_below="@+id/Spinner01"
 8 | 		android:id="@+id/TextView02" android:text="Please select a room as destination:"></TextView>
 9 | 	<Spinner android:layout_below="@+id/TextView02"
10 | 		android:layout_height="wrap_content" android:id="@+id/Spinner02"
11 | 		android:layout_width="fill_parent"></Spinner>
12 | 	<EditText android:layout_width="wrap_content" android:id="@+id/EditText01"
13 | 		android:layout_height="wrap_content" android:layout_below="@+id/Spinner02"
14 | 		android:layout_alignRight="@+id/Spinner02" android:text="191"></EditText>
15 | 	<TextView android:id="@+id/tvSteps" android:layout_height="wrap_content"
16 | 		android:layout_toLeftOf="@+id/EditText01" android:layout_alignTop="@+id/EditText01"
17 | 		android:layout_alignBottom="@+id/EditText01" android:layout_width="fill_parent"
18 | 		android:text="How tall are you? [cm]"></TextView>
19 | 	<TextView android:id="@+id/tvUse" android:text="Use:"
20 | 		android:layout_width="wrap_content" android:layout_height="wrap_content"
21 | 		android:layout_below="@+id/tvSteps" android:layout_alignLeft="@+id/tvSteps"></TextView>
22 | 	<CheckBox android:id="@+id/cbStairs" android:checked="true"
23 | 		android:layout_width="wrap_content" android:text="Staircases"
24 | 		android:layout_height="wrap_content" android:layout_toRightOf="@+id/tvUse"
25 | 		android:layout_alignTop="@+id/tvUse"></CheckBox>
26 | 	<CheckBox android:layout_width="wrap_content"
27 | 		android:layout_height="wrap_content" android:layout_toRightOf="@+id/cbStairs"
28 | 		android:layout_alignTop="@+id/cbStairs" android:layout_alignBottom="@+id/cbStairs"
29 | 		android:id="@+id/cbLog" android:text="Log Data" android:checked="true"></CheckBox>
30 | 	<CheckBox android:layout_width="wrap_content"
31 | 		android:layout_height="wrap_content" android:layout_below="@+id/cbLog"
32 | 		android:layout_alignLeft="@+id/cbLog" android:layout_alignRight="@+id/cbLog"
33 | 		android:id="@+id/cbAudio" android:text="Include Audio"></CheckBox>
34 | 	<CheckBox android:layout_width="wrap_content"
35 | 		android:layout_below="@+id/cbStairs" android:layout_height="wrap_content"
36 | 		android:layout_alignLeft="@+id/cbStairs" android:id="@+id/cbElevators"
37 | 		android:text="Elevators" android:checked="false"></CheckBox>
38 | 	<CheckBox android:layout_width="wrap_content"
39 | 		android:layout_below="@+id/cbElevators" android:layout_height="wrap_content"
40 | 		android:layout_alignLeft="@+id/cbElevators" android:id="@+id/cbOutside"
41 | 		android:checked="true" android:text="Outside"></CheckBox>
42 | 	<Button android:id="@+id/btnSave" android:text="Save Config"
43 | 		android:layout_width="wrap_content" android:layout_height="wrap_content"
44 | 		android:layout_toRightOf="@+id/btnLoad" android:layout_alignTop="@+id/btnLoad"
45 | 		android:layout_alignBottom="@+id/btnLoad"></Button>
46 | 	<Button android:layout_width="wrap_content"
47 | 		android:layout_above="@+id/btnSave" android:layout_height="wrap_content"
48 | 		android:layout_alignLeft="@+id/btnSave" android:layout_alignRight="@+id/btnSave"
49 | 		android:text="GPS" android:id="@+id/btnGPS"></Button>
50 | 	<Button android:layout_height="wrap_content" android:layout_toRightOf="@+id/btnGPS" android:layout_alignTop="@+id/btnGPS" android:layout_alignBottom="@+id/btnGPS" android:id="@+id/btnQR" android:text="QR-Code" android:layout_width="wrap_content"></Button>
51 | 	<Button android:layout_width="wrap_content"
52 | 		android:layout_height="wrap_content" android:layout_toRightOf="@+id/btnSave"
53 | 		android:layout_alignTop="@+id/btnSave" android:layout_alignBottom="@+id/btnSave"
54 | 		android:text="      Go!     " android:id="@+id/btnGo"></Button>
55 | 	<TextView android:id="@+id/TextView01" android:text="Please select a room as location:"
56 | 		android:layout_width="wrap_content" android:layout_height="wrap_content"
57 | 		android:layout_alignParentLeft="true"></TextView>
58 | 	<Spinner android:id="@+id/Spinner01" android:layout_width="fill_parent"
59 | 		android:layout_height="wrap_content" android:layout_below="@+id/TextView01"
60 | 		android:layout_alignLeft="@+id/TextView01"></Spinner>
61 | 	<Button android:id="@+id/btnLoad" android:text="Load Config"
62 | 		android:layout_width="wrap_content" android:layout_height="wrap_content"
63 | 		android:layout_alignParentBottom="true"></Button>
64 | 	<Button android:text="Calibrate" android:layout_width="wrap_content"
65 | 		android:layout_height="wrap_content" android:layout_above="@+id/btnLoad"
66 | 		android:layout_alignLeft="@+id/btnLoad" android:layout_alignRight="@+id/btnLoad"
67 | 		android:id="@+id/btnCalibrate"></Button>
68 | </RelativeLayout>
69 | 


--------------------------------------------------------------------------------
/res/values/strings.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="utf-8"?>
2 | <resources>
3 |     <string name="hello">Hello World, Loader!</string>
4 |     <string name="app_name">FootPath</string>
5 | </resources>
6 | 


--------------------------------------------------------------------------------
/res/xml/map1ug.osm:
--------------------------------------------------------------------------------
  1 | <?xml version='1.0' encoding='UTF-8'?>
  2 | <osm version='0.6' generator='JOSM'>
  3 |   <node id='-1646' action='modify' timestamp='2011-01-19T17:59:15Z' uid='87358' user='jabl' visible='true' version='2' lat='50.7785998' lon='6.0601716'>
  4 |     <tag k='building' v='entrance' />
  5 |     <tag k='level' v='-1' />
  6 |     <tag k='merge_id' v='E1_entrance' />
  7 |   </node>
  8 |   <node id='-1644' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77864770073581' lon='6.060048594956878'>
  9 |     <tag k='indoor' v='door' />
 10 |     <tag k='level' v='-1' />
 11 |   </node>
 12 |   <node id='-1642' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77864735292389' lon='6.0601260042316225'>
 13 |     <tag k='indoor' v='door' />
 14 |     <tag k='level' v='-1' />
 15 |   </node>
 16 |   <node id='-1640' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77863852394937' lon='6.060086263760882'>
 17 |     <tag k='indoor' v='yes' />
 18 |     <tag k='level' v='-1' />
 19 |   </node>
 20 |   <node id='-1638' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77863183187581' lon='6.060056141790396'>
 21 |     <tag k='indoor' v='yes' />
 22 |     <tag k='level' v='-1' />
 23 |   </node>
 24 |   <node id='-1636' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77864507162339' lon='6.060115735772753'>
 25 |     <tag k='indoor' v='yes' />
 26 |     <tag k='level' v='-1' />
 27 |   </node>
 28 |   <node id='-1634' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.778594066553' lon='6.0600965108476625'>
 29 |     <tag k='indoor' v='yes' />
 30 |     <tag k='level' v='-1' />
 31 |     <tag k='merge_id' v='E1_stairs_-1_0' />
 32 |   </node>
 33 |   <node id='-1632' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77861985610001' lon='6.060094092702145'>
 34 |     <tag k='indoor' v='yes' />
 35 |     <tag k='level' v='-1' />
 36 |     <tag k='merge_id' v='E1_elevator_-1' />
 37 |   </node>
 38 |   <node id='-1630' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77859986257432' lon='6.060124957195762'>
 39 |     <tag k='indoor' v='yes' />
 40 |     <tag k='level' v='-1' />
 41 |   </node>
 42 |   <node id='-1628' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77862557000363' lon='6.0601231895513425'>
 43 |     <tag k='indoor' v='yes' />
 44 |     <tag k='level' v='-1' />
 45 |   </node>
 46 |   <node id='-1626' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77864991116698' lon='6.060143536105281'>
 47 |     <tag k='indoor' v='yes' />
 48 |     <tag k='level' v='-1' />
 49 |   </node>
 50 |   <node id='-1624' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77861148680498' lon='6.060130260129017'>
 51 |     <tag k='indoor' v='yes' />
 52 |     <tag k='level' v='-1' />
 53 |   </node>
 54 |   <node id='-1622' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77865999558251' lon='6.060108341338227'>
 55 |     <tag k='indoor' v='door' />
 56 |     <tag k='level' v='-1' />
 57 |   </node>
 58 |   <node id='-1620' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77880118460741' lon='6.059333759899204'>
 59 |     <tag k='indoor' v='door' />
 60 |     <tag k='level' v='-1' />
 61 |     <tag k='merge_id' v='H_stairs_-1_0' />
 62 |   </node>
 63 |   <node id='-1618' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.77876887736126' lon='6.059351180887975'>
 64 |     <tag k='indoor' v='yes' />
 65 |     <tag k='level' v='-1' />
 66 |   </node>
 67 |   <node id='-1616' action='modify' timestamp='2011-01-27T23:40:49Z' visible='true' lat='50.778762747285086' lon='6.0593551439301185'>
 68 |     <tag k='indoor' v='yes' />
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454 |     <tag k='indoor' v='yes' />
455 |     <tag k='level' v='-1' />
456 |   </way>
457 |   <way id='-1662' action='modify' timestamp='2011-02-04T16:11:36Z' visible='true'>
458 |     <nd ref='-1556' />
459 |     <nd ref='-1554' />
460 |     <tag k='indoor' v='yes' />
461 |     <tag k='level' v='-1' />
462 |   </way>
463 |   <way id='-1660' action='modify' timestamp='2011-02-04T16:11:36Z' visible='true'>
464 |     <nd ref='-1552' />
465 |     <nd ref='-1550' />
466 |     <tag k='indoor' v='yes' />
467 |     <tag k='level' v='-1' />
468 |   </way>
469 |   <way id='-1658' action='modify' timestamp='2011-02-04T16:11:36Z' visible='true'>
470 |     <nd ref='-1548' />
471 |     <nd ref='-1546' />
472 |     <tag k='indoor' v='yes' />
473 |     <tag k='level' v='-1' />
474 |   </way>
475 |   <way id='-1656' action='modify' timestamp='2011-02-04T16:11:36Z' visible='true'>
476 |     <nd ref='-1544' />
477 |     <nd ref='-1542' />
478 |     <tag k='indoor' v='yes' />
479 |     <tag k='level' v='-1' />
480 |   </way>
481 |   <way id='-1654' action='modify' timestamp='2011-02-04T16:11:36Z' visible='true'>
482 |     <nd ref='-1540' />
483 |     <nd ref='-1538' />
484 |     <tag k='indoor' v='yes' />
485 |     <tag k='level' v='-1' />
486 |   </way>
487 |   <way id='-1652' action='modify' timestamp='2011-02-04T16:11:36Z' visible='true'>
488 |     <nd ref='-1536' />
489 |     <nd ref='-1534' />
490 |     <tag k='indoor' v='yes' />
491 |     <tag k='level' v='-1' />
492 |   </way>
493 |   <way id='-1650' action='modify' timestamp='2011-02-20T12:40:55Z' visible='true'>
494 |     <nd ref='-1532' />
495 |     <nd ref='-1530' />
496 |     <nd ref='-1616' />
497 |     <tag k='indoor' v='yes' />
498 |     <tag k='level' v='-1' />
499 |   </way>
500 |   <way id='-1648' action='modify' timestamp='2011-02-20T12:40:55Z' visible='true'>
501 |     <nd ref='-1530' />
502 |     <nd ref='-1528' />
503 |     <tag k='indoor' v='yes' />
504 |     <tag k='level' v='-1' />
505 |   </way>
506 | </osm>
507 | 


--------------------------------------------------------------------------------
/res/xml/parkinglot.osm:
--------------------------------------------------------------------------------
 1 | <?xml version='1.0' encoding='UTF-8'?>
 2 | <osm version='0.6' generator='JOSM'>
 3 |   <node id='-12' action='modify' visible='true' lat='50.778768962560676' lon='6.061118594047169'>
 4 |     <tag k='indoor' v='no' />
 5 |     <tag k='level' v='0' />
 6 |     <tag k='name' v='Stop' />
 7 |   </node>
 8 |   <node id='-10' action='modify' visible='true' lat='50.77884690046266' lon='6.061079256432954'>
 9 |     <tag k='indoor' v='no' />
10 |     <tag k='level' v='0' />
11 |   </node>
12 |   <node id='-8' action='modify' visible='true' lat='50.778725847920775' lon='6.060483947204503'>
13 |     <tag k='indoor' v='no' />
14 |     <tag k='level' v='0' />
15 |   </node>
16 |   <node id='-6' action='modify' visible='true' lat='50.778885040239714' lon='6.06040264946846'>
17 |     <tag k='indoor' v='no' />
18 |     <tag k='level' v='0' />
19 |   </node>
20 |   <node id='-4' action='modify' visible='true' lat='50.77901438359983' lon='6.061032051295896'>
21 |     <tag k='indoor' v='no' />
22 |     <tag k='level' v='0' />
23 |   </node>
24 |   <node id='-1' action='modify' visible='true' lat='50.778800469387754' lon='6.061142196615698'>
25 |     <tag k='indoor' v='no' />
26 |     <tag k='level' v='0' />
27 |     <tag k='name' v='Start' />
28 |   </node>
29 |   <way id='-5' action='modify' visible='true'>
30 |     <nd ref='-1' />
31 |     <nd ref='-4' />
32 |     <nd ref='-6' />
33 |     <nd ref='-8' />
34 |     <nd ref='-10' />
35 |     <nd ref='-12' />
36 |     <tag k='indoor' v='no' />
37 |     <tag k='level' v='0' />
38 |   </way>
39 | </osm>
40 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/ToolBox.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath;
  2 | 
  3 | import java.util.ArrayList;
  4 | 
  5 | import android.graphics.Color;
  6 | import android.graphics.Paint;
  7 | import android.graphics.Paint.Style;
  8 | 
  9 | /**
 10 |  * 
 11 |  * @author Paul Smith
 12 |  *
 13 |  */
 14 | public class ToolBox {
 15 | 	public static float strokeWidth = 2.0f;
 16 | 
 17 | 	public static Paint redPaint() {
 18 | 		Paint p = new Paint();
 19 | 		p.setStrokeWidth(strokeWidth);
 20 | 		p.setStyle(Style.FILL);
 21 | 		p.setColor(Color.RED);
 22 | 		return p;
 23 | 	}
 24 | 
 25 | 	public static Paint redPaint(float textSize) {
 26 | 		Paint p = new Paint();
 27 | 		p.setTextSize(textSize);
 28 | 		p.setStrokeWidth(strokeWidth);
 29 | 		p.setStyle(Style.FILL);
 30 | 		p.setColor(Color.RED);
 31 | 		return p;
 32 | 	}
 33 | 
 34 | 	public static Paint greenPaint() {
 35 | 		Paint p = new Paint();
 36 | 		p.setStrokeWidth(strokeWidth);
 37 | 		p.setStyle(Style.FILL);
 38 | 		p.setColor(Color.GREEN);
 39 | 		return p;
 40 | 	}
 41 | 
 42 | 	public static Paint greenPaint(float textSize) {
 43 | 		Paint p = new Paint();
 44 | 		p.setTextSize(textSize);
 45 | 		p.setStrokeWidth(strokeWidth);
 46 | 		p.setStyle(Style.FILL);
 47 | 		p.setColor(Color.GREEN);
 48 | 		return p;
 49 | 	}
 50 | 
 51 | 	public static Paint bluePaint() {
 52 | 		Paint p = new Paint();
 53 | 		p.setStrokeWidth(strokeWidth);
 54 | 		p.setStyle(Style.FILL);
 55 | 		p.setColor(Color.BLUE);
 56 | 		return p;
 57 | 	}
 58 | 	
 59 | 	public static Paint transparentBluePaint() {
 60 | 		Paint p = new Paint();
 61 | 		p.setStrokeWidth(strokeWidth);
 62 | 		p.setStyle(Style.STROKE);
 63 | 		p.setColor(Color.BLUE);
 64 | 		return p;
 65 | 	}
 66 | 
 67 | 	public static Paint bluePaint(float textSize) {
 68 | 		Paint p = new Paint();
 69 | 		p.setTextSize(textSize);
 70 | 		p.setStrokeWidth(strokeWidth);
 71 | 		p.setStyle(Style.FILL);
 72 | 		p.setColor(Color.BLUE);
 73 | 		return p;
 74 | 	}
 75 | 	
 76 | 
 77 | 	public static Paint myPaint(int strokeWidth, int color) {
 78 | 		Paint p = new Paint();
 79 | 		p.setStrokeWidth(strokeWidth);
 80 | 		p.setStyle(Style.FILL);
 81 | 		p.setColor(color);
 82 | 		return p;
 83 | 	}
 84 | 	
 85 | 	public static Paint myPaint(int strokeWidth, int color, int alpha) {
 86 | 		Paint p = new Paint();
 87 | 		p.setStrokeWidth(strokeWidth);
 88 | 		p.setStyle(Style.FILL);
 89 | 		p.setColor(color);
 90 | 		p.setAlpha(alpha);
 91 | 		return p;
 92 | 	}
 93 | 	
 94 | 	/**
 95 | 	 * Creates a normal double array out of an ArrayList<Double>.
 96 | 	 * 
 97 | 	 * @param al
 98 | 	 *            the ArrayList<Double> to convert
 99 | 	 * @return the double[] array made out of array list
100 | 	 */
101 | 	public static double[] arrayListToArrayDouble(ArrayList<Double> al) {
102 | 		// create array with appropriate size
103 | 		double[] a = new double[al.size()];
104 | 		for (int i = 0; i < al.size(); i++) {
105 | 			// fill it
106 | 			a[i] = al.get(i).doubleValue();
107 | 		}
108 | 		// voila
109 | 		return a;
110 | 	}
111 | 
112 | 	/**
113 | 	 * Creates a normal int array out of an ArrayList<Integer>.
114 | 	 * 
115 | 	 * @param al
116 | 	 *            the ArrayList<Integer> to convert
117 | 	 * @return the int[] array made out of array list
118 | 	 */
119 | 	public static int[] arrayListToArrayInt(ArrayList<Integer> al) {
120 | 		// create array with appropriate size
121 | 		int[] a = new int[al.size()];
122 | 		for (int i = 0; i < al.size(); i++) {
123 | 			// fill it
124 | 			a[i] = al.get(i).intValue();
125 | 		}
126 | 		// voila
127 | 		return a;
128 | 	}
129 | 
130 | 	// precision to two decimal places behind .
131 | 	public static double tdp(double d) {
132 | 		return ((int) (d * 100)) / 100.0;
133 | 	}
134 | 
135 | 	public static double[] arrayClone(double[] array) {
136 | 		double[] buf = new double[array.length];
137 | 		for (int i = 0; i < array.length; i++) {
138 | 			buf[i] = array[i];
139 | 		}
140 | 		return buf;
141 | 	}
142 | 	
143 | 	
144 | 	public static double lowpassFilter(double old_value, double new_value, double a) {
145 | 		return old_value + a * (new_value - old_value);
146 | 	}
147 | 	
148 | }
149 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/core/NPConfig.java:
--------------------------------------------------------------------------------
 1 | package de.uvwxy.footpath.core;
 2 | 
 3 | /**
 4 |  * A class to manage a configuration of the navigation
 5 |  * @author Paul Smith
 6 |  *
 7 |  */
 8 | public class NPConfig{
 9 | 	// Points to the current edge we are walking on
10 | 	public int npPointer;
11 | 	// How far we have come on this edge
12 | 	public double npCurLen;
13 | 	// How many unmatched steps we have since the last matched step
14 | 	public int npUnmatchedSteps;
15 | 	// Which step the last matched step is
16 | 	public int npLastMatchedStep;
17 | 	// How many total matched steps we have
18 | 	public int npMatchedSteps;
19 | 	// The step size
20 | 	public double npStepSize;
21 | 	
22 | 	public NPConfig(){
23 | 		this.npPointer = 0;
24 | 		this.npCurLen = 0.0;
25 | 		this.npUnmatchedSteps = 0;
26 | 		this.npLastMatchedStep = 0;
27 | 		this.npMatchedSteps = 0;
28 | 		this.npStepSize = 1.0; // 1.0m...
29 | 	}
30 | 	
31 | 	public NPConfig(NPConfig conf) {
32 | 		this.npCurLen = conf.npCurLen;
33 | 		this.npLastMatchedStep = conf.npLastMatchedStep;
34 | 		this.npMatchedSteps = conf.npMatchedSteps;
35 | 		this.npPointer = conf.npPointer;
36 | 		this.npStepSize = conf.npStepSize;
37 | 		this.npUnmatchedSteps = conf.npUnmatchedSteps;
38 | 	}
39 | }
40 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/core/Positioner.java:
--------------------------------------------------------------------------------
 1 | package de.uvwxy.footpath.core;
 2 | 
 3 | /**
 4 |  * 
 5 |  * @author Paul Smith
 6 |  *
 7 |  */
 8 | public abstract class Positioner {
 9 | 	public abstract void addStep(double direction);
10 | 	public abstract double getProgress();
11 | 	
12 | 	/**
13 | 	 * Check if the difference of the given angles in degrees is less than the given alowed difference
14 | 	 * @param v the first angle
15 | 	 * @param t the second angle
16 | 	 * @param diff the allowed difference
17 | 	 * @return true if v <= diff away from t
18 | 	 */
19 | 	public static boolean isInRange(double v, double t, double diff) {
20 | 		if(Math.abs(v-t)<=diff){
21 | 			return true;
22 | 		}
23 | 		if(Math.abs((v+diff)%360-(t+diff)%360)<=diff){
24 | 			return true;
25 | 		}
26 | 		return false;
27 | 	}
28 | 
29 | }
30 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/core/Positioner_OnlineBestFit.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.core;
  2 | 
  3 | import java.util.LinkedList;
  4 | 
  5 | import de.uvwxy.footpath.graph.GraphEdge;
  6 | import de.uvwxy.footpath.gui.Navigator;
  7 | 
  8 | /**
  9 |  * A class calculating the position concerning Best Fit
 10 |  * 
 11 |  * @author Paul Smith
 12 |  *
 13 |  */
 14 | public class Positioner_OnlineBestFit extends Positioner{
 15 | 	private Navigator nav = null;
 16 | 	private NPConfig conf = null;
 17 | 	private LinkedList<GraphEdge> edges = null;
 18 | 	private double[][] c = null;
 19 | 	private double all_dist = 0.0;
 20 | 	private double avg_steplength = 0.0;
 21 | 	private double[] from_map = null;
 22 | 	private LinkedList<Double> s = null;
 23 | 	private double[][] dyn = null;
 24 | 	private final int INITIAL_DYN_SIZE = 2;
 25 | 	private int currentStep = 0;
 26 | 	private double progress = 0.0;
 27 | 	
 28 | 	public Positioner_OnlineBestFit(Navigator nav, LinkedList<GraphEdge> edges, NPConfig conf){
 29 | 		this.nav = nav;
 30 | 		this.edges = edges;
 31 | 		this.conf = conf;
 32 | 		
 33 | 		c = new double[edges.size()][2];
 34 | 		// Setup c:
 35 | 		double tempLen = 0.0;
 36 | 		for(int i = 0; i < edges.size(); i++){
 37 | 			GraphEdge temp = edges.get(i);
 38 | 			tempLen+=temp.getLen();
 39 | 			c[i][0] = tempLen;
 40 | 			c[i][1] = temp.getCompDir();
 41 | 		}
 42 | 		
 43 | 		// Setup all_dist:
 44 | 		all_dist = c[edges.size()-1][0];
 45 | 		
 46 | 		// Setup avg_steplength:
 47 | 		this.avg_steplength = nav.getStepLengthInMeters();
 48 | 		
 49 | 		// Setup n:
 50 | 		double[] n = new double[(int)(all_dist/this.avg_steplength)];
 51 | 		for(int i = 0; i < n.length; i++){
 52 | 			n[i] = this.avg_steplength*i;
 53 | 		}
 54 | 		
 55 | 		// Setup from_map:
 56 | 		from_map = new double[n.length];
 57 | 		for(int i = 0; i < n.length; i++){
 58 | 			// This code below uses directions directly from edges
 59 | 			int edge_i = 0;
 60 | 			while(!(c[edge_i][0] > n[i])){
 61 | 				edge_i++;
 62 | 			}
 63 | 			from_map[i]=c[edge_i][1];
 64 | 		}
 65 | 		
 66 | 		// s: a list to store detected step headings
 67 | 		s = new LinkedList<Double>();
 68 | 		
 69 | 		// dyn: the last two lines from the matrix D
 70 | 		dyn = new double[INITIAL_DYN_SIZE][from_map.length+1];
 71 | 		
 72 | 		// initialization
 73 | 		for(int x = 0; x < INITIAL_DYN_SIZE; x++){
 74 | 			for(int y = 0; y < dyn[0].length; y++){
 75 | 				if ( x == 0 && y == 0 ){
 76 | 					dyn[x][y] = 0.0;
 77 | 				} else if (x == 0){
 78 | 					dyn[x][y] = Double.POSITIVE_INFINITY;
 79 | 				} else if (y == 0){
 80 | 					dyn[x][y] = Double.POSITIVE_INFINITY;
 81 | 				}
 82 | //				lens[x][y] = 0.0;
 83 | 			}
 84 | 		}
 85 | 		
 86 | 		
 87 | 	}
 88 | 	
 89 | 	boolean firstStep = false;
 90 | 	
 91 | 	public void addStep(double direction){
 92 | 		if(firstStep){
 93 | 			dyn[0][0] = Double.POSITIVE_INFINITY;
 94 | 		}
 95 | 		firstStep = true;
 96 | 		
 97 | 		double t1,t2,t3;
 98 | 		
 99 | 		currentStep++;
100 | 		int x = currentStep;
101 | 		
102 | 		s.add(new Double(direction));
103 | 		
104 | 		// calculate new line of the matrix D:
105 | 		for(int y = 1; y < dyn[0].length; y++){
106 | 			// top
107 | 			t1=dyn[x % 2][y-1] + score(getFromS(x-1), getFromMap(y-2), false);
108 | 			// left
109 | 			t2=dyn[(x-1)%2][y] + score(getFromS(x-2), getFromMap(y-1), false);
110 | 			// diagonal
111 | 			t3=dyn[(x-1)%2][y-1] + score(getFromS(x-1), getFromMap(y-1), true);
112 | 			
113 | 			dyn[x%2][y] = Math.min(Math.min(t1, t2),t3);
114 | 		}
115 | 		
116 | 		int y_min = -1;
117 | 		double f_min = Double.POSITIVE_INFINITY;
118 | 		for ( int y_ = 1; y_ < dyn[0].length - 1; y_++){
119 | 			if ( f_min > dyn[x%2][y_] ){
120 | 				f_min = dyn[x%2][y_];
121 | 				y_min = y_;
122 | 			}
123 | 		}
124 | 		
125 | 		// y_min + 1 :  index i is step i + 1 ( array starting at 0)
126 | 		progress = (y_min + 1) * avg_steplength;
127 | 		
128 | 		// Update fields in NPConfig conf:
129 | 		// Find out which edge we are on and how far on that edge:
130 | 		double tempLen = edges.get(0).getLen();
131 | 		int edgeIndex = 0;
132 | 		while(tempLen < progress && edgeIndex < edges.size() ){
133 | 			edgeIndex++;
134 | 			tempLen += edges.get(edgeIndex).getLen();
135 | 		}
136 | 		
137 | 		conf.npCurLen = progress;
138 | 		for(int i = 0; i < edgeIndex; i++){
139 | 			conf.npCurLen-=edges.get(i).getLen();
140 | 		}
141 | 		
142 | 		conf.npPointer = edgeIndex;
143 | 		conf.npLastMatchedStep = y_min;
144 | 		conf.npMatchedSteps++;
145 | 		conf.npUnmatchedSteps = conf.npMatchedSteps - y_min;
146 | 	}
147 | 	
148 | 	private double getFromMap(int i){
149 | 		if ( i < 0 ) 
150 | 			return 0.0;
151 | 		else 
152 | 			return from_map[i];
153 | 	}
154 | 	
155 | 	private double getFromS(int i){
156 | 		if ( i < 0 ) 
157 | 			return 0.0;
158 | 		else
159 | 			return s.get(i).doubleValue();
160 | 	}
161 | 	private double score(double x, double y, boolean diagonal){
162 | 		double ret = 2.0; // = penalty
163 | 		
164 | 		// Sanitize:
165 | 		double t = Math.abs(x-y);
166 | 		t = (t>180.0) ? 360.0 - t : t;
167 | 		
168 | 		// And score:
169 | 		if ( t < 45.0 ){
170 | 			ret = 0.0;
171 | 		} else if ( t < 90.0 ){
172 | 			ret = 1.0;
173 | 		} else if ( t < 120.0 ){
174 | 			ret = 2.0;
175 | 		} else {
176 | 			ret = 10.0;
177 | 		}
178 | 			
179 | 		ret = !diagonal ? ret + 1.5 : ret;
180 | 		return ret;
181 | 	}
182 | 	
183 | 	public double getProgress(){
184 | 		return progress;
185 | 	}
186 | 	
187 | }
188 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/core/Positioner_OnlineFirstFit.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.core;
  2 | 
  3 | import java.util.LinkedList;
  4 | 
  5 | import de.uvwxy.footpath.graph.GraphEdge;
  6 | import de.uvwxy.footpath.gui.Navigator;
  7 | 
  8 | /**
  9 |  * A class calculating the position concerning First Fit
 10 |  * 
 11 |  * @author Paul Smith
 12 |  *
 13 |  */
 14 | public class Positioner_OnlineFirstFit extends Positioner{
 15 | 	private NPConfig conf;
 16 | 	private LinkedList<GraphEdge> navPathEdges = null;
 17 | 	private int totalStepsWalked = 0;
 18 | 
 19 | 	// store each step, with its direction
 20 | 	private LinkedList<Double> dirHistory = new LinkedList<Double>();
 21 | 	// If this value is passed, lookahead is started
 22 | 	private int maxFallBackSteps = 4;
 23 | 	
 24 | 	private Navigator nav = null;
 25 | 	public Positioner_OnlineFirstFit(Navigator nav, LinkedList<GraphEdge> navPathEdges, NPConfig conf){
 26 | 		this.navPathEdges = navPathEdges;
 27 | 		this.conf = conf;
 28 | 		this.nav = nav;
 29 | 	}
 30 | 	
 31 | 	/**
 32 | 	 * This is called each time a step is detected, and thus information about
 33 | 	 * the users whereabouts need to be updated
 34 | 	 */
 35 | 	public void addStep(double compValue) {
 36 | 		
 37 | 		totalStepsWalked++;
 38 | 		dirHistory.add(new Double(compValue)); 		
 39 | 
 40 | 		if (conf.npPointer < navPathEdges.size()) {
 41 | 			// we haven't reached a destination
 42 | 			// successive matching, incoming values are/have been
 43 | 			// roughly(in range of acceptanceWidth) correct, and not more than maxFallBackSteps have been unmatched
 44 | 			if (isInRange(compValue,	navPathEdges.get(conf.npPointer).getCompDir(),	nav.getAcceptanceWidth())
 45 | 					&& (	(conf.npUnmatchedSteps <= maxFallBackSteps))	// unmatched steps might be errors
 46 | 						||	(nav.getNavPathLenLeft()<maxFallBackSteps*(conf.npStepSize+1))	) { // near to end
 47 | 				
 48 | //				Log.i("FOOTPATH", "Current edge matches ");
 49 | 					
 50 | 				// Updated latest matched index from walkedHistory
 51 | 				conf.npLastMatchedStep = dirHistory.size()-1;
 52 | 				// Reset unmatched steps
 53 | 				conf.npUnmatchedSteps = 0;
 54 | 				
 55 | 				// Add one more matched step to counter
 56 | 				conf.npMatchedSteps++;
 57 | 				
 58 | 				// Update how far we have walked on this edge
 59 | 				if(navPathEdges.get(conf.npPointer).isStairs()){
 60 | 					// Don't use step length because of stairs
 61 | 					if(navPathEdges.get(conf.npPointer).getSteps()>0){
 62 | 						// Calculate length from number of steps on stairs
 63 | 						conf.npCurLen += navPathEdges.get(conf.npPointer).getLen()/navPathEdges.get(conf.npPointer).getSteps();
 64 | 					} else if(navPathEdges.get(conf.npPointer).getSteps()==-1){
 65 | 						// Naive length for steps on stairs if steps undefined
 66 | 						conf.npCurLen += nav.getNaiveStairsWidth();
 67 | 					} else {
 68 | 						// Error in data: Edge isStairs, but not undefined/defined number of steps
 69 | 						conf.npCurLen += conf.npStepSize;
 70 | 					}
 71 | 				} else {
 72 | 					conf.npCurLen += conf.npStepSize;
 73 | 				}
 74 | 				
 75 | 				
 76 | 				if (conf.npCurLen >= navPathEdges.get(conf.npPointer).getLen()) { 
 77 | 					// Edge length was exceeded so skip to next edge
 78 | 					conf.npPointer++;
 79 | 					// ;)
 80 | //					Log.i("FOOTPATH", "progress on path");
 81 | 					// Reset amount of walked length to remainder of step length
 82 | 					conf.npCurLen = conf.npCurLen - navPathEdges.get(conf.npPointer - 1).getLen();
 83 | 					// Stop navigating if we have passed the last edge
 84 | 					if (conf.npPointer >= navPathEdges.size()) {
 85 | 						nav.setNavigating(false);
 86 | 					}
 87 | 				}
 88 | 			} else {
 89 | 				// Step did not match current assumed edge, try lookahead, if we 
 90 | 				// calculated with steps being larger in reality
 91 | 				// If steps are smaller in reality than try to wait and resize the step size
 92 | 				
 93 | 				// Increase amount of unmatched steps
 94 | 				conf.npUnmatchedSteps++;
 95 | //				Log.i("FOOTPATH", "Unmatched steps  = " + conf.npUnmatchedSteps);
 96 | 				
 97 | 				// Do not do look ahead if the direction matches the last edge.
 98 | 				// Wait for user to turn on to this edge
 99 | 				if(conf.npPointer >= 1 && conf.npCurLen <= conf.npStepSize && isInRange(compValue, navPathEdges.get(conf.npPointer-1).getCompDir(),
100 | 						nav.getAcceptanceWidth())){
101 | 					return;
102 | 				}	
103 | 				
104 | 				// Enough steps unmatched to start lookahead
105 | 				if(conf.npUnmatchedSteps > maxFallBackSteps){
106 | 					
107 | 						conf = findMatch(conf, true);
108 | 						// CALL FOR NEW POSITION FIRST FIND
109 | 				}
110 | 
111 | 			}// -> else 
112 | 		} // if 
113 | 	}
114 | 	
115 | 	public void recalcPos(){
116 | 		// RECALCULATE POSITION FROM WHOLE ROUTE DATA
117 | 		NPConfig x = new NPConfig(conf);
118 | 		// reset route to beginning
119 | 		x.npLastMatchedStep = -1;
120 | 		x.npPointer = 0;
121 | 		x.npCurLen = 0.0;
122 | 		x.npUnmatchedSteps = dirHistory.size() - 1;
123 | 		
124 | 		x = findMatch(x, false);
125 | 		x.npLastMatchedStep = dirHistory.size() - 1;
126 | 		x.npMatchedSteps = x.npLastMatchedStep;
127 | 		
128 | //		Log.i("FOOTPAHT", "Recalculated route");
129 | 		// Update position on path
130 | 		conf = x;
131 | 	}
132 | 	
133 | 	/**
134 | 	 * Calculate the best/first matching position on path, from given configuration
135 | 	 * @param npC the current configuration to base calculation on
136 | 	 * @param first set to true if first match should be returned
137 | 	 * @return new configuration for position
138 | 	 */
139 | 	private NPConfig findMatch(NPConfig npC, boolean first){
140 | 		
141 | 		if(dirHistory == null){
142 | 			return npC;
143 | 		}
144 | 		
145 | 		if(dirHistory.size() == 0){
146 | 			return npC;
147 | 		}
148 | 		
149 | 		// Move backwards through walkedHistory, and look forwards to match it to an edge.
150 | 		// This works based on the assumption that, at some point, we have correct values again.
151 | 		// Accept only if we have found at least minMetresToMatch on a single edge
152 | 		
153 | 		double lastDir = dirHistory.get(dirHistory.size()-1); // last unmatched value
154 | 		
155 | //		Log.i("FOOTPATH", "Searching for " + lastDir);
156 | //		Log.i("FOOTPATH", "Current edge " + npC.npPointer);
157 | 		
158 | 		int maxBackLogCount = Integer.MIN_VALUE;
159 | 		int newPointer = npC.npPointer;
160 | 		double newCurLen = 0.0;
161 | 		int minCount = 4; // minimal 4 steps to match backwards
162 | 		// Go through all remaining edges and find first edge matching current direction
163 | 		for(int localPointer = npC.npPointer; localPointer < navPathEdges.size(); localPointer++){
164 | 
165 | //			Log.i("FOOTPATH", "Found edge (" + localPointer + ") in direction " + navPathEdges.get(localPointer).getCompDir());
166 | 			if(isInRange(navPathEdges.get(localPointer).getCompDir(),lastDir,nav.getAcceptanceWidth())){
167 | 				// There is an edge matching a direction on path
168 | //				Log.i("FOOTPATH", "Edge (" + localPointer + ") is in range");
169 | 				UglyObject o = new UglyObject();
170 | 				o.count = 0;
171 | 				int oldCount = o.count;
172 | 				o.historyPointer = dirHistory.size()-1;
173 | 				int backLogPointer = localPointer;
174 | 				double edgeDir = navPathEdges.get(backLogPointer).getCompDir();
175 | 				double edgeLength = navPathEdges.get(backLogPointer).getLen();
176 | //				Log.i("FOOTPATH", "Summing up path length " + lastDir);
177 | //				Log.i("FOOTPATH", "backlogPointer = " + backLogPointer + ">" + npC.npPointer + " npLastMatchedStep");
178 | 				while(backLogPointer > npC.npPointer && findMatchingSteps(o, edgeDir, npC, edgeLength, npC.npStepSize)){
179 | 					oldCount = o.count;
180 | //					Log.i("FOOTPATH", "Found matching steps into edgeDir = " + edgeDir + ", oldCount = " 
181 | //							+ oldCount + ", " + o.historyPointer);
182 | 					backLogPointer--;
183 | 					
184 | 					if(backLogPointer<0){
185 | 						break;
186 | 					}
187 | 					
188 | 					edgeDir = navPathEdges.get(backLogPointer).getCompDir();
189 | 					// remember last count. on last loop o.count is set to zero
190 | 				}
191 | //				Log.i("FOOTPATH", "Found " + oldCount + " matching steps");
192 | 				if(oldCount >= minCount && oldCount>maxBackLogCount){
193 | 					maxBackLogCount = oldCount;
194 | 					newPointer = localPointer;
195 | 					newCurLen = amountInSameDirection(dirHistory.size()-1,navPathEdges.get(localPointer), npC);
196 | 					
197 | 					if(first){
198 | 						break;
199 | 					}
200 | 				}
201 | 			} else {
202 | 
203 | //				Log.i("FOOTPATH", "Edge (" + localPointer + ") not in range");
204 | 			}
205 | 		}
206 | 		
207 | 		if(maxBackLogCount != Integer.MIN_VALUE){
208 | //			Log.i("FOOTPATH", "Found new position with " + (double)maxBackLogCount/(double)(dirHistory.size()-1-npC.npLastMatchedStep) + " confidence");
209 | 			
210 | 			if(newPointer == npC.npPointer){
211 | 				// Jump along same edge
212 | 				npC.npCurLen += newCurLen;
213 | 				if(npC.npCurLen > navPathEdges.get(npC.npPointer).getLen()){
214 | 					// Don not exceed edge!
215 | 					npC.npCurLen = navPathEdges.get(npC.npPointer).getLen();
216 | 				}
217 | 			} else {					
218 | 				// Jump along a different edge
219 | 				npC.npPointer = newPointer;
220 | 				npC.npCurLen = newCurLen;
221 | 				if(npC.npCurLen > navPathEdges.get(npC.npPointer).getLen()){
222 | 					// Don not exceed edge!
223 | 					npC.npCurLen = navPathEdges.get(npC.npPointer).getLen();
224 | 				}
225 | 			}
226 | 			
227 | 			npC.npUnmatchedSteps = 0;
228 | 			npC.npLastMatchedStep = dirHistory.size() - 1;
229 | 		}
230 | 
231 | 		return npC;
232 | 	}
233 | 	
234 | 	private class UglyObject{
235 | 		int count;
236 | 		int historyPointer;
237 | 	}
238 | 	
239 | 	private boolean findMatchingSteps(UglyObject o, double edgeDir, NPConfig npC, double edgeLength, double stepLength){
240 | 		int oldCount = o.count;
241 | //		Log.i("FOOTPATH", "findMatchingSteps: " + oldCount);
242 | 		while(o.historyPointer >= 0
243 | 				&& o.historyPointer > npC.npLastMatchedStep 
244 | 				&& isInRange(dirHistory.get(o.historyPointer), edgeDir, nav.getAcceptanceWidth())){
245 | 			o.count++;
246 | 			o.historyPointer--;
247 | 			
248 | 			double lengthToAdd = 0.0;
249 | 			if(navPathEdges.get(npC.npPointer).isStairs()){
250 | 				// Don't use step length because of stairs
251 | 				if(navPathEdges.get(npC.npPointer).getSteps()>0){
252 | 					// Calculate length from number of steps on stairs
253 | 					lengthToAdd = navPathEdges.get(npC.npPointer).getLen()/navPathEdges.get(npC.npPointer).getSteps();
254 | 				} else if(navPathEdges.get(npC.npPointer).getSteps()==-1){
255 | 					// Naive length for steps on stairs if steps undefined
256 | 					lengthToAdd= nav.getNaiveStairsWidth();
257 | 				} else {
258 | 					// Error in data: Edge isStairs, but not undefined/defined number of steps
259 | 					lengthToAdd = npC.npStepSize;
260 | 				}
261 | 			} else {
262 | 				lengthToAdd = npC.npStepSize;
263 | 			}
264 | 			
265 | 			if(edgeLength <= (o.count-oldCount)*lengthToAdd){
266 | //				Log.i("FOOTPATH", "findMatchingSteps/ edgeLength (" + edgeLength + ") <= "
267 | //						+ (o.count-oldCount)*lengthToAdd);
268 | 				// return true if whole edge has been traveled along
269 | 				return true;
270 | 			}
271 | 		}
272 | //		Log.i("FOOTPATH", "found: " + oldCount);
273 | 		if(oldCount != o.count){
274 | 			return true;
275 | 		} else {
276 | 			return false;
277 | 		}
278 | 	}
279 | 
280 | 	
281 | 	private double amountInSameDirection(int historyPointer, GraphEdge edge, NPConfig npC){
282 | 		double retLength = 0.0;
283 | 		
284 | 		while(historyPointer >= 0
285 | 				&& historyPointer >= npC.npLastMatchedStep  
286 | 				&& isInRange(edge.getCompDir(), dirHistory.get(historyPointer), nav.getAcceptanceWidth())){
287 | //			Log.i("FOOTPATH", "Adding amount into direction " + edge.getCompDir());
288 | 			historyPointer--;
289 | 			double lengthToAdd = 0.0;
290 | 			if(edge.isStairs()){
291 | 				// Don't use step length because of stairs
292 | 				if(edge.getSteps()>0){
293 | 					// Calculate length from number of steps on stairs
294 | 					lengthToAdd = edge.getLen()/edge.getSteps();
295 | 				} else if(edge.getSteps()==-1){
296 | 					// Naive length for steps on stairs if steps undefined
297 | 					lengthToAdd= nav.getNaiveStairsWidth();
298 | 				} else {
299 | 					// Error in data: Edge isStairs, but not undefined/defined number of steps
300 | 					lengthToAdd = npC.npStepSize;
301 | 				}
302 | 			} else {
303 | 				lengthToAdd = npC.npStepSize;
304 | 			}
305 | 			retLength += lengthToAdd;
306 | 		}
307 | 		return retLength;
308 | 	}
309 | 
310 | 	@Override
311 | 	public double getProgress() {
312 | 		double len = 0.0;
313 | 		// sum all traversed edges
314 | 		for(int i = 0; i < conf.npPointer; i++){
315 | 			len += navPathEdges.get(i).getLen();
316 | 		}
317 | 		// and how far we have walked on current edge
318 | 		len += conf.npCurLen;
319 | 		return len;
320 | 	}
321 | 	
322 | 	
323 | }
324 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/core/StepDetection.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.core;
  2 | 
  3 | import java.util.List;
  4 | import java.util.Timer;
  5 | import java.util.TimerTask;
  6 | 
  7 | import android.content.Context;
  8 | import android.hardware.Sensor;
  9 | import android.hardware.SensorEvent;
 10 | import android.hardware.SensorEventListener;
 11 | import android.hardware.SensorManager;
 12 | import android.util.Log;
 13 | import de.uvwxy.footpath.ToolBox;
 14 | 
 15 | /**
 16 |  * This class is fed with data from the Accelerometer and Compass sensors. If a step is detected on the acc
 17 |  * data it calls the trigger function on its interface StepTrigger, with the given direction.
 18 |  * 
 19 |  * Usage:
 20 |  * Create an object: stepDetection = new StepDetection(this, this, a, peak, step_timeout_ms);
 21 |  * @author Paul Smith
 22 |  *
 23 |  */
 24 | public class StepDetection {
 25 | 	public final long INTERVAL_MS = 1000/30;
 26 | 	
 27 | 	// Hold an interface to notify the outside world of detected steps
 28 | 	private StepTrigger st;
 29 | 	// Context needed to get access to sensor service
 30 | 	private Context context;
 31 | 	
 32 | 	private static SensorManager sm;					// Holds references to the SensorManager
 33 | 	List<Sensor> lSensor;								// List of all sensors
 34 | 
 35 | //	private double compassValue = -1.0;					// Last compass value
 36 | 	
 37 | 	private static final int vhSize = 6;
 38 | 	private double[] values_history = new double[vhSize];
 39 | 	private int vhPointer = 0;
 40 | 	
 41 | 	private double a;
 42 | 	private double peak;
 43 | 	private int step_timeout_ms;
 44 | 	private long last_step_ts = 0;
 45 | //	private double old_z = 0.0;
 46 | 	
 47 | 	// last acc is low pass filtered
 48 | 	private double[] lastAcc = new double[] {0.0, 0.0, 0.0};
 49 | 	// last comp is untouched
 50 | 	private double[] lastComp = new double[] {0.0, 0.0, 0.0};
 51 | 	
 52 | 	private int round = 0;
 53 | 	
 54 | 	/**
 55 | 	 * Handles sensor events. Updates the sensor
 56 | 	 */
 57 | 	public SensorEventListener mySensorEventListener = new SensorEventListener() {
 58 | 		@Override
 59 | 		public void onAccuracyChanged(Sensor sensor, int accuracy) {
 60 | 			// Auto-generated method stub
 61 | 		}
 62 | 
 63 | 		@Override
 64 | 		public void onSensorChanged(SensorEvent event) {
 65 | 			switch (event.sensor.getType()) {
 66 | 			case Sensor.TYPE_ACCELEROMETER:
 67 | 				st.dataHookAcc(System.currentTimeMillis(), event.values[0], event.values[1], event.values[2]);
 68 | 				// just update the oldest z value
 69 | 				lastAcc[0] = ToolBox.lowpassFilter(lastAcc[0], event.values[0], a);
 70 | 				lastAcc[1] = ToolBox.lowpassFilter(lastAcc[1], event.values[1], a);
 71 | 				lastAcc[2] = ToolBox.lowpassFilter(lastAcc[2], event.values[2], a);
 72 | 				break;
 73 | 			case Sensor.TYPE_ORIENTATION:
 74 | 				st.dataHookComp(System.currentTimeMillis(), event.values[0], event.values[1], event.values[2]);
 75 | 				lastComp[0] = event.values[0];
 76 | 				lastComp[1] = event.values[1];
 77 | 				lastComp[2] = event.values[2];
 78 | 				break;
 79 | 			default:
 80 | 			}// switch (event.sensor.getType())
 81 | 		}
 82 | 	};
 83 | 	
 84 | 	public double getA() {
 85 | 		return a;
 86 | 	}
 87 | 
 88 | 	public double getPeak() {
 89 | 		return peak;
 90 | 	}
 91 | 
 92 | 	public int getStep_timeout_ms() {
 93 | 		return step_timeout_ms;
 94 | 	}
 95 | 
 96 | 	public void setA(double a) {
 97 | 		this.a = a;
 98 | 	}
 99 | 
100 | 	public void setPeak(double peak) {
101 | 		this.peak = peak;
102 | 	}
103 | 
104 | 	public void setStep_timeout_ms(int stepTimeoutMs) {
105 | 		step_timeout_ms = stepTimeoutMs;
106 | 	}
107 | 
108 | 	public StepDetection(Context context, StepTrigger st, double a, double peak, int step_timeout_ms){
109 | 		this.context = context;
110 | 		this.st = st;
111 | 		this.a = a;
112 | 		this.peak = peak;
113 | 		this.step_timeout_ms = step_timeout_ms;
114 | 	}
115 | 	
116 | 	/**
117 | 	 * Enable step detection
118 | 	 */
119 | 	public void load(){
120 | 		// Sensors
121 | 		sm = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);
122 | 		lSensor = sm.getSensorList(Sensor.TYPE_ALL);
123 | 
124 | 		for (int i = 0; i < lSensor.size(); i++) {
125 | 			// Register only compass and accelerometer
126 | 			if (lSensor.get(i).getType() == Sensor.TYPE_ACCELEROMETER
127 | 					|| lSensor.get(i).getType() == Sensor.TYPE_ORIENTATION) {
128 | 				sm.registerListener(mySensorEventListener, lSensor.get(i), SensorManager.SENSOR_DELAY_FASTEST);
129 | 			}
130 | 		}
131 | 		
132 | 		// Register timer
133 | 		timer = new Timer("UpdateData", false);
134 | 		TimerTask task = new TimerTask(){
135 | 
136 | 			@Override
137 | 			public void run() {
138 | 				updateData();
139 | 			}
140 | 		};
141 | 		timer.schedule(task, 0, INTERVAL_MS);
142 | 	}
143 | 	
144 | 	/**
145 | 	 * Disable step detection
146 | 	 */
147 | 	public void unload(){
148 | 		timer.cancel();
149 | 		timer.purge();
150 | 		timer = null;
151 | 		sm.unregisterListener(mySensorEventListener);
152 | 	}
153 | 			
154 | 	/**
155 | 	 * This is called every INTERVAL_MS ms from the TimerTask. 
156 | 	 */
157 | 	private void updateData(){
158 | 		// Get current time for time stamps
159 | 		long now_ms = System.currentTimeMillis();
160 | 		
161 | 		// Create local value for compass and old_z, such that it is consistent during logs
162 | 		// (It might change in between, which is circumvented by this)
163 | 
164 | 		// array.clone() does not work here!!
165 | 		// this does not work as well!!
166 | //		double[] oldAcc = {lastAcc[0],lastAcc[1],lastAcc[2]};
167 | //		double[] oldComp = {lastComp[0],lastComp[1],lastComp[2]};
168 | 		double[] oldAcc = new double[3];
169 | 		System.arraycopy(lastAcc, 0, oldAcc, 0, 3);
170 | 		double[] oldComp = new double[3];
171 | 		System.arraycopy(lastComp, 0, oldComp, 0, 3);
172 | 		double lCompass = oldComp[0];
173 | 		double lOld_z = oldAcc[2];
174 | 		st.timedDataHook(now_ms, oldAcc, oldComp);
175 | 		
176 | 		addData(lOld_z);
177 | 		
178 | 		// Check if a step is detected upon data
179 | 		if((now_ms - last_step_ts) > step_timeout_ms && checkForStep(peak)){
180 | 			// Set latest detected step to "now"
181 | 			last_step_ts = now_ms;
182 | 			// Call algorithm for navigation/updating position
183 | 			st.trigger(now_ms, lCompass);
184 | 			Log.i("FOOTPATH", "Detected step  in  round = " + round  + " @ "+ now_ms);
185 | 		
186 | 		}
187 | 		round++;
188 | 	}
189 | 
190 | 	private void addData(double value){
191 | 		values_history[vhPointer % vhSize] = value;
192 | 		vhPointer++;
193 | 		vhPointer = vhPointer % vhSize;
194 | 	}
195 | 	
196 | 	private boolean checkForStep(double peakSize) {
197 | 		// Add value to values_history
198 | 
199 | 		int lookahead = 5;
200 | 		double diff = peakSize;
201 | 		
202 | 		
203 | 		for( int t = 1; t <= lookahead; t++){
204 | 			if((values_history[(vhPointer - 1 - t + vhSize + vhSize) % vhSize] - 
205 | 					values_history[(vhPointer - 1 + vhSize) % vhSize]
206 | 			                   > diff)){
207 | 				Log.i("FOOTPATH", "Detected step with t = " + t + ", diff = " + diff + " < " + (values_history[(vhPointer - 1 - t + vhSize + vhSize) % vhSize] - 
208 | 						values_history[(vhPointer - 1 + vhSize) % vhSize]));
209 | 				return true;
210 | 			}
211 | 		}
212 | 		return false;
213 | 	}
214 | 	
215 | 	Timer timer;
216 | }
217 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/core/StepTrigger.java:
--------------------------------------------------------------------------------
 1 | package de.uvwxy.footpath.core;
 2 | 
 3 | /**
 4 |  * An interface to be notified abuot detected steps and their directions. Also
 5 |  * there are hooks to to obtain values from sensors.
 6 |  * 
 7 |  * @author Paul Smith
 8 |  *
 9 |  */
10 | public interface StepTrigger {
11 | 	
12 | 	/**
13 | 	 * Called each time a step is triggered.
14 | 	 * 
15 | 	 * @param now_ms the time stamp of the detected step
16 | 	 * @param compDir the compass bearing
17 | 	 */
18 | 	public void trigger(long now_ms, double compDir);
19 | 	
20 | 	/**
21 | 	 * Called each time the accelerometer sensor values change
22 | 	 * 
23 | 	 * @param now_ms the time stamp of the changed values
24 | 	 * @param x x-axis
25 | 	 * @param y y-axis
26 | 	 * @param z z-axis
27 | 	 */
28 | 	public void dataHookAcc(long now_ms, double x, double y, double z);
29 | 	
30 | 	/**
31 | 	 * Called each time the compass sensor values change
32 | 	 * 
33 | 	 * @param now_ms the time stamp of the changed values
34 | 	 * @param x x-axis
35 | 	 * @param y y-axis
36 | 	 * @param z z-axis
37 | 	 */
38 | 	public void dataHookComp(long now_ms, double x, double y, double z);
39 | 	
40 | 	/**
41 | 	 * Called each time a sample is used to detect steps
42 | 	 * 
43 | 	 * @param now_ms the time stamp of the sample
44 | 	 * @param acc the accelerometer value (z-axis)
45 | 	 * @param comp the compass bearing
46 | 	 */
47 | 	public void timedDataHook(long now_ms, double[] acc, double[] comp);
48 | }
49 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/graph/Graph.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.graph;
  2 | 
  3 | import java.io.IOException;
  4 | import java.util.LinkedList;
  5 | import java.util.Stack;
  6 | 
  7 | import org.xmlpull.v1.XmlPullParser;
  8 | import org.xmlpull.v1.XmlPullParserException;
  9 | 
 10 | 
 11 | import android.content.res.XmlResourceParser;
 12 | 
 13 | /**
 14 |  * This class is used to create a graph from XML files stored in the directory
 15 |  * res/xml. Data from multiple files/layers can be joined into a single map/graph
 16 |  * with the function mergeNodes(). After graph creation use functions implemented
 17 |  * in this class to find routes, nodes, etc. 
 18 |  * 
 19 |  * @author Paul Smith
 20 |  *
 21 |  */
 22 | public class Graph {
 23 | 	public LinkedList<GraphNode> nodes;
 24 | 	public LinkedList<GraphEdge> edges;
 25 | 	
 26 | 	private GraphNode[] array_nodes_by_id;
 27 | 	private GraphNode[] array_nodes_by_name;
 28 | 	
 29 | 	public Graph(){
 30 | 		nodes = new LinkedList<GraphNode>();
 31 | 		edges = new LinkedList<GraphEdge>();
 32 | 	}
 33 | 	
 34 | 	public boolean addToGraphFromXMLResourceParser(XmlResourceParser xrp) throws XmlPullParserException, IOException{
 35 | 		boolean ret = false;									// return value
 36 | 		if(xrp == null){
 37 | 			return ret;
 38 | 		}
 39 | 		
 40 | 		boolean isOsmData = false;								// flag to wait for osm data
 41 | 		
 42 | 		GraphNode tempNode = new GraphNode();					// temporary node to be added to all nodes in file
 43 | 		GraphNode NULL_NODE = new GraphNode();					// 'NULL' node to point to, for dereferencing
 44 | 		GraphWay tempWay = new GraphWay();						// temporary way to be added to all nodes in file
 45 | 		GraphWay NULL_WAY = new GraphWay();						// 'NULL' node to point to, for dereferencing
 46 | 		
 47 | 		LinkedList<GraphNode> allNodes = new LinkedList<GraphNode>();	// store all nodes found in file
 48 | 		LinkedList<GraphWay> allWays = new LinkedList<GraphWay>();		// store all ways found in file
 49 | 		
 50 | 		xrp.next();
 51 | 		int eventType = xrp.getEventType();
 52 | 		while (eventType != XmlPullParser.END_DOCUMENT) {
 53 | 			switch(eventType){
 54 | 			case XmlPullParser.START_DOCUMENT:
 55 | 				break;
 56 | 			case XmlPullParser.START_TAG:
 57 | 				if(!isOsmData){
 58 | 					if(xrp.getName().equals("osm")){
 59 | 						isOsmData = true;							// osm
 60 | 						// TODO: Test for correct version? (v0.6)
 61 | 					}
 62 | 				} else {
 63 | 					int attributeCount = xrp.getAttributeCount();
 64 | 					if(xrp.getName().equals("node")){								// node
 65 | 						tempNode = new GraphNode();
 66 | 						for(int i = 0; i < attributeCount; i++){
 67 | 							if(xrp.getAttributeName(i).equals("id")){
 68 | 								tempNode.setId(xrp.getAttributeIntValue(i, 0));					// node.id
 69 | 							} if(xrp.getAttributeName(i).equals("lat")){
 70 | 								tempNode.setLat(Double.parseDouble(xrp.getAttributeValue(i)));	// node.lat
 71 | 							} if(xrp.getAttributeName(i).equals("lon")){
 72 | 								tempNode.setLon(Double.parseDouble(xrp.getAttributeValue(i)));	// node.lon
 73 | 							}
 74 | 						}							
 75 | 					} else if(xrp.getName().equals("tag")){							// tag 
 76 | 						if(tempNode != NULL_NODE){												// node.tag
 77 | 							for(int i = 0; i < attributeCount; i++){
 78 | 								if(xrp.getAttributeName(i).equals("k")
 79 | 										&& xrp.getAttributeValue(i).equals("indoor")){			// node.tag.indoor
 80 | 									String v = xrp.getAttributeValue(i + 1);
 81 | 									tempNode.setIndoors(v.equals("yes"));
 82 | 									if(v.equals("door")){
 83 | 										tempNode.setIndoors(true);
 84 | 										tempNode.setDoor(true);	// this is a door (which is always inDOORS) ;)
 85 | 									}
 86 | 								} else if(xrp.getAttributeName(i).equals("k")
 87 | 										&& xrp.getAttributeValue(i).equals("name")){			// node.tag.name
 88 | 									String v = xrp.getAttributeValue(i + 1);
 89 | 									tempNode.setName(v);
 90 | 								} else if(xrp.getAttributeName(i).equals("k")
 91 | 										&& xrp.getAttributeValue(i).equals("merge_id")){		// node.tag.merge_id
 92 | 									String v = xrp.getAttributeValue(i + 1);
 93 | 									tempNode.setMergeId(v);
 94 | 								} else if(xrp.getAttributeName(i).equals("k")
 95 | 										&& xrp.getAttributeValue(i).equals("step_count")){		// node.tag.step_count
 96 | 									int v = xrp.getAttributeIntValue(i + 1, Integer.MAX_VALUE);
 97 | 									tempNode.setSteps(v);
 98 | 								} else if(xrp.getAttributeName(i).equals("k")
 99 | 										&& xrp.getAttributeValue(i).equals("level")){			// node.tag.level
100 | 									String v = xrp.getAttributeValue(i + 1);
101 | 									float f = Float.parseFloat(v);
102 | 									tempNode.setLevel(f);
103 | 								} 
104 | 								
105 | 							}
106 | 						} else {																// way.tag
107 | 							for(int i = 0; i < attributeCount; i++){
108 | 								if(xrp.getAttributeName(i).equals("k")
109 | 										&& xrp.getAttributeValue(i).equals("wheelchair")){		// way.tag.wheelchair
110 | 									String v = xrp.getAttributeValue(i + 1);
111 | 									short wheelchair = (short) (v.equals("yes") ? 1 : v.equals("limited")?0: -1);
112 | 									tempWay.setWheelchair(wheelchair);
113 | 								} else if(xrp.getAttributeName(i).equals("k")
114 | 										&& xrp.getAttributeValue(i).equals("step_count")){		// way.tag.step_count
115 | 									int v = xrp.getAttributeIntValue(i + 1, Integer.MAX_VALUE);
116 | 									tempWay.setSteps(v);
117 | 								} else if(xrp.getAttributeName(i).equals("k")
118 | 										&& xrp.getAttributeValue(i).equals("level")){			// way.tag.level
119 | 									String v = xrp.getAttributeValue(i + 1);
120 | 									float f = Float.parseFloat(v);
121 | 									tempWay.setLevel(f);
122 | 								} else if(xrp.getAttributeName(i).equals("k")
123 | 										&& xrp.getAttributeValue(i).equals("indoor")){			// way.tag.indoor
124 | 									String v = xrp.getAttributeValue(i + 1);
125 | 									tempWay.setIndoor(v.equals("yes"));
126 | 								}else if(xrp.getAttributeName(i).equals("k")
127 | 										&& xrp.getAttributeValue(i).equals("highway")){			// way.tag.highway
128 | 									String v = xrp.getAttributeValue(i + 1);
129 | 									if(v.equals("steps")){
130 | 										tempWay.setWheelchair((short)-1);
131 | 										if(tempWay.getSteps() == 0){ 	// no steps configured before
132 | 											tempWay.setSteps(-1);	 	// so set to undefined (but present),
133 | 																		// otherwise might be set later
134 | 										}
135 | 									}
136 | 									if(v.equals("elevator")){
137 | 										tempWay.setWheelchair((short)1);
138 | 										tempWay.setSteps(-2);
139 | 									}
140 | 								} 
141 | 							}
142 | 						}
143 | 						
144 | 					} else if(xrp.getName().equals("way")){							// way
145 | 						tempWay = new GraphWay();
146 | 						for(int i = 0; i < attributeCount; i++){
147 | 							if(xrp.getAttributeName(i).equals("id")){
148 | 								tempWay.setId(xrp.getAttributeIntValue(i, 0));					// way.id
149 | 							}
150 | 						}	
151 | 					} else if(xrp.getName().equals("nd")){										// way.nd
152 | 						for(int i = 0; i < attributeCount; i++){
153 | 							if(xrp.getAttributeName(i).equals("ref")){							// way.nd.ref
154 | 								String v = xrp.getAttributeValue(i);
155 | 								int ref = Integer.parseInt(v);
156 | 								tempWay.addRef(ref);
157 | 							}
158 | 						}
159 | 					}
160 | 				}
161 | 				break;
162 | 			case XmlPullParser.END_TAG:
163 | 				if(isOsmData){
164 | 					if(xrp.getName().equals("osm")){
165 | 						ret = true;
166 | 					} else if(xrp.getName().equals("node")){						// node
167 | 						allNodes.add(tempNode);
168 | 						tempNode = NULL_NODE;		
169 | 					} else if(xrp.getName().equals("tag")){							// tag 
170 | 						
171 | 					} else if(xrp.getName().equals("way")){							// way
172 | 						allWays.add(tempWay);
173 | 						tempWay = NULL_WAY;
174 | 					} else if(xrp.getName().equals("nd")){							// way.nd
175 | 						
176 | 					}
177 | 				}
178 | 				break;
179 | 			default:
180 | 			}
181 | 			eventType = xrp.next();			
182 | 		}
183 | 		
184 | 		LinkedList<GraphWay> remainingWays = new LinkedList<GraphWay>();
185 | 		
186 | 		for(GraphWay way : allWays){							// find ways which are indoors at some point
187 | 			LinkedList<Integer> refs = way.getRefs();
188 | 			if(way.isIndoor()){									// whole path is indoors -> keep
189 | 				remainingWays.add(way);
190 | 			} else {											// check for path with indoor node
191 | 			boolean stop = false;
192 | 				for(Integer ref : refs){							// check if there is a node on path which is indoors
193 | 					for(GraphNode node : allNodes){
194 | 						if(node.getId() == ref.intValue()){
195 | 							remainingWays.add(way);
196 | 							stop = true;							// found indoor node on path to be added to graph
197 | 																	// thus stop both for loops and continue with next way
198 | 						}
199 | 						if(stop)
200 | 							break;
201 | 					}
202 | 					if(stop)
203 | 						break;
204 | 				}
205 | 			}
206 | 		}
207 | 		
208 | 		if(remainingWays.size() == 0)							// return false, nothing to be added to graph
209 | 			return false;
210 | 		
211 | 		for(GraphWay way : remainingWays){
212 | 			short wheelchair = way.getWheelchair();
213 | 			float level = way.getLevel();
214 | 			boolean indoor = way.isIndoor();
215 | 			GraphNode firstNode = getNode(allNodes,way.getRefs().get(0).intValue());
216 | 			for(int i = 1; i <= way.getRefs().size() - 1; i++){
217 | 				GraphNode nextNode = getNode(allNodes,way.getRefs().get(i).intValue());
218 | 				double len = getDistance(firstNode.getLat(),					// get length between P1 and P2
219 | 											firstNode.getLon(),
220 | 											nextNode.getLat(),
221 | 											nextNode.getLon());
222 | 				double compDegree = getInitialBearing(firstNode.getLat(),		// get initial bearing between P1 and P2
223 | 											firstNode.getLon(),
224 | 											nextNode.getLat(),
225 | 											nextNode.getLon());
226 | 				GraphEdge tempEdge = new GraphEdge(firstNode, nextNode, len, compDegree, wheelchair, level,indoor);
227 | 				if(way.getSteps()>0){											// make edge a staircase if steps_count
228 | 					tempEdge.setStairs(true);									// was set correctly
229 | 					tempEdge.setElevator(false);
230 | 					tempEdge.setSteps(way.getSteps());
231 | 				} else if(way.getSteps()==-1){
232 | 					tempEdge.setStairs(true);									// make edge a staircase if steps_count
233 | 					tempEdge.setElevator(false);
234 | 					tempEdge.setSteps(-1);										// was set to -1 (undefined steps)
235 | 				} else if(way.getSteps()==-2){
236 | 					tempEdge.setStairs(false);									// make edge an elevator if steps_count
237 | 					tempEdge.setElevator(true);
238 | 					tempEdge.setSteps(-2);										// was set to -2
239 | 				} else if(way.getSteps() == 0){
240 | 					tempEdge.setStairs(false);
241 | 					tempEdge.setElevator(false);
242 | 					tempEdge.setSteps(0);
243 | 				}
244 | 				edges.add(tempEdge);		// add edge to graph
245 | 				if(!nodes.contains(firstNode)){
246 | 					nodes.add(firstNode);										// add node to graph if not present
247 | 				}
248 | 				firstNode = nextNode;
249 | 			}
250 | 			
251 | 			if(!nodes.contains(firstNode)){
252 | 				nodes.add(firstNode);											// add last node to graph if not present
253 | 			}
254 | 		}
255 | 		
256 | 		return ret;
257 | 	}
258 | 	
259 | 	// use this to add edges for stairs to flags, this should be called once
260 | 	public void mergeNodes(){
261 | 		// Edges are note inserted anymore. 
262 | 		// Nodes are "Merged". Currently.
263 | 		LinkedList<GraphNode> nodesWithMergeId = new LinkedList<GraphNode>();
264 | 		// Collect all relevant nodes to merge
265 | 		for(GraphNode node: nodes){
266 | 			if(node.getMergeId()!=null){
267 | 				nodesWithMergeId.add(node);
268 | 			}
269 | 		}
270 | 		for(GraphNode node: nodesWithMergeId){
271 | 			for(GraphNode otherNode: nodesWithMergeId){
272 | 				// Only merge if same id, but not same node!
273 | 				if(node.getMergeId() != null && node.getMergeId().equals(otherNode.getMergeId())
274 | 						&& !node.equals(otherNode)){
275 | 					// Update all references pointing to otherNode to node
276 | 					for(GraphEdge edge: edges){
277 | 						if(edge.getNode0().equals(otherNode)){
278 | 							edge.setNode0(node);
279 | 						}
280 | 						if(edge.getNode1().equals(otherNode)){
281 | 							edge.setNode1(node);
282 | 						}
283 | 					}
284 | 					// otherNode was merged/removed, do not check
285 | 					otherNode.setMergeId(null);
286 | 				}
287 | 			}
288 | 		}
289 | 		// Create arrays for binary search
290 | 		array_nodes_by_id = sortNodesById(nodes);
291 | 		array_nodes_by_name = sortNodesByName(nodes);
292 | 		// Add edges to node, faster look up for neighbors
293 | 		for(GraphEdge edge: edges){
294 | 			GraphNode n0 = edge.getNode0();
295 | 			GraphNode n1 = edge.getNode1();
296 | 			if(!n0.getLocEdges().contains(edge)){
297 | 				n0.getLocEdges().add(edge);
298 | 			}
299 | 			if(!n1.getLocEdges().contains(edge)){
300 | 				n1.getLocEdges().add(edge);
301 | 			}
302 | 		}
303 | 	}
304 | 
305 | 	
306 | 	public Stack<GraphNode> getShortestPath(String from, String to, 
307 | 			boolean staircase, boolean elevator, boolean outside){
308 | 		GraphNode gnFrom = getNodeFromName(from);
309 | 		GraphNode gnTo = getNodeFromName(to);
310 | 		return getShortestPath(gnFrom, gnTo, staircase, elevator, outside);
311 | 	}
312 | 	public Stack<GraphNode> getShortestPath(int from, String to, 
313 | 			boolean staircase, boolean elevator, boolean outside){
314 | 		GraphNode gnFrom = getNode(from);
315 | 		GraphNode gnTo = getNodeFromName(to);
316 | 		return getShortestPath(gnFrom, gnTo, staircase, elevator, outside);
317 | 	}
318 | 	
319 | 	// Returns a stack of nodes, with the destination at the bottom using
320 | 	// Dykstra's algorithm
321 | 	public Stack<GraphNode> getShortestPath(GraphNode from, GraphNode to, 
322 | 			boolean staircase, boolean elevator, boolean outside){
323 | 		
324 | 		if(from == null || to == null){
325 | 			return null;
326 | 		}
327 | 		
328 | 		int 		remaining_nodes = array_nodes_by_id.length;
329 | 		GraphNode[] previous 		= new GraphNode[array_nodes_by_id.length];
330 | 		double[] 	dist 			= new double[array_nodes_by_id.length];
331 | 		boolean[] 	visited 		= new boolean[array_nodes_by_id.length];
332 | 		
333 | 		// Set initial values
334 | 		for(int i = 0; i < array_nodes_by_id.length; i++){
335 | 			dist[i] = Double.POSITIVE_INFINITY;
336 | 			previous[i] = null;
337 | 			visited[i] = false;
338 | 		}
339 | 		dist[getNodePosInIdArray(from)] = 0;
340 | 		while(remaining_nodes>0){
341 | 			// Vertex u in q with smallest dist[]
342 | 			GraphNode u;
343 | 			double minDist = Double.POSITIVE_INFINITY;
344 | 			int u_i = -1;
345 | 			for(int i = 0; i < array_nodes_by_id.length; i++){
346 | 				if(!visited[i] && dist[i]<minDist){
347 | 					u_i = i;
348 | 					minDist = dist[i];
349 | 				}
350 | 			}
351 | 			
352 | 			if(u_i == -1){
353 | 				// No nodes left
354 | 				break;
355 | 			}
356 | 			// u was found
357 | 			u = array_nodes_by_id[u_i];
358 | 			visited[u_i] = true;
359 | 			if(dist[u_i] == Double.POSITIVE_INFINITY){
360 | 				// All remaining nodes are unreachable from source
361 | 				break;
362 | 			}
363 | 			// Get neighbors of u in q
364 | 			LinkedList<GraphNode> nOuIq = getNeighbours(visited, u, staircase, elevator, outside);
365 | 			if(u.equals(to)){
366 | 				// u = to -> found path to destination
367 | 				// Build stack of nodes, destination at the botton
368 | 				Stack<GraphNode> s = new Stack<GraphNode>();
369 | 				while(previous[u_i]!=null){
370 | 					s.push(u);													
371 | 					u_i = getNodePosInIdArray(u);							
372 | 					u = previous[u_i];
373 | 				}
374 | 				return s;
375 | 			}else {
376 | 				remaining_nodes--;
377 | 			}
378 | 			for(GraphNode v : nOuIq){
379 | 				double dist_alt = dist[u_i] + dist(u,v);
380 | 				int v_i = getNodePosInIdArray(v);
381 | 				if(dist_alt < dist[v_i]){
382 | 					dist[v_i] = dist_alt;
383 | 					previous[v_i] = u;
384 | 				}
385 | 			}
386 | 		}
387 | 		return null;
388 | 	}
389 | 	
390 | 	// Returns the distance of two nodes by finding the corresponding edge and reading the len value
391 | 	private double dist(GraphNode from, GraphNode to){
392 | 		double ret = Double.POSITIVE_INFINITY;
393 | 		ret = getEdge(from,to).getLen();
394 | 		return ret;
395 | 	}
396 | 	
397 | 	// Returns all neighbors of given node from a given subset (list) of nodes in this graph
398 | 	private LinkedList<GraphNode> getNeighbours(boolean[] visited, GraphNode node, boolean staircase, boolean elevator, boolean outside){
399 | 		
400 | 		LinkedList<GraphNode> ret = new LinkedList<GraphNode>();
401 | 		for(GraphEdge edge : node.getLocEdges()){							// check all edges if they contain node
402 | 			if(edge.isStairs() && !staircase ){								// edge has steps, but not allowed -> skip
403 | 				continue;														
404 | 			}
405 | 			if(edge.isElevator() && !elevator ){							// edge is elevator, but not allowed -> skip
406 | 				continue;
407 | 			}
408 | 			if(!edge.isIndoor() && !outside){								// edge is outdoors, but not allowed -> skip
409 | 				continue;
410 | 			}
411 | 			
412 | 			GraphNode buf = null;
413 | 			if(edge.getNode0().equals(node)){								// node0 is node
414 | 				buf = edge.getNode1();										// add node1
415 | 			} else if(edge.getNode1().equals(node)){						// node 1 is node
416 | 				buf = edge.getNode0();										// add node0
417 | 			}
418 | 			if(outside){
419 | 				if(buf!=null){												// if outside, all nodes are allowed
420 | 					if(!ret.contains(buf) && !visited[getNodePosInIdArray(buf)]){
421 | 						ret.add(buf);										// add buf only once, iff not visited
422 | 					}
423 | 				}
424 | 			} else {														// if !outside, only indoor nodes are allowed
425 | 				if(buf!=null && buf.isIndoors()){		
426 | 					if(!ret.contains(buf) && !visited[getNodePosInIdArray(buf)]){
427 | 						ret.add(buf);										// add buf only once, iff not visited
428 | 					}
429 | 				}
430 | 			}
431 | 		}
432 | 		return ret;
433 | 	}
434 | 	
435 | 	// return node pos via binary search
436 | 	private int getNodePosInIdArray(GraphNode node){
437 | 		int u = 0;
438 |         int o = array_nodes_by_id.length-1;
439 |         int m = 0;
440 | 
441 |         while(!(o < u)) {
442 |             m = (u+o)/2;
443 |             if(node.getId() == array_nodes_by_id[m].getId()){
444 |             	return m;
445 |             }
446 |             if(node.getId() < array_nodes_by_id[m].getId()){
447 |             	o = m-1;
448 |             } else {
449 |             	u = m+1;
450 |             }
451 |         }
452 | 		return -1;
453 | 	}
454 | 	
455 | 	// This is the faster version which can be used after parsing the data
456 | 	public GraphNode getNode(int id){
457 | 		int u = 0;
458 |         int o = array_nodes_by_id.length-1;
459 |         int m = 0;
460 | 
461 |         while(!(o < u)) {
462 |             m = (u+o)/2;
463 |             if(id == array_nodes_by_id[m].getId()){
464 |             	return array_nodes_by_id[m];
465 |             }
466 |             if(id < array_nodes_by_id[m].getId()){
467 |             	o = m-1;
468 |             } else {
469 |             	u = m+1;
470 |             }
471 |         }
472 | 		return null;		
473 | 	}
474 | 	
475 | 	// This is the slower version which is used during parsing
476 | 	private GraphNode getNode(LinkedList<GraphNode> list, int id){
477 | 		for(GraphNode node: list){
478 | 			if(node.getId() == id)
479 | 				return node;
480 | 		}
481 | 		return null;
482 | 	}
483 | 	
484 | 	// return all names of nodes != null in a String array
485 | 	public String[] getRoomList(){
486 | 		String[] retArray = new String[array_nodes_by_name.length];
487 | 		for(int i = 0; i < retArray.length; i++){
488 | 			retArray[i] = array_nodes_by_name[i].getName();
489 | 		}
490 | 		return retArray; 
491 | 	}
492 | 
493 | 	// creates a linked list form a stack, top to bottom
494 | 	public LinkedList<GraphEdge> getPathEdges(Stack<GraphNode> navPath) {
495 | 		LinkedList<GraphEdge> pathEdges = new LinkedList<GraphEdge>();
496 | 		GraphNode a = navPath.pop();
497 | 		while(!navPath.isEmpty()){
498 | 			GraphNode b = navPath.pop();
499 | 			GraphEdge e = this.getEdge(a,b);
500 | 			if(e!=null){
501 | 				pathEdges.add(e);
502 | 			} else {
503 | 				return null;
504 | 			}
505 | 			a = b;
506 | 		}
507 | 		return pathEdges;
508 | 	}
509 | 
510 | 	// returns the edge containing nodes a and  b
511 | 	public GraphEdge getEdge(GraphNode a, GraphNode b) {
512 | 		GraphEdge ret = null;
513 | 		for(GraphEdge edge : a.getLocEdges()){									// return edge if 
514 | 			if(edge.getNode0().equals(a) && edge.getNode1().equals(b)){			// node0=a, node1=b
515 | 				ret = edge;											// or
516 | 			}else if(edge.getNode1().equals(a) && edge.getNode0().equals(b)){	// node0=b, node1=a
517 | 				ret = edge;
518 | 			}																	// else null
519 | 		}
520 | 		return ret;
521 | 	}
522 | 	
523 | 	/**
524 | 	 * Returns the distance between two nodes
525 | 	 * @param node_0 first node
526 | 	 * @param node_1 second node
527 | 	 * @return the distance in meters
528 | 	 */
529 | 	public double getDistance(LatLonPos pos_0, GraphNode node_1){
530 | 		return getDistance(pos_0.getLat(), pos_0.getLon(), node_1.getLat(), node_1.getLon());
531 | 	}
532 | 	
533 | 	/**
534 | 	 * Returns the distance between two points given in latitude/longitude
535 | 	 * @param lat_1 latitude of first point
536 | 	 * @param lon_1 longitude of first point
537 | 	 * @param lat_2 latitude of second point
538 | 	 * @param lon_2 longitude of second point
539 | 	 * @return the distance in meters
540 | 	 */
541 | 	public double getDistance(double lat_1, double lon_1, double lat_2, double lon_2) {
542 | 		// source: http://www.movable-type.co.uk/scripts/latlong.html
543 | 		double dLon = lon_2 - lon_1;
544 | 		double dLat = lat_2 - lat_1;
545 | 		lat_1 = Math.toRadians(lat_1);
546 | 		lon_1 = Math.toRadians(lon_1);
547 | 		lat_2 = Math.toRadians(lat_2);
548 | 		lon_2 = Math.toRadians(lon_2);
549 | 		dLon = Math.toRadians(dLon);
550 | 		dLat = Math.toRadians(dLat);
551 | 		
552 | 		double r = 6378137; // km
553 | 		double a = Math.sin(dLat/2)*Math.sin(dLat/2) + 
554 | 					Math.cos(lat_1)*Math.cos(lat_2) *
555 | 					Math.sin(dLon/2)*Math.sin(dLon/2);
556 | 		double c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1-a));
557 | 		return c*r;
558 | 	}
559 | 	
560 | 	public double getInitialBearing(double lat_1, double lon_1, double lat_2, double lon_2) {	
561 | 		// source: http://www.movable-type.co.uk/scripts/latlong.html
562 | 		double dLon = lon_2 - lon_1;
563 | 		lat_1 = Math.toRadians(lat_1);
564 | 		lon_1 = Math.toRadians(lon_1);
565 | 		lat_2 = Math.toRadians(lat_2);
566 | 		lon_2 = Math.toRadians(lon_2);
567 | 		dLon = Math.toRadians(dLon);
568 | 		double y = Math.sin(dLon) * Math.cos(lat_2);
569 | 		double x = Math.cos(lat_1) * Math.sin(lat_2) - 
570 | 					Math.sin(lat_1) * Math.cos(lat_2) * Math.cos(dLon);
571 | 		double b = Math.atan2(y, x);
572 | 		b = Math.toDegrees(b);
573 | 		return (b < 0) ? b + 360.0 : b;
574 | 	}
575 | 	
576 | 	// returns the node with the given name, binary search
577 | 	public GraphNode getNodeFromName(String name){
578 |         int u = 0;
579 |         int o = array_nodes_by_name.length-1;
580 |         int m = 0;
581 | 
582 |         while(!(o < u)) {
583 |             m = (u+o)/2;
584 |             if(name.equals(array_nodes_by_name[m].getName())){
585 |             	return array_nodes_by_name[m];
586 |             }
587 |             if(name.compareTo(array_nodes_by_name[m].getName()) < 0){
588 |             	o = m-1;
589 |             } else {
590 |             	u = m+1;
591 |             }
592 |         }
593 | 
594 | 		return null;
595 | 	}
596 | 	
597 | 	/**
598 | 	 * Returns the closest node to a position at the given level
599 | 	 * @param pos the position 
600 | 	 * @param level the level
601 | 	 * @param indoor set to true if indoor nodes should be included
602 | 	 * @param maxMeters limit of distance to a node
603 | 	 * @return the closest GraphNode
604 | 	 */
605 | 	public GraphNode getClosestNodeToLatLonPos(LatLonPos pos, float level, boolean indoor, int maxMeters){
606 | 		double minDistance = Double.MAX_VALUE;
607 | 		double tempDistance = Double.MAX_VALUE;
608 | 		GraphNode minDistNode = null;
609 | 		
610 | 		for(GraphNode node: nodes){
611 | 			// First: node has to be at the same level
612 | 			// Second: if indoor = true, then take all nodes
613 | 			// Third: if indoor = false check if node is not indoors!
614 | 			if(node.getLevel() == level && (indoor || (node.isIndoors()==indoor))){
615 | 				tempDistance = getDistance(pos, node);
616 | 				if(tempDistance < minDistance){
617 | 					minDistance = tempDistance;
618 | 					minDistNode = node;
619 | 				}
620 | 			}
621 | 		}
622 | 		if(minDistance < maxMeters){
623 | 			return minDistNode;
624 | 		} else { 
625 | 			return null; 
626 | 		}
627 | 	}
628 | 	
629 | 	public double getClosestDistanceToNode(LatLonPos pos, float level, boolean indoor){
630 | 		double minDistance = Double.MAX_VALUE;
631 | 		double tempDistance = Double.MAX_VALUE;
632 | 		
633 | 		for(GraphNode node: nodes){
634 | 			// First: node has to be at the same level
635 | 			// Second: if indoor = true, then take all nodes
636 | 			// Third: if indoor = false check if node is not indoors!
637 | 			if(node.getLevel() == level && (indoor || (node.isIndoors()!=indoor))){
638 | 				tempDistance = getDistance(pos, node);
639 | 				if(tempDistance < minDistance){
640 | 					minDistance = tempDistance;
641 | 				}
642 | 			}
643 | 		}
644 | 		return minDistance;
645 | 	}
646 | 	
647 | 	// creates an array, containing only nodes _with_ a name, sorted ascending
648 | 	private GraphNode[] sortNodesByName(LinkedList<GraphNode> nodes){
649 | 		GraphNode[] node_array;
650 | 		GraphNode temp = null;
651 | 		int num_nulls = 0;
652 | 		int c = 0;
653 | 		boolean not_sorted = true;
654 | 		// count number of nodes without a name (null)
655 | 		for(int i = 0; i < nodes.size(); i++){
656 | 			if(nodes.get(i) != null && nodes.get(i).getName() == null){
657 | 				num_nulls++;
658 | 			}
659 | 		}
660 | 		// create an array for nodes with a name
661 | 		node_array = new GraphNode[nodes.size() - num_nulls];
662 | 		for(GraphNode node: nodes){
663 | 			if(node != null && node.getName() != null){
664 | 				// insert node with name into array
665 | 				node_array[c] = node;
666 | 				c++;
667 | 			}
668 | 		}
669 | 		// sort by name (bubble sort)
670 | 		while(not_sorted){
671 | 			not_sorted = false;
672 | 			for(int i = 0; i < node_array.length - 1; i++){
673 | 				if(node_array[i].getName().compareTo(node_array[i+1].getName()) > 0){
674 | 					temp = node_array[i];
675 | 					node_array[i] = node_array[i+1];
676 | 					node_array[i+1] = temp;
677 | 					not_sorted = true;
678 | 				}
679 | 			}
680 | 		}
681 | 		// return array which had no nulls
682 | 		return node_array;
683 | 	}
684 | 	
685 | 	// creates an array,sorted by id ascending
686 | 	private GraphNode[] sortNodesById(LinkedList<GraphNode> nodes){
687 | 		GraphNode[] node_array;
688 | 		GraphNode temp = null;
689 | 		int c = 0;
690 | 		boolean not_sorted = true;
691 | 		// create an array for all nodes
692 | 		node_array = new GraphNode[nodes.size()];
693 | 		for(GraphNode node: nodes){
694 | 			if(node != null){
695 | 				// insert node
696 | 				node_array[c] = node;
697 | 				c++;
698 | 			}
699 | 		}
700 | 		// sort by id (bubble sort)
701 | 		while(not_sorted){
702 | 			not_sorted = false;
703 | 			for(int i = 0; i < node_array.length - 1; i++){
704 | 				if(node_array[i].getId() > node_array[i+1].getId()){
705 | 					temp = node_array[i];
706 | 					node_array[i] = node_array[i+1];
707 | 					node_array[i+1] = temp;
708 | 					not_sorted = true;
709 | 				}
710 | 			}
711 | 		}
712 | 		return node_array;
713 | 	}
714 | }
715 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/graph/GraphEdge.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.graph;
  2 | 
  3 | /**
  4 |  * A class to maintain an edge in the graph.
  5 |  * 
  6 |  * @author Paul Smith
  7 |  *
  8 |  */
  9 | public class GraphEdge {
 10 | 	private GraphNode node0;
 11 | 	private GraphNode node1;
 12 | 	private double len;
 13 | 	private double bearing;
 14 | 	private short wheelchair;
 15 | 	private boolean isStairs = false;
 16 | 	private boolean isElevator = false;
 17 | 	
 18 | 	// >0 := number correct steps given
 19 | 	//  0 := no steps
 20 | 	// -1 := undefined number of steps
 21 | 	// -2 := elevator
 22 | 	private int numSteps = 0;
 23 | 	
 24 | 	private float level;
 25 | 	private boolean isIndoor;
 26 | 	
 27 | 	/**
 28 | 	 * Constructor to create an empty edge with everything set to 0/null/false
 29 | 	 */
 30 | 	public GraphEdge() {
 31 | 		this.node0 = null;
 32 | 		this.node1 = null;
 33 | 		this.len = 0.0;
 34 | 		this.wheelchair = 1;
 35 | 		this.level = Float.MAX_VALUE;
 36 | 		this.isIndoor = false;
 37 | 	}
 38 | 	
 39 | 	/**
 40 | 	 * Constructor to create an edge with given parameters.
 41 | 	 * 
 42 | 	 * @param node0 the first GraphNode
 43 | 	 * @param node1 the second GraphNode
 44 | 	 * @param len the length of this edge
 45 | 	 * @param compDir the direction of this edge (node0 -> node1)
 46 | 	 * @param wheelchair the value concerning the wheelchair attribute
 47 | 	 * @param level the level of this edge
 48 | 	 * @param isIndoor true if is indoor
 49 | 	 */
 50 | 	public GraphEdge(GraphNode node0, GraphNode node1, double len, double compDir, short wheelchair, float level, boolean isIndoor) {
 51 | 		this.node0 = node0;
 52 | 		this.node1 = node1;
 53 | 		this.len = len;
 54 | 		this.bearing = compDir;
 55 | 		this.wheelchair = wheelchair;
 56 | 		this.level = level;
 57 | 		this.isIndoor = isIndoor;
 58 | 	}
 59 | 	
 60 | 	public double getCompDir() {
 61 | 		return bearing;
 62 | 	}
 63 | 	
 64 | 	public GraphNode getNode0() {
 65 | 		return node0;
 66 | 	}
 67 | 	
 68 | 	public GraphNode getNode1() {
 69 | 		return node1;
 70 | 	}
 71 | 	
 72 | 	public double getLen() {
 73 | 		return len;
 74 | 	}
 75 | 	
 76 | 	public short getWheelchair() {
 77 | 		return wheelchair;
 78 | 	}
 79 | 	
 80 | 	public boolean isStairs(){
 81 | 		return isStairs;
 82 | 	}
 83 | 	
 84 | 	public boolean isElevator(){
 85 | 		return isElevator;
 86 | 	}
 87 | 	
 88 | 	public int getSteps(){
 89 | 		return numSteps;
 90 | 	}
 91 | 	
 92 | 	public float getLevel() {
 93 | 		return level;
 94 | 	}
 95 | 	
 96 | 	public boolean isIndoor(){
 97 | 		return isIndoor;
 98 | 	}
 99 | 	
100 | 	public void setCompDir(double compDir) {
101 | 		this.bearing = compDir;
102 | 	}
103 | 	
104 | 	public void setNode0(GraphNode node0) {
105 | 		this.node0 = node0;
106 | 	}
107 | 	
108 | 	public void setNode1(GraphNode node1) {
109 | 		this.node1 = node1;
110 | 	}
111 | 	
112 | 	public void setLen(double len) {
113 | 		this.len = len;
114 | 	}
115 | 	
116 | 	public void setWheelchair(short wheelchair) {
117 | 		this.wheelchair = wheelchair;
118 | 	}
119 | 	
120 | 	public void setStairs(boolean isStairs) {
121 | 		this.isStairs = isStairs;
122 | 	}
123 | 	
124 | 	public void setElevator(boolean isElevator) {
125 | 		this.isElevator = isElevator;
126 | 	}
127 | 	
128 | 	public void setSteps(int numSteps){
129 | 		this.numSteps = numSteps;
130 | 		if(numSteps>0)
131 | 			this.setWheelchair((short)-1);//if steps, NO wheelchair
132 | 	}
133 | 	
134 | 	public void setLevel(float level) {
135 | 		this.level = level;
136 | 	}
137 | 	
138 | 	public void setLevel(boolean isIndoor){
139 | 		this.isIndoor = isIndoor;
140 | 	}
141 | 
142 | 	public boolean equals(GraphEdge edge){
143 | 		if(edge == null)
144 | 			return false;
145 | 		return this.node0.equals(edge.getNode0()) && this.node1.equals(edge.getNode1())
146 | 				|| this.node0.equals(edge.getNode1()) && this.node1.equals(edge.getNode0());
147 | 	}
148 | 	
149 | 	public boolean contains(GraphNode node){
150 | 		return getNode0().equals(node) || getNode1().equals(node);
151 | 	}
152 | 	
153 | 	public String toString(){
154 | 		String ret = "\nEdge(" + this.node0.getId() + " to " + this.node1.getId() + "): ";
155 | 		ret += "\n    Length: " + this.len;
156 | 		ret += "\n    Bearing: " + this.bearing;
157 | 		if(isStairs()){
158 | 			ret += "\n    Staircase with: " + this.getSteps() + " steps";
159 | 		}
160 | 		if(isElevator()){
161 | 			ret += "\n    Elevator: yes";
162 | 		}
163 | 		ret+="\n    Level: " + level;
164 | 		return ret;
165 | 	}
166 | }
167 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/graph/GraphElement.java:
--------------------------------------------------------------------------------
 1 | package de.uvwxy.footpath.graph;
 2 | 
 3 | /**
 4 |  * 
 5 |  * @author Paul Smith
 6 |  *
 7 |  */
 8 | public class GraphElement {
 9 | 	// nothing, just to have a parent for GraphNode and GraphEdge
10 | 	// TODO: delete this?
11 | }
12 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/graph/GraphNode.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.graph;
  2 | 
  3 | import java.util.LinkedList;
  4 | 
  5 | 
  6 | /**
  7 |  * A class to maintain a node with given parameters found in OSM/XML data.
  8 |  * 
  9 |  * @author Paul Smith
 10 |  *
 11 |  */
 12 | public class GraphNode {
 13 | 	private double lon;
 14 | 	private double lat;
 15 | 	private String name;
 16 | 	private boolean isInDoors;
 17 | 	private boolean isDoor;
 18 | 	private float level;
 19 | 	private int id;
 20 | 	private String merge_id;
 21 | 	private int numSteps = 0;
 22 | 	private LinkedList<GraphEdge> loc_edges;
 23 | 	
 24 | 	/**
 25 | 	 * Constructor to create an empty node with everything set to 0/null/false
 26 | 	 */
 27 | 	public GraphNode() {
 28 | 		this.lon = 0.0;
 29 | 		this.lat = 0.0;
 30 | 		this.name = null;
 31 | 		this.isInDoors = false;
 32 | 		this.isDoor = false;
 33 | 		this.level = 0;
 34 | 		this.merge_id = null;
 35 | 		loc_edges = new LinkedList<GraphEdge>();
 36 | 	}
 37 | 	
 38 | 	/**
 39 | 	 * Constructor to create a node with given parameters.
 40 | 	 * 	
 41 | 	 * @param lon the longitude
 42 | 	 * @param lat the latitude
 43 | 	 * @param name the name
 44 | 	 * @param indoors true if is indoor node
 45 | 	 * @param isDoor true if is door
 46 | 	 * @param level the level
 47 | 	 */
 48 | 	public GraphNode(double lon, double lat, String name, boolean indoors, boolean isDoor, float level) {
 49 | 		this.lon = lon;
 50 | 		this.lat = lat;
 51 | 		this.name = name;
 52 | 		this.isInDoors = indoors;
 53 | 		this.isDoor = isDoor;
 54 | 		this.level = level;
 55 | 		this.merge_id = null;
 56 | 		loc_edges = new LinkedList<GraphEdge>();
 57 | 	}
 58 | 	
 59 | 	/**
 60 | 	 * Creates a LatLonPos object to return the location.
 61 | 	 * 
 62 | 	 * @return the new LatLonPos object of this node's location
 63 | 	 */
 64 | 	public LatLonPos getPos(){
 65 | 		LatLonPos ret = new LatLonPos();
 66 | 		ret.setLat(lat);
 67 | 		ret.setLon(lon);
 68 | 		ret.setLevel(level);
 69 | 		return ret;
 70 | 	}
 71 | 	
 72 | 	public double getLon() {
 73 | 		return lon;
 74 | 	}
 75 | 	
 76 | 	public double getLat() {
 77 | 		return lat;
 78 | 	}
 79 | 	
 80 | 	public String getName() {
 81 | 		return name;
 82 | 	}
 83 | 	
 84 | 	public boolean isIndoors() {
 85 | 		return isInDoors;
 86 | 	}
 87 | 	
 88 | 	public boolean isDoor() {
 89 | 		return isDoor;
 90 | 	}
 91 | 	
 92 | 	public float getLevel() {
 93 | 		return level;
 94 | 	}
 95 | 	
 96 | 	public int getId() {
 97 | 		return id;
 98 | 	}
 99 | 	
100 | 	public String getMergeId() {
101 | 		return this.merge_id;
102 | 	}
103 | 	
104 | 	public int getSteps(){
105 | 		return numSteps;
106 | 	}
107 | 	
108 | 	public LinkedList<GraphEdge> getLocEdges(){
109 | 		return loc_edges;
110 | 	}
111 | 	
112 | 	public void setLon(double lon) {
113 | 		this.lon = lon;
114 | 	}
115 | 	
116 | 	public void setLat(double lat) {
117 | 		this.lat = lat;
118 | 	}
119 | 	
120 | 	public void setName(String name) {
121 | 		this.name = name;
122 | 	}
123 | 	
124 | 	public void setIndoors(boolean indoors) {
125 | 		this.isInDoors = indoors;
126 | 	}
127 | 	
128 | 	public void setDoor(boolean door){
129 | 		this.isDoor = door;
130 | 	}
131 | 	
132 | 	public void setLevel(float level) {
133 | 		this.level = level;
134 | 	}
135 | 	
136 | 	public void setId(int id){
137 | 		this.id = id;
138 | 	}
139 | 	
140 | 	public void setMergeId(String mergeId) {
141 | 		this.merge_id = mergeId;
142 | 	}
143 | 	
144 | 	public void setSteps(int numSteps){
145 | 		this.numSteps = numSteps;
146 | 	}
147 | 	
148 | 	public boolean equals(GraphNode node){
149 | 		if(node == null)
150 | 			return false;
151 | 		return this.getId()==node.getId();
152 | 	}
153 | 	
154 | 	public String toString(){
155 | 		String ret = "\nNode(" + this.id +"): ";
156 | 		ret += name!=null?name:"N/A";
157 | 		ret += isInDoors ? " (indoors)" : " (outdoors)";
158 | 		ret += "\n    Level: " + this.level;
159 | 		ret += "\n    Lat: " + this.lat;
160 | 		ret += "\n    Lon: " + this.lon;
161 | 		if(getMergeId()!=null){
162 | 			ret +="\n    Merges with: " + getMergeId();
163 | 		}
164 | 		return ret;
165 | 	}
166 | }
167 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/graph/GraphWay.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.graph;
  2 | 
  3 | import java.util.LinkedList;
  4 | 
  5 | /**
  6 |  * A class to maintain a way with given parameters found in OSM/XML data.
  7 |  * 
  8 |  * @author Paul Smith
  9 |  *
 10 |  */
 11 | public class GraphWay {
 12 | 	// all nodes on this path ( ref0 -> ref1 -> ref2  -> ...)
 13 | 	private LinkedList<Integer> refs;
 14 | 	private int id;
 15 | 	private short wheelchair;
 16 | 
 17 | 	// >0 := number correct steps given
 18 | 	//  0 := no steps
 19 | 	// -1 := undefined number of steps
 20 | 	// -2 := elevator
 21 | 	private int numSteps = 0;	
 22 | 	
 23 | 	// Float.MAX_VALUE == undefined!
 24 | 	private float level;
 25 | 	private boolean isIndoor;
 26 | 	
 27 | 	/**
 28 | 	 * Constructor to create an empty way.
 29 | 	 */
 30 | 	public GraphWay() {
 31 | 		this.refs = new LinkedList<Integer>();
 32 | 		this.id = 0;
 33 | 		this.wheelchair = 1;
 34 | 		this.level = Float.MAX_VALUE;
 35 | 	}
 36 | 	
 37 | 	/**
 38 | 	 * Constructor to create a coordinate with given parameters.
 39 | 	 * 
 40 | 	 * @param refs  a LinkedList of Integers, references to GraphNodes
 41 | 	 * @param id the id of this way
 42 | 	 * @param wheelchair the value concerning the wheelchair attribute
 43 | 	 * @param level the level of this way
 44 | 	 */
 45 | 	public GraphWay(LinkedList<Integer> refs, int id, short wheelchair, float level) {
 46 | 		this.refs = refs;
 47 | 		this.id = id;
 48 | 		this.wheelchair = wheelchair;
 49 | 		this.level = level;
 50 | 	}
 51 | 	
 52 | 	public LinkedList<Integer> getRefs() {
 53 | 		return refs;
 54 | 	}
 55 | 	
 56 | 	public int getId() {
 57 | 		return id;
 58 | 	}
 59 | 	
 60 | 	public short getWheelchair() {
 61 | 		return wheelchair;
 62 | 	}
 63 | 	
 64 | 	public int getSteps(){
 65 | 		return numSteps;
 66 | 	}
 67 | 	
 68 | 	public float getLevel(){
 69 | 		return level;
 70 | 	}
 71 | 	
 72 | 	public boolean isIndoor(){
 73 | 		return isIndoor;
 74 | 	}
 75 | 	
 76 | 	public void setRefs(LinkedList<Integer> refs) {
 77 | 		this.refs = refs;
 78 | 	}
 79 | 	
 80 | 	public void setId(int id) {
 81 | 		this.id = id;
 82 | 	}
 83 | 	
 84 | 	public void setWheelchair(short wheelchair) {
 85 | 		this.wheelchair = wheelchair;
 86 | 	}
 87 | 	
 88 | 	public void setSteps(int numSteps){
 89 | 		this.numSteps = numSteps;
 90 | 	}
 91 | 	
 92 | 	public void setLevel(float level){
 93 | 		this.level = level;
 94 | 	}
 95 | 	
 96 | 	public void setIndoor(boolean isIndoor){
 97 | 		this.isIndoor = isIndoor;
 98 | 	}
 99 | 	
100 | 	public void addRef(int ref){
101 | 		this.refs.add(new Integer(ref));
102 | 	}
103 | 	
104 | 	public String toString(){
105 | 		String ret = "\nWay(" + this.id +"): ";
106 | 		ret += this.wheelchair >= 0 ? "(wheelchair)" : "(non-wheelchair)";
107 | 		ret += "\nRefs:";
108 | 		for(Integer ref: refs){
109 | 			ret += "\n    " + ref.intValue();
110 | 		}
111 | 		return ret;
112 | 	}
113 | }
114 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/graph/LatLonPos.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.graph;
  2 | 
  3 | /**
  4 |  * A class to maintain a coordinate consisting of latitude and longitude, with
  5 |  * a given level.
  6 |  *  
  7 |  * @author Paul Smith
  8 |  *
  9 |  */
 10 | public class LatLonPos {
 11 | 	private double lat;
 12 | 	private double lon;
 13 | 	
 14 | 	// Float.MAX_VALUE == undefined!
 15 | 	private float level; 
 16 | 	
 17 | 	// planet radius in meters
 18 | 	private static final int r = 6378137; 					
 19 | 	// meters per degree
 20 | 	private static final double scale = (Math.PI * r)/180.0;
 21 | 	
 22 | 	/**
 23 | 	 * Constructor to create a 0/0/undefined level coordinate.
 24 | 	 */
 25 | 	public LatLonPos() {
 26 | 		this.lat = 0.0;
 27 | 		this.lon = 0.0;
 28 | 		this.level = Float.MAX_VALUE;
 29 | 	}
 30 | 	
 31 | 	/**
 32 | 	 * Constructor to create a coordinate with given parameters.
 33 | 	 * 
 34 | 	 * @param lat the latitude
 35 | 	 * @param lon the longitude
 36 | 	 * @param level the level
 37 | 	 */
 38 | 	public LatLonPos(double lat, double lon, float level) {
 39 | 		super();
 40 | 		this.lat = lat;
 41 | 		this.lon = lon;
 42 | 		this.level = level;
 43 | 	}
 44 | 
 45 | 	public double getLat() {
 46 | 		return lat;
 47 | 	}
 48 | 	
 49 | 	public double getLon() {
 50 | 		return lon;
 51 | 	}
 52 | 	
 53 | 	public float getLevel() {
 54 | 		return level;
 55 | 	}
 56 | 	
 57 | 	public void setLat(double lat) {
 58 | 		this.lat = lat;
 59 | 	}
 60 | 	
 61 | 	public void setLon(double lon) {
 62 | 		this.lon = lon;
 63 | 	}
 64 | 	
 65 | 	public void setLevel(float level) {
 66 | 		this.level = level;
 67 | 	}
 68 | 	
 69 | 	/**
 70 | 	 * Return the x value of this coordinate in meters concerning the mercator
 71 | 	 * projection.
 72 | 	 * 
 73 | 	 * @return x value in meters
 74 | 	 */
 75 | 	public double getMercatorX(){
 76 | 		// source: http://mathworld.wolfram.com/MercatorProjection.html
 77 | 		double x = lon;
 78 | 		// translate into meters
 79 | 		x*=scale; 
 80 | 		return x;
 81 | 	}
 82 | 	
 83 | 	/**
 84 | 	 * Return the y value of this coordinate in meters concerning the mercator
 85 | 	 * projection.
 86 | 	 * 
 87 | 	 * @return y value in meters
 88 | 	 */
 89 | 	public double getMercatorY(){
 90 | 		// source: http://mathworld.wolfram.com/MercatorProjection.html
 91 | 		double y = 0.5*Math.log(
 92 | 				 (1+Math.sin(Math.toRadians(lat)))
 93 | 				/(1-Math.sin(Math.toRadians(lat)))   );
 94 | 		// rad to degrees
 95 | 		y = Math.toDegrees(y);
 96 | 		// translate into meters
 97 | 		y*=scale;
 98 | 		return y;
 99 | 	}
100 | 	
101 | 	public void moveIntoDirection(LatLonPos nextNode, double factor){
102 | 		// First step: Do Mercator Projection with latitude.
103 | 		lat = lat + (nextNode.lat - lat)*factor;
104 | 		lon = lon + (nextNode.lon - lon)*factor;
105 | 	}
106 | 	
107 | 	/**
108 | 	 * Create a clone of this Object.
109 | 	 * 
110 | 	 * @return the new clone
111 | 	 */
112 | 	public LatLonPos clone(){
113 | 		LatLonPos ret = new LatLonPos();
114 | 		ret.setLat(lat);
115 | 		ret.setLon(lon);
116 | 		ret.setLevel(level);
117 | 		return ret;
118 | 	}
119 | }
120 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/gui/Calibrator.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.gui;
  2 | 
  3 | import android.app.Activity;
  4 | import android.content.SharedPreferences;
  5 | import android.os.Bundle;
  6 | import android.view.SurfaceView;
  7 | import android.view.ViewGroup.LayoutParams;
  8 | import android.widget.LinearLayout;
  9 | import android.widget.SeekBar;
 10 | import android.widget.SeekBar.OnSeekBarChangeListener;
 11 | import android.widget.TextView;
 12 | import de.uvwxy.footpath.R;
 13 | import de.uvwxy.footpath.core.StepDetection;
 14 | import de.uvwxy.footpath.core.StepTrigger;
 15 | 
 16 | /**
 17 |  * This Activity is used to calibrate the parameters concerning step detection
 18 |  * 
 19 |  * @author Paul Smith
 20 |  *
 21 |  */
 22 | public class Calibrator extends Activity implements StepTrigger {
 23 | 	public static final String CALIB_DATA = "CALIBDATA";
 24 | 	private StepDetection stepDetection;
 25 | 	
 26 | 	PaintBoxHistory svHistory;
 27 | 
 28 | 	// GUI
 29 | 	TextView tvPeak = null;
 30 | 	TextView tvFilter = null;
 31 | 	TextView tvTimeout = null;
 32 | 	SeekBar sbPeak = null;
 33 | 	SeekBar sbFilter = null;
 34 | 	SeekBar sbTimeout = null;
 35 | 	
 36 | 	float peak;				// threshold for step detection
 37 | 	float a;				// value for low pass filter
 38 | 	int step_timeout_ms;	// distance in ms between each step
 39 | 		
 40 | 	OnSeekBarChangeListener sbListener = new OnSeekBarChangeListener(){
 41 | 
 42 | 		@Override
 43 | 		public void onProgressChanged(SeekBar arg0, int arg1, boolean arg2) {
 44 | 			if(arg0.equals(sbPeak)){
 45 | 				peak = sbPeak.getProgress()/10.0f;
 46 | 				stepDetection.setPeak(peak);
 47 | 				tvPeak.setText("Set peak value: (" + peak + ")");
 48 | 			} else if(arg0.equals(sbFilter)){
 49 | 				a = sbFilter.getProgress()/100.0f;
 50 | 				stepDetection.setA(a);
 51 | 				tvFilter.setText("Set filter value: (" + a + ")");
 52 | 			} else if(arg0.equals(sbTimeout)){
 53 | 				step_timeout_ms = sbTimeout.getProgress();
 54 | 				stepDetection.setStep_timeout_ms(step_timeout_ms);
 55 | 				tvTimeout.setText("Set step timeout: (" + step_timeout_ms + ")");
 56 | 			}
 57 | 		}
 58 | 
 59 | 		@Override
 60 | 		public void onStartTrackingTouch(SeekBar arg0) {}
 61 | 
 62 | 		@Override
 63 | 		public void onStopTrackingTouch(SeekBar arg0) {}
 64 | 		
 65 | 	};
 66 | 
 67 | 	private void loadSettings(){
 68 | 		a = getSharedPreferences(CALIB_DATA,0).getFloat("a", 0.5f);
 69 | 		peak = getSharedPreferences(CALIB_DATA,0).getFloat("peak", 0.5f);
 70 | 		step_timeout_ms = getSharedPreferences(CALIB_DATA,0).getInt("timeout", 666);
 71 | 		
 72 | 		// Update GUI elements
 73 | 		sbPeak.setProgress((int)(peak*10));
 74 | 		sbFilter.setProgress((int)(a*100));
 75 | 		sbTimeout.setProgress(step_timeout_ms);
 76 | 		
 77 | 		tvPeak.setText("Set peak value: (" + peak + ")");
 78 | 		tvFilter.setText("Set filter value: (" + a + ")");
 79 | 		tvTimeout.setText("Set step timeout: (" + step_timeout_ms + ")");
 80 | 	}
 81 | 	
 82 | 	private void saveSettings(){
 83 | 		// Save current values to settings
 84 | 		SharedPreferences settings = getSharedPreferences(CALIB_DATA, 0);
 85 | 	    SharedPreferences.Editor editor = settings.edit();
 86 | 	    editor.putFloat("a", a);
 87 | 	    editor.putFloat("peak", peak);
 88 | 	    editor.putInt("timeout",step_timeout_ms);
 89 | 	    // Apply changes
 90 | 	    editor.commit();
 91 | 	}
 92 | 
 93 | 	@Override
 94 | 	public void dataHookAcc(long nowMs, double x, double y, double z) {}
 95 | 
 96 | 	@Override
 97 | 	public void dataHookComp(long nowMs, double x, double y, double z) {}
 98 | 
 99 | 	@Override
100 | 	public void timedDataHook(long nowMs, double[] acc, double[] comp) {svHistory.addTriple(nowMs, acc);}
101 | 
102 | 	@Override
103 | 	public void trigger(long nowMs, double compDir) {svHistory.addStepTS(nowMs);}
104 | 	
105 | 	/** Called when the activity is first created. */
106 | 	@Override
107 | 	public void onCreate(Bundle savedInstanceState) {
108 | 		super.onCreate(savedInstanceState);
109 | 		setContentView(R.layout.calibrator);
110 | 		
111 | 		tvPeak = (TextView) findViewById(R.id.tvPeak);
112 | 		tvFilter = (TextView) findViewById(R.id.tvFilter);
113 | 		tvTimeout = (TextView) findViewById(R.id.tvTimeout);
114 | 		
115 | 		sbPeak = (SeekBar) findViewById(R.id.sbPeak);
116 | 		sbFilter = (SeekBar) findViewById(R.id.sbFilter);
117 | 		sbTimeout = (SeekBar) findViewById(R.id.sbTimeout);
118 | 
119 | 		// Load settings after creation of GUI-elements, to set their values
120 | 		loadSettings();
121 | 		stepDetection = new StepDetection(this, this, a, peak, step_timeout_ms);
122 | 		// Add OnSeekBarChangeListener after creation of step detection, because object is used
123 | 		sbPeak.setOnSeekBarChangeListener(sbListener);
124 | 		sbFilter.setOnSeekBarChangeListener(sbListener);
125 | 		sbTimeout.setOnSeekBarChangeListener(sbListener);
126 | 		
127 | 		LinearLayout linLayout = (LinearLayout) findViewById(R.id.LinearLayout01);	// get pointer to layout
128 | 		SurfaceView svOld = (SurfaceView) findViewById(R.id.svHistory);			// get SurfaceView defined in xml
129 | 		LayoutParams lpHistory = svOld.getLayoutParams();						// get its layout params
130 | 		
131 | 		long samples_per_second = 1000/stepDetection.INTERVAL_MS;
132 | 		int history_in_seconds = 4;
133 | 		int samples_per_history = (int)(history_in_seconds * samples_per_second);
134 | 		
135 | 		// create PaintBox (-24.0 to 24.0, 100 entries)
136 | 		svHistory = new PaintBoxHistory(this, 48.0, samples_per_history, history_in_seconds);
137 | 				
138 | 		linLayout.removeView(svOld);								// and remove surface view from layout
139 | 		linLayout.addView(svHistory, lpHistory);					// add surface view clone to layout
140 | 
141 | 	}
142 | 
143 | 	@Override
144 | 	public void onPause() {
145 | 		super.onPause();
146 | 		saveSettings();
147 | 		stepDetection.unload();
148 | 	}
149 | 
150 | 	@Override
151 | 	public void onDestroy() {
152 | 		super.onDestroy();
153 | 	}
154 | 	
155 | 	@Override
156 | 	public void onResume() {
157 | 		super.onResume();
158 | 		loadSettings();
159 | 		stepDetection.load();
160 | 	}
161 | 
162 | }


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/gui/Loader.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.gui;
  2 | 
  3 | import java.io.IOException;
  4 | 
  5 | import org.xmlpull.v1.XmlPullParserException;
  6 | 
  7 | import android.app.Activity;
  8 | import android.content.Context;
  9 | import android.content.Intent;
 10 | import android.content.SharedPreferences;
 11 | import android.content.res.Resources.NotFoundException;
 12 | import android.location.Location;
 13 | import android.location.LocationListener;
 14 | import android.location.LocationManager;
 15 | import android.os.Bundle;
 16 | import android.util.Log;
 17 | import android.view.View;
 18 | import android.view.View.OnClickListener;
 19 | import android.widget.AdapterView;
 20 | import android.widget.ArrayAdapter;
 21 | import android.widget.Button;
 22 | import android.widget.CheckBox;
 23 | import android.widget.EditText;
 24 | import android.widget.Spinner;
 25 | import android.widget.Toast;
 26 | import android.widget.AdapterView.OnItemSelectedListener;
 27 | import de.uvwxy.footpath.R;
 28 | import de.uvwxy.footpath.Rev;
 29 | import de.uvwxy.footpath.graph.Graph;
 30 | import de.uvwxy.footpath.graph.GraphNode;
 31 | import de.uvwxy.footpath.graph.LatLonPos;
 32 | 
 33 | /**
 34 |  * 
 35 |  * @author Paul Smith
 36 |  *
 37 |  */
 38 | public class Loader extends Activity {
 39 | 
 40 | 	public static final String LOADER_SETTINGS = "FootPathSettings";
 41 | 	
 42 | 	// GRAPH
 43 | 	private static Graph g;					// Holds the data structure
 44 | 	private String nodeFrom;				// Node name to start from, i.e. "5052"
 45 | 	private int closestNodeID;				// Node ID if closest node was found via GPS
 46 | 	private String nodeTo;					// Node name to navigate to
 47 | 	private int iNodeFrom = 0;				// Selected index from spFrom
 48 | 	private int iNodeTo = 0;				// Selected index from spTo
 49 | 	private String[] rooms = null;			// Array of all room names added to drop down lists
 50 | 	private LocationManager locationManager;
 51 | 	
 52 | 	// GUI
 53 | 	private Spinner spFrom = null;			// Drop down lists
 54 | 	private Spinner spTo = null;
 55 | 	private Button bGo = null;				// Buttons
 56 | 	private Button bLoad = null;
 57 | 	private Button bSave = null;
 58 | 	private Button bCalibrate = null;
 59 | 	private Button bGPS = null;
 60 | 	private Button bQRCode = null;
 61 | 	private EditText et01 = null;			// EditText, body height
 62 | 	private CheckBox cbStairs = null;		// Check boxes, for route selection mode
 63 | 	private CheckBox cbElevator = null;
 64 | 	private CheckBox cbOutside = null;
 65 | 	private CheckBox cbLog = null;
 66 | 	private CheckBox cbAudio = null;
 67 | 	private ArrayAdapter<String> adapter1 = null;	// Adapter to manage drop down lists
 68 | 	private ArrayAdapter<String> adapter2 = null;
 69 | 	
 70 | 	// LISTENERS
 71 | 	OnItemSelectedListener spinnerListener = new OnItemSelectedListener() {
 72 | 		@Override
 73 | 		public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
 74 | 			// List from: save selected name and position in list
 75 | 			if (parent.equals(spFrom)) {
 76 | 				nodeFrom = (String) spFrom.getSelectedItem();
 77 | 				iNodeFrom = position;
 78 | 			}
 79 | 			// List from: save selected name and position in list
 80 | 			if (parent.equals(spTo)) {				
 81 | 				nodeTo = (String) spTo.getSelectedItem();
 82 | 				iNodeTo = position;
 83 | 			}
 84 | 
 85 | 		}
 86 | 
 87 | 		@Override
 88 | 		public void onNothingSelected(AdapterView<?> arg0) {
 89 | 			shortToast("You have to selected nothing");
 90 | 		}
 91 | 	};
 92 | 	
 93 | 	OnClickListener onListener = new OnClickListener() {
 94 | 
 95 | 		@Override
 96 | 		public void onClick(View v) {
 97 | 			// Distinguish which button was pressed
 98 | 			if (v.equals(bGo)) {
 99 | 				if(nodeFrom.equals(nodeTo)){
100 | 					shortToast("Please.... " + nodeFrom + " to " + nodeTo + "?");
101 | 					return;
102 | 				}
103 | 				startNavigation();			
104 | 			} else if(v.equals(bLoad)){
105 | 				// Load values from settings, second parameter is passed if value is not found
106 | 				int tNodeFrom 	 = 	getSharedPreferences(LOADER_SETTINGS,0).getInt("nodeFrom", 		0);
107 | 				int tNodeTo 	 = 	getSharedPreferences(LOADER_SETTINGS,0).getInt("nodeTo", 		0);
108 | 				float sizeIncm 	 = 	getSharedPreferences(LOADER_SETTINGS,0).getFloat("sizeIncm",	191.0f);
109 | 				boolean stairs 	 = 	getSharedPreferences(LOADER_SETTINGS,0).getBoolean("stairs",	true);
110 | 				boolean elevator = 	getSharedPreferences(LOADER_SETTINGS,0).getBoolean("elevator",	true);
111 | 				boolean outside  = 	getSharedPreferences(LOADER_SETTINGS,0).getBoolean("outside",	true);
112 | 				// Update GUI elements corresponding to variables
113 | 				cbStairs.setChecked(stairs);
114 | 				cbElevator.setChecked(elevator);
115 | 				cbOutside.setChecked(outside);					
116 | 				spFrom.setSelection(tNodeFrom, true);
117 | 				spTo.setSelection(tNodeTo, true);
118 | 				et01.setText("" + sizeIncm);
119 | 			} else if(v.equals(bSave)){
120 | 				// Save current values to settings
121 | 				SharedPreferences settings = getSharedPreferences(LOADER_SETTINGS, 0);
122 | 			    SharedPreferences.Editor editor = settings.edit();
123 | 			    editor.putInt("nodeFrom", 		iNodeFrom);
124 | 			    editor.putInt("nodeTo", 		iNodeTo);
125 | 			    editor.putFloat("sizeIncm", 	Float.parseFloat(et01.getText().toString()));
126 | 			    editor.putBoolean("stairs", 	cbStairs.isChecked());
127 | 			    editor.putBoolean("elevator", 	cbElevator.isChecked());
128 | 			    editor.putBoolean("outside", 	cbOutside.isChecked());
129 | 			    // Apply changes
130 | 			    editor.commit();
131 | 			} else if(v.equals(bCalibrate)){
132 | 				Intent intenCalibrator = new Intent(Loader.this, Calibrator.class);
133 | 				startActivityForResult(intenCalibrator, 2);
134 | 			} else if(v.equals(bGPS)){
135 | 				bGPS.setEnabled(false);
136 | 				bGPS.setText("Wait for fix");
137 | 				initGPS();
138 | 			} else if(v.equals(bQRCode)){
139 | 				// Source: http://code.google.com/p/zxing/wiki/ScanningViaIntent
140 | 				Intent intent = new Intent("com.google.zxing.client.android.SCAN");
141 | 		        intent.setPackage("com.google.zxing.client.android");
142 | 		        intent.putExtra("SCAN_MODE", "QR_CODE_MODE");
143 | 		        startActivityForResult(intent, 0);
144 | 			}
145 | 		}
146 | 	};
147 | 	
148 | 	LocationListener locationListener = new LocationListener() {
149 | 		// Called when a new location is found by the GPS location provider.
150 | 		public void onLocationChanged(Location location) {
151 | 			GraphNode closestNode;
152 | 			LatLonPos pos;
153 | 			String nodeName;
154 | 			longToast("GPS location found, searching for nearest node");
155 | 			
156 | 			pos = new LatLonPos(location.getLatitude(),location.getLongitude(),0);
157 | 			// Third parameter set to false, such that only outdoor nodes are accepted
158 | 			closestNode = g.getClosestNodeToLatLonPos(pos, 0, false, 17);
159 | 			
160 | 			if(closestNode != null){
161 | 				closestNodeID = closestNode.getId();
162 | 				nodeName = (closestNode.getName()==null)?"" + closestNodeID : closestNode.getName();
163 | 				longToast("Closest Node is " + nodeName + "\n\n Please select target\n" +
164 | 						"The selected room as lcation will be ignored.");
165 | 				bGPS.setText(nodeName);
166 | 				locationManager.removeUpdates(this);
167 | 				bGPS.setEnabled(true);
168 | 			} else {
169 | 				// As the level is hard coded to 0, this should never appear,
170 | 				// as long as all maps have a level beginning at 0.
171 | 				double dist = g.getClosestDistanceToNode(pos, 0, false);
172 | 				longToast("No node found on this level (0)!\n\nDistance is " + dist + " meters");
173 | 			}
174 | 			
175 | 		}
176 | 			
177 | 	    public void onStatusChanged(String provider, int status, Bundle extras) {}
178 | 	
179 | 	    public void onProviderEnabled(String provider) {}
180 | 	
181 | 	    public void onProviderDisabled(String provider) {}
182 | 	};
183 | 	
184 | 	
185 | 	// Navigator needs static access to graph
186 | 	public static Graph getGraph(){
187 | 		return g;
188 | 	}
189 | 
190 | 	/** Called when the activity is first created. */
191 | 	@Override
192 | 	public void onCreate(Bundle savedInstanceState) {
193 | 		super.onCreate(savedInstanceState);
194 | 		setContentView(R.layout.selectroom);
195 | 		
196 | 		// Create new graph
197 | 		g = new Graph();
198 | 		// And add layer(s) of ways
199 | 		try {
200 | 			g.addToGraphFromXMLResourceParser(this.getResources().getXml(R.xml.map1ug));
201 | 			g.addToGraphFromXMLResourceParser(this.getResources().getXml(R.xml.mapeg));
202 | 			g.addToGraphFromXMLResourceParser(this.getResources().getXml(R.xml.map1og));
203 | 			g.addToGraphFromXMLResourceParser(this.getResources().getXml(R.xml.map2og));
204 | 			g.addToGraphFromXMLResourceParser(this.getResources().getXml(R.xml.map3og));
205 | //			g.addToGraphFromXMLResourceParser(this.getResources().getXml(R.xml.parkinglot));
206 | 			g.mergeNodes();
207 | 			rooms = g.getRoomList();
208 | 		} catch (NotFoundException e) {
209 | 			longToast("Error: resource not found:\n\n" + e);
210 | 		} catch (XmlPullParserException e) {
211 | 			longToast("Error: xml error:\n\n" + e);
212 | 		} catch (IOException e) {
213 | 			longToast("Error: io error:\n\n" + e);
214 | 		}
215 | 		
216 | 		// GUI - Create references to elements on the screen
217 | 		spFrom 		= (Spinner)  findViewById(R.id.Spinner01);
218 | 		spTo 		= (Spinner)  findViewById(R.id.Spinner02);
219 | 		bGo 		= (Button)   findViewById(R.id.btnGo);
220 | 		bLoad	 	= (Button)   findViewById(R.id.btnLoad);
221 | 		bSave 		= (Button)   findViewById(R.id.btnSave);
222 | 		bCalibrate 	= (Button) 	 findViewById(R.id.btnCalibrate);
223 | 		bGPS		= (Button)	 findViewById(R.id.btnGPS);
224 | 		bQRCode		= (Button)	 findViewById(R.id.btnQR);
225 | 		et01 		= (EditText) findViewById(R.id.EditText01);
226 | 		cbStairs	= (CheckBox) findViewById(R.id.cbStairs);
227 | 		cbElevator 	= (CheckBox) findViewById(R.id.cbElevators);
228 | 		cbOutside 	= (CheckBox) findViewById(R.id.cbOutside);
229 | 		cbLog		= (CheckBox) findViewById(R.id.cbLog);
230 | 		cbAudio		= (CheckBox) findViewById(R.id.cbAudio);
231 | 		this.setTitle("Footpath r(" + Rev.rev.substring(0,8) + ")");
232 | 		
233 | 		// Drop down lists: create entries of room names from rooms
234 | 		adapter1 = new ArrayAdapter<String>(this, android.R.layout.simple_spinner_item, rooms);
235 | 		adapter1.setDropDownViewResource(android.R.layout.simple_spinner_item);
236 | 		adapter2 = new ArrayAdapter<String>(this, android.R.layout.simple_spinner_item, rooms);
237 | 		adapter2.setDropDownViewResource(android.R.layout.simple_spinner_item);
238 | 	
239 | 		spFrom.setAdapter(adapter1);
240 | 		spTo.setAdapter(adapter2);
241 | 				
242 | 		// Set select/click listeners
243 | 		spFrom.setOnItemSelectedListener(spinnerListener);
244 | 		spTo.setOnItemSelectedListener(spinnerListener);
245 | 		bGo.setOnClickListener(onListener);
246 | 		bLoad.setOnClickListener(onListener);
247 | 		bSave.setOnClickListener(onListener);
248 | 		bCalibrate.setOnClickListener(onListener);
249 | 		bGPS.setOnClickListener(onListener);
250 | 		bQRCode.setOnClickListener(onListener);
251 | 		
252 | 		locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
253 | 	}
254 | 
255 | 	@Override
256 | 	public void onResume() {
257 | 		super.onResume();
258 | 	}
259 | 	
260 | 	public void onActivityResult(int requestCode, int resultCode, Intent intent) {
261 | 		// Source: http://code.google.com/p/zxing/wiki/ScanningViaIntent
262 | 		
263 | 		Log.i("FOOTPATH", "requestCode = " + requestCode);
264 | 		Log.i("FOOTPATH", "resultCode = " + resultCode);
265 | 		
266 | 	    if (requestCode == 0) {
267 | 	        if (resultCode == RESULT_OK) {
268 | 	            String contents = intent.getStringExtra("SCAN_RESULT");
269 | 	            String format = intent.getStringExtra("SCAN_RESULT_FORMAT");
270 | 
271 | 	            // Handle successful scan
272 | 	            // FORMAT: "http://......?....&fN=<roomname>&tN=<roomname>&.....
273 | 	            
274 | 	            if(!format.equals("QR_CODE")){
275 | 	            	this.longToast("Scan result was not a QR Code");
276 | 	            	return;
277 | 	            }
278 | 	            
279 | 	            String[] split = contents.split("\\?");
280 | 	            
281 | 	            if(split.length!=2){
282 | 	            	this.longToast("URL: " + contents + "\n\n is in the wrong format!");
283 | 	            	return;
284 | 	            }
285 | 	            
286 | 	            int progress = 0;
287 | 	            String sVarString = split[1];
288 | 	            String[] sVars = sVarString.split("\\&");
289 | 	            
290 | 	            for(String s : sVars){
291 | 	            	if(s.split("=")[0].equals("fN")){
292 | 	            		this.nodeFrom = s.split("=")[1];
293 | 	            		progress++;
294 | 	            	} else if(s.split("=")[0].equals("tN")){
295 | 	            		this.nodeTo = s.split("=")[1];
296 | 	            		progress++;
297 | 	            	}
298 | 	            }
299 | 	            
300 | 	            for(int i = 0; i < rooms.length; i++){
301 | 	            	if(rooms[i].equals(nodeFrom)){
302 | 	            		this.spFrom.setSelection(i);
303 | 	            	}
304 | 	            	if(rooms[i].equals(nodeTo)){
305 | 	            		this.spTo.setSelection(i);
306 | 	            	}
307 | 	            }
308 | 	            
309 | 	            if(progress==2){
310 | 	            	if(nodeFrom.equals(nodeTo)){
311 | 	            		longToast("Even if the URL was correct, you will not be going far from " + nodeFrom + " to " + nodeTo);
312 | 	            	}
313 | 	            	longToast("Starting navigation from " + nodeFrom + " to " + nodeTo);
314 | 	            	startNavigation();
315 | 	            }
316 | 	        } else if (resultCode == RESULT_CANCELED) {
317 | 	            // Handle cancel
318 | 	        }
319 | 	    } else if (requestCode == 1){
320 | 	    	if(resultCode == RESULT_CANCELED){
321 | 	    		longToast("No Route found!");
322 | 	    	}
323 | 	    }
324 | 	}
325 | 	
326 | 	@Override
327 | 	public void onPause() {
328 | 		super.onPause();
329 | 		bGPS.setEnabled(true);
330 | 		locationManager.removeUpdates(locationListener);
331 | 	}
332 | 
333 | 	private void shortToast(String s) {
334 | 		Toast.makeText(this, s, Toast.LENGTH_SHORT).show();
335 | 	}
336 | 
337 | 	private void longToast(String s) {
338 | 		Toast.makeText(this, s, Toast.LENGTH_LONG).show();
339 | 	}
340 | 
341 | 	private void initGPS(){
342 | 		// Register the listener with the Location Manager to receive location updates
343 | 		locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0, 0, locationListener);
344 | 		longToast("Waiting for GPS fix\n\nPlease wait for a notification to continue.\n\nYou can select a destination.");
345 | 	}
346 | 	private void startNavigation(){
347 | 		Log.i("FOOTPATH", "Starting navigation intent");
348 | 		// Create intent for navigation
349 | 		Intent intentNavigator = new Intent(Loader.this, Navigator.class);
350 | 		// Add values to be passed to navigator
351 | 		intentNavigator.putExtra("from",		nodeFrom);
352 | 		intentNavigator.putExtra("fromId",		closestNodeID);
353 | 		intentNavigator.putExtra("to",			nodeTo);
354 | 		intentNavigator.putExtra("stairs",		cbStairs.isChecked());
355 | 		intentNavigator.putExtra("elevator",	cbElevator.isChecked());
356 | 		intentNavigator.putExtra("outside",		cbOutside.isChecked());
357 | 		intentNavigator.putExtra("log", 		cbLog.isChecked());
358 | 		intentNavigator.putExtra("audio",		cbAudio.isChecked());
359 | 		// Source: http://www.pedometersaustralia.com/g/13868/measure-step-length-.html
360 | 		intentNavigator.putExtra("stepLength", 	Float.parseFloat(et01.getText().toString()) * 0.415f);
361 | 		// Start intent for navigation
362 | 		startActivityForResult(intentNavigator, 1);
363 | 	}
364 | }


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/gui/Navigator.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.gui;
  2 | 
  3 | import java.io.IOException;
  4 | import java.util.LinkedList;
  5 | import java.util.Stack;
  6 | 
  7 | import android.app.Activity;
  8 | import android.os.Bundle;
  9 | import android.util.Log;
 10 | import android.view.SurfaceView;
 11 | import android.view.View;
 12 | import android.view.View.OnClickListener;
 13 | import android.view.ViewGroup.LayoutParams;
 14 | import android.view.Window;
 15 | import android.view.WindowManager;
 16 | import android.widget.Button;
 17 | import android.widget.LinearLayout;
 18 | import android.widget.ZoomControls;
 19 | import de.uvwxy.footpath.R;
 20 | import de.uvwxy.footpath.ToolBox;
 21 | import de.uvwxy.footpath.core.NPConfig;
 22 | import de.uvwxy.footpath.core.Positioner;
 23 | import de.uvwxy.footpath.core.Positioner_OnlineBestFit;
 24 | import de.uvwxy.footpath.core.Positioner_OnlineFirstFit;
 25 | import de.uvwxy.footpath.core.StepDetection;
 26 | import de.uvwxy.footpath.core.StepTrigger;
 27 | import de.uvwxy.footpath.graph.Graph;
 28 | import de.uvwxy.footpath.graph.GraphEdge;
 29 | import de.uvwxy.footpath.graph.GraphNode;
 30 | import de.uvwxy.footpath.graph.LatLonPos;
 31 | import de.uvwxy.footpath.log.AudioWriter;
 32 | import de.uvwxy.footpath.log.DataLogger;
 33 | /**
 34 |  * 
 35 |  * @author Paul Smith
 36 |  *
 37 |  */
 38 | public class Navigator extends Activity implements StepTrigger {
 39 | 	public static final String LOG_DIR = "routelog/";
 40 | 	
 41 | 	// #########################################################################
 42 | 	// ######################### Fields 'n Listener ############################
 43 | 	// #########################################################################
 44 | 	
 45 | 	// GUI Elements
 46 | 	private PaintBoxMap pbMap;							// Objects to handle the graphics
 47 | 	private Button btnRecalc;
 48 | 	private Button btnSwitchFit;
 49 | 	private Graph g;									// Reference to graph
 50 | 	
 51 | 	
 52 | 	// Route information
 53 | 	private String nodeFrom;							// Node we will start from, i.e. "5052"
 54 | 	private int nodeFromId = 0;							// This is used if we choose nearest location from GPS fix
 55 | 	private String nodeTo;								// Node we plan to end up with
 56 | 	private boolean staircase;
 57 | 	private boolean elevator;
 58 | 	private boolean outside;
 59 | 	private LinkedList<GraphEdge> navPathEdges;			// Contains path with corrected compass bearings
 60 | 														// used by PaintBoxMap to paint the path
 61 | 	private LinkedList<GraphEdge> simplifiedEdges;
 62 | 	private LinkedList<GraphEdge> tempEdges;			// Stores the original edges on path
 63 | 														// Needs to be global: is used for logging in onResume()
 64 | 	private double navPathLen = 0.0;					// Total length of path
 65 | 	private double naiveStairsWidth = 0.25;				// Naive amount in meters to use as stairs step length
 66 | 	
 67 | 	
 68 | 	// Navigation
 69 | 	private double acceptanceWidth = 42.0;				// Amount of derivation allowed for compassValue to path
 70 | 	private StepDetection stepDetection;
 71 | 	private Positioner posBestFit = null; 				// Object to do another progress estimation
 72 | 	private Positioner posFirstFit = null;
 73 | 	private NPConfig confBestFit = null;
 74 | 	private NPConfig confFirstFit = null;
 75 | 	private NPConfig conf = null;
 76 | 	
 77 | 	// Progress information
 78 | 	private boolean isNavigating = false;				// Set to false when nodeTo is reached
 79 | 	private int totalStepsWalked = 0;					// Total number of detected steps
 80 | 	
 81 | 	
 82 | 	// Runtime information
 83 | 	private double compassValue = -1.0;
 84 | 	
 85 | 	private LinkedList<Double> zVarHistory = new LinkedList<Double>();  // store the variance of each step
 86 | 	private int historySize = 64;						// Back log of last 64 values to calculate variance
 87 | 	private double[] x_History = new double[historySize];
 88 | 	private double[] y_History = new double[historySize];
 89 | 	private double[] z_History = new double[historySize];
 90 | 	private int historyPtr = 0;
 91 | 		
 92 | 	
 93 | 	// Logging
 94 | 	private DataLogger logger;
 95 | 	private boolean log = false;
 96 | 	private boolean logAudio = false;
 97 | 	private AudioWriter avwCapture;
 98 | 
 99 | 	
100 | 	// Listeners
101 | 	OnClickListener onClick = new OnClickListener(){
102 | 
103 | 		@Override
104 | 		public void onClick(View arg0) {
105 | 			if(arg0.equals(btnRecalc)){
106 | 				if(true){
107 | 					((Positioner_OnlineFirstFit) posFirstFit).recalcPos();
108 | 				}
109 | 				
110 | 			} else if (arg0.equals(btnSwitchFit)){
111 | 				if ( btnSwitchFit.getText().equals("Switch to First Fit Algorithm")){
112 | 					btnSwitchFit.setText("Switch to Best Fit Algorithm");
113 | 					conf = confFirstFit;
114 | 				} else {
115 | 					btnSwitchFit.setText("Switch to First Fit Algorithm");
116 | 					conf = confBestFit;
117 | 				}
118 | 			}
119 | 			
120 | 		}
121 | 		
122 | 	};
123 | 	
124 | 	// #########################################################################
125 | 	// ######################### Getters 'n Setters ############################
126 | 	// #########################################################################
127 | 
128 | 	public LinkedList<GraphEdge> getNavPathEdges(){
129 | 		return navPathEdges;
130 | 	}
131 | 	public double getAcceptanceWidth() {
132 | 		return this.acceptanceWidth;
133 | 	}
134 | 	
135 | 	// last compass value
136 | 	public double getCompassValue() {
137 | 		return compassValue;
138 | 	}
139 | 
140 | 	public GraphEdge getCurrentEdge(NPConfig conf){
141 | 		if(conf.npPointer >= navPathEdges.size()){
142 | 			return navPathEdges.get(navPathEdges.size()-1);
143 | 		}
144 | 		GraphEdge ret = navPathEdges.get(conf.npPointer);
145 | 		return ret;
146 | 	}
147 | 
148 | 	public float getCurrentFloorLevel() {
149 | 		return getLastSeenNode(conf).getLevel();
150 | 	}
151 | 	
152 | 	public double getEstimatedStepLength(){
153 | 		double pathLength = getNavPathWalked();
154 | 		double totalSteps = getTotalStepsWalked();
155 | 		for(int i = 0; i < conf.npPointer; i++){
156 | 			GraphEdge edge = navPathEdges.get(i);
157 | 			if(edge.isStairs()){
158 | 				if(edge.getSteps()==-1){
159 | 					pathLength -= edge.getLen();
160 | 					totalSteps -= edge.getLen()/naiveStairsWidth; 
161 | 				} else if(edge.getSteps() > 0){
162 | 					pathLength -= edge.getLen();
163 | 					totalSteps -= edge.getSteps();
164 | 				}
165 | 			}
166 | 		}
167 | 		
168 | 		return pathLength/totalSteps;
169 | 		
170 | 	}
171 | 	
172 | 	public double getNaiveStairsWidth(){
173 | 		return naiveStairsWidth;
174 | 	}
175 | 	
176 | 	public GraphNode getLastSeenNode(NPConfig conf){
177 | 		GraphEdge currentEdge = getCurrentEdge(conf);
178 | 		GraphEdge previousEdge = getPreviousEdge(conf);
179 | 		if(previousEdge == null){ // no previous edge, thus this is the first edge
180 | 			return getRouteBegin();
181 | 		}
182 | 		// last seen node is node which is in current and previous edge
183 | 		GraphNode ret = currentEdge.getNode0();
184 | 		if(!previousEdge.contains(ret)){
185 | 			ret = currentEdge.getNode1();
186 | 		}
187 | 		return ret;
188 | 	}
189 | 
190 | 	public double getNavPathLen() {
191 | 		return navPathLen;
192 | 	}
193 | 	
194 | 	public double getNavPathLenLeft(){
195 | 		return navPathLen - getNavPathWalked();
196 | 	}
197 | 
198 | 	public double getNavPathDir() {
199 | 		if(conf.npPointer >= navPathEdges.size()){
200 | 			return navPathEdges.get(navPathEdges.size()-1).getCompDir();
201 | 		}
202 | 		return navPathEdges.get(conf.npPointer).getCompDir();
203 | 	}
204 | 
205 | 	// returns remaining meters on edge
206 | 	public double getNavPathEdgeLenLeft() {
207 | 		// catch route end, return -1.0
208 | 		if (conf.npPointer >= navPathEdges.size())
209 | 			return -1.0;
210 | 		return navPathEdges.get(conf.npPointer).getLen() - conf.npCurLen;
211 | 	}
212 | 
213 | 	
214 | 	// return show far we have walked on the path
215 | 	public double getNavPathWalked(){
216 | 		double len = 0.0;
217 | 		// sum all traversed edges
218 | 		for(int i = 0; i < conf.npPointer; i++){
219 | 			len += navPathEdges.get(i).getLen();
220 | 		}
221 | 		// and how far we have walked on current edge
222 | 		len += conf.npCurLen;
223 | 		return len;
224 | 	}
225 | 	
226 | 	public LatLonPos getPosition() {
227 | 		return getPosition(conf);
228 | 	}
229 | 
230 | 	// estimated(?) position of user
231 | 	public LatLonPos getPosition(NPConfig conf) {
232 | 		LatLonPos ret = new LatLonPos();
233 | 		GraphNode lastSeenNode = getLastSeenNode(conf);
234 | 		GraphEdge currentEdge = getCurrentEdge(conf);
235 | 		GraphNode nextNode = currentEdge.getNode0().equals(lastSeenNode)? currentEdge.getNode1() : currentEdge.getNode0();
236 | 		
237 | 		// catch route end, return destination
238 | 		if (conf.npPointer >= navPathEdges.size()) {
239 | 			GraphNode lastNode = this.getRouteEnd();
240 | 			ret.setLat(lastNode.getLat());
241 | 			ret.setLon(lastNode.getLon());
242 | 			ret.setLevel(lastNode.getLevel());
243 | 			return ret;
244 | 		}
245 | 		
246 | 		ret.setLevel(lastSeenNode.getLevel());
247 | 		ret.setLat(lastSeenNode.getLat());
248 | 		ret.setLon(lastSeenNode.getLon());
249 | 		
250 | 		// move pos into direction; amount of traveled m on edge
251 | 		ret.moveIntoDirection(nextNode.getPos(), conf.npCurLen/navPathEdges.get(conf.npPointer).getLen());
252 | 		return ret;
253 | 	}
254 | 
255 | 	public GraphEdge getPreviousEdge(NPConfig conf){
256 | 		if(conf.npPointer == 0){
257 | 			// no previous edge
258 | 			return null;
259 | 		}
260 | 		return navPathEdges.get(conf.npPointer - 1);
261 | 	}
262 | 
263 | 	public GraphNode getRouteBegin() {
264 | 		if(nodeFromId == 0){
265 | 			return g.getNodeFromName(nodeFrom);
266 | 		} else {
267 | 			return g.getNode(nodeFromId);
268 | 		}
269 | 	}
270 | 
271 | 	public GraphNode getRouteEnd() {
272 | 		return g.getNodeFromName(nodeTo);
273 | 	}
274 | 
275 | 	// length of each step
276 | 	public double getStepLengthInMeters() {
277 | 		return conf.npStepSize;
278 | 	}
279 | 
280 | 	// total steps walked
281 | 	public int getTotalStepsWalked() {
282 | 		return totalStepsWalked;
283 | 	}
284 | 
285 | 	// total steps not roughly in correct direction
286 | 	public int getUnmatchedSteps() {
287 | 		return conf.npUnmatchedSteps;
288 | 	}
289 | 	
290 | 	// are we navigating?
291 | 	public boolean isNavigating() {
292 | 		return isNavigating;
293 | 	}
294 | 	
295 | 	/**
296 | 	 * Returns the variance from the back log for x values
297 | 	 * @return the variance for x
298 | 	 */
299 | 	public double getVarianceOfX(){
300 | 		return varianceOfSet(x_History);
301 | 	}
302 | 	/**
303 | 	 * Returns the variance from the back log for y values
304 | 	 * @return the variance for y
305 | 	 */
306 | 	public double getVarianceOfY(){
307 | 		return varianceOfSet(y_History);
308 | 	}
309 | 	/**
310 | 	 * Returns the variance from the back log for z values
311 | 	 * @return the variance for z
312 | 	 */
313 | 	public double getVarianceOfZ(){
314 | 		return varianceOfSet(z_History);
315 | 	}
316 | 	
317 | 	public void setNavigating(boolean b){
318 | 		this.isNavigating = b;
319 | 	}
320 | 
321 | 	// #########################################################################
322 | 	// ########################## Step/Data Callbacks ##########################
323 | 	// #########################################################################
324 | 	
325 | 	@Override
326 | 	public void trigger(long now_ms, double compDir) {
327 | 		this.totalStepsWalked++;
328 | 		if (!isNavigating) {
329 | 			// Destination was reached
330 | 			return;
331 | 		}
332 | 		
333 | 		if(log){
334 | 			logger.logStep(now_ms, compDir);
335 | 		}
336 | 		
337 | 		posBestFit.addStep(compDir);
338 | 		posFirstFit.addStep(compDir);
339 | 		
340 | 		Log.i("FOOTPATH", "posBestFit: " + posBestFit.getProgress());
341 | 		Log.i("FOOTPATH", "posFirstFit: " + posFirstFit.getProgress());
342 | 		if(log){
343 | 			// Write location to file after detected step
344 | 			LatLonPos bestPos = getPosition(confBestFit);
345 | 			LatLonPos firstPos = getPosition(confFirstFit);
346 | 			logger.logPosition(now_ms, bestPos.getLat(), bestPos.getLon(), posBestFit.getProgress()/this.navPathLen
347 | 					, firstPos.getLat(), firstPos.getLon(), posFirstFit.getProgress()/this.navPathLen);
348 | 		}
349 | 	}
350 | 	
351 | 	@Override
352 | 	public void dataHookAcc(long now_ms, double x, double y, double z){
353 | 		// add values to history (for variance)
354 | 		addTriple(x, y, z);
355 | 		if(log){
356 | 			logger.logRawAcc(now_ms, x, y, z);
357 | 		}
358 | 	}
359 | 	
360 | 	@Override
361 | 	public void dataHookComp(long now_ms, double x, double y, double z){
362 | 		if(log){
363 | 			logger.logRawCompass(now_ms, x, y, z);
364 | 		}
365 | 		compassValue = ToolBox.lowpassFilter(compassValue,  x, 0.5);
366 | 	}
367 | 	
368 | 	@Override
369 | 	public void timedDataHook(long now_ms, double[] acc, double[] comp){
370 | 		double varZ = getVarianceOfZ();
371 | 		zVarHistory.add(new Double(acc[2]));
372 | 		
373 | 		if(log){
374 | 			logger.logTimedVariance(now_ms, varZ);
375 | 		}
376 | 		if(log){
377 | 			// Write Compass and Accelerometer data
378 | 			logger.logTimedAcc(now_ms, acc[2]);
379 | 			logger.logTimedCompass(now_ms, comp[0]);
380 | 		}
381 | 	}
382 | 
383 | 
384 | 	// #########################################################################
385 | 	// ######################## Activity Life Cycle ############################
386 | 	// #########################################################################
387 | 
388 | 
389 | 	/** Called when the activity is first created. */
390 | 	@Override
391 | 	public void onCreate(Bundle savedInstanceState) {
392 | 		super.onCreate(savedInstanceState);
393 | 		requestWindowFeature(Window.FEATURE_NO_TITLE);
394 | 		getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN,   
395 |                 WindowManager.LayoutParams.FLAG_FULLSCREEN); 
396 | 		setContentView(R.layout.displayroute);
397 | 		
398 | 		Stack<GraphNode> navPathStack;
399 | 		
400 | 		// Get location and destination
401 | 		
402 | 		nodeFrom 	= 	this.getIntent().getStringExtra("from");
403 | 		nodeFromId 	= 	this.getIntent().getIntExtra("fromId",0);
404 | 		nodeTo 		= 	this.getIntent().getStringExtra("to");
405 | 
406 | 		// Get reference to graph object
407 | 		this.g = Loader.getGraph();
408 | 		staircase 	= 		this.getIntent().getBooleanExtra("stairs", true);
409 | 		elevator 	= 		this.getIntent().getBooleanExtra("elevator", false);
410 | 		outside 	= 		this.getIntent().getBooleanExtra("outside", true);
411 | 		log 		= 		this.getIntent().getBooleanExtra("log", false);
412 | 		logAudio	= 		this.getIntent().getBooleanExtra("audio", false);
413 | 		
414 | 		// calculate route
415 | 		if(nodeFromId==0){
416 | 			navPathStack = this.g.getShortestPath(nodeFrom, nodeTo, staircase, elevator, outside);
417 | 			logger = new DataLogger(this, System.currentTimeMillis(), nodeFrom, nodeTo);
418 | 		} else {
419 | 			navPathStack = this.g.getShortestPath(nodeFromId, nodeTo, staircase, elevator, outside);
420 | 			logger = new DataLogger(this, System.currentTimeMillis(), "" + nodeFromId, nodeTo);
421 | 		}
422 | 		
423 | 		if(navPathStack != null){											// no route found!
424 | 			// The navPathStack consists of the correct order of nodes on the path
425 | 			// From these nodes the corresponding edge is used to get the original
426 | 			// data connected to it. What has to be recalculated is the initial bearing
427 | 			// because this is depending on the order of nodes being passed.
428 | 			
429 | 			// List to store the new edges in
430 | 			tempEdges = new LinkedList<GraphEdge>();
431 | 			// Get first node. This is always the 'left' node, when considering
432 | 			// a path going from left to right.
433 | 			GraphNode node0 = navPathStack.pop();
434 | 			
435 | 			while(!navPathStack.isEmpty()){
436 | 				// Get 'right' node
437 | 				GraphNode node1 = navPathStack.pop();
438 | 				// Get Edge connecting 'left' and 'right' nodes
439 | 				GraphEdge origEdge = g.getEdge(node0,node1);
440 | 				
441 | 				// Get data which remains unchanged
442 | 				double len = origEdge.getLen();					
443 | 				short wheelchair = origEdge.getWheelchair();
444 | 				float level = origEdge.getLevel();
445 | 				boolean indoor = origEdge.isIndoor();
446 | 				
447 | 				// Direction has to be recalculated
448 | 				double dir = g.getInitialBearing(node0.getLat(), node0.getLon(), node1.getLat(), node1.getLon());
449 | 				
450 | 				// Create new edge
451 | 				GraphEdge tempEdge = new GraphEdge(node0, node1,len,dir,wheelchair,level,indoor);
452 | 				// Update additional values
453 | 				tempEdge.setElevator(origEdge.isElevator());
454 | 				tempEdge.setStairs(origEdge.isStairs());
455 | 				tempEdge.setSteps(origEdge.getSteps());
456 | 				tempEdges.add(tempEdge);
457 | 				
458 | 				// Update path length
459 | 				navPathLen += origEdge.getLen();			            
460 | 				            
461 | 				// 'right' node is new 'left' node
462 | 				node0 = node1;
463 | 			}
464 | 			
465 | 			Log.i("FOOTPATH", "Number of edges before merge: " + tempEdges.size());
466 | 			
467 | 			// Now that we have the correct order of nodes, and initial bearings of edges
468 | 			// we look for successive edges with little difference in their bearing
469 | 			// to simplify the path, having less but longer edges
470 | 			
471 | 			// Allow a difference of 5 degrees to both sides
472 | 			double diff = 8.0;
473 | 			simplifiedEdges = new LinkedList<GraphEdge>();
474 | 			// The current edge to find equaling edges to
475 | 			GraphEdge edge_i = null;
476 | 			// The first node of current edge
477 | 			GraphNode node_i_0 = null;
478 | 			// This will be the last node of the last edge equaling edge_i
479 | 			GraphNode node_x_1 = null;
480 | 			
481 | 			// Data to sum up for needed merge;
482 | 			short wheelchair;
483 | 			float level;
484 | 			boolean indoor;
485 | 			boolean stairs;
486 | 			boolean elevator;
487 | 			int steps;
488 | 			int last_i = -1;
489 | 			// Iterate over all edges
490 | 			for (int i = 0; i < tempEdges.size(); i++){
491 | 				edge_i = tempEdges.get(i);
492 | 				node_i_0 = tempEdges.get(i).getNode0();
493 | 				level = edge_i.getLevel();
494 | 				indoor = edge_i.isIndoor();
495 | 				stairs = edge_i.isStairs();
496 | 				elevator = edge_i.isElevator();
497 | 				steps = edge_i.getSteps();
498 | 				wheelchair = edge_i.getWheelchair();
499 | 				Log.i("FOOTPATH", "Edge (" + (i+1) + "/" + tempEdges.size() + ") dir: " + edge_i.getCompDir());
500 | 				last_i = i;
501 | 				for (int j = i + 1; j < tempEdges.size(); j++){
502 | 					GraphEdge edge_j = tempEdges.get(j);
503 | 					// Only merge edges if they are identical in their characteristics
504 | 					if(edge_i.getLevel() == edge_j.getLevel()
505 | 							&& edge_i.isElevator() == edge_j.isElevator()
506 | 							&& edge_i.isIndoor() == edge_j.isIndoor()
507 | 							&& edge_i.isStairs() == edge_j.isStairs()
508 | 							&& Positioner.isInRange(edge_i.getCompDir(), tempEdges.get(j).getCompDir(), diff)){
509 | 						Log.i("FOOTPATH", "Adding " + edge_j.getCompDir());
510 | 						// Edge_i and edge_j can be merged
511 | 						// Save last node1 of last edge_j equaling edge_i
512 | 						node_x_1 = edge_j.getNode1();
513 | 						
514 | 						// Set number of steps only if defined (-1 := undefined, but steps)
515 | 						if(steps != -1){
516 | 							// only change 0 or defined steps
517 | 							if(edge_j.getSteps() != -1){
518 | 								steps += edge_j.getSteps();
519 | 							} else {
520 | 								// edge_j has no defined step count, thus set to undefined
521 | 								steps = -1;
522 | 							}
523 | 						}
524 | 					} else {
525 | 						Log.i("FOOTPATH", "Not Merging " + edge_j.getCompDir());
526 | 						// Edge_i and edge_j can not be merged
527 | 						// Merge possible previously found edges and add them
528 | 						
529 | 						// Point to latest edge to try matching from
530 | 						i = j-1;
531 | 						
532 | 						// Nothing can be merged, leave edge_i as is
533 | 						if(node_x_1 == null){
534 | 							Log.i("FOOTPATH", "Created same edge i " + edge_i.getLen() + " and direction " + edge_i.getCompDir());
535 | 							// Add same edge_i
536 | 							simplifiedEdges.add(edge_i);
537 | 							break;
538 | 						} else {
539 | 							// Add modified new edge
540 | 							double bearing = g.getInitialBearing(node_i_0.getLat(), node_i_0.getLon(), node_x_1.getLat(), node_x_1.getLon());
541 | 							double len = g.getDistance(node_i_0.getLat(), node_i_0.getLon(), node_x_1.getLat(), node_x_1.getLon());
542 | 							GraphEdge tempEdge = new GraphEdge(node_i_0, node_x_1, len, bearing, wheelchair, level, indoor);
543 | 							tempEdge.setElevator(elevator);
544 | 							tempEdge.setStairs(stairs);
545 | 							tempEdge.setSteps(steps);
546 | 							simplifiedEdges.add(tempEdge);
547 | 							Log.i("FOOTPATH", "Created edge with length of " + tempEdge.getLen() + " and direction " + tempEdge.getCompDir());
548 | 							// Reset last node to null to distinguish if something has to be merged
549 | 							node_x_1 = null;
550 | 							break;
551 | 						}
552 | 					}
553 | 				}
554 | 			}
555 | 			
556 | 			if(last_i != -1){
557 | 				for(int i = last_i; i < tempEdges.size(); i++){
558 | 					Log.i("FOOTPATH", "Adding missing edges");
559 | 					simplifiedEdges.add(tempEdges.get(i));
560 | 				}
561 | 			}
562 | 			
563 | 			// Set current path
564 | 			navPathEdges = simplifiedEdges;
565 | 			Log.i("FOOTPATH", "EDGES: " + navPathEdges);
566 | 			Log.i("FOOTPATH", "Number of edges after merge: " + navPathEdges.size());	
567 | 
568 | 			// Get handles to button and zoom controls and save their configuration
569 | 			ZoomControls zoomControls = (ZoomControls) findViewById(R.id.zoomCtrl);
570 | 			btnRecalc = (Button) findViewById(R.id.btnRecalc);
571 | 			btnSwitchFit = (Button) findViewById(R.id.btnSwitchFit);
572 | 			
573 | 			// Load fancy graphics
574 | 			pbMap = new PaintBoxMap(this, this);
575 | 			// REPLACING :: has to be done in order of appearance on display (top to bottom)
576 | 			replaceSurfaceView(pbMap, (SurfaceView) findViewById(R.id.svPath));			// svPath with pbNavigator
577 | 
578 | 			btnRecalc.setOnClickListener(onClick);
579 | 			btnSwitchFit.setOnClickListener(onClick);
580 | 			zoomControls.setOnZoomInClickListener(new OnClickListener() {
581 | 				public void onClick(View v) {
582 | 					pbMap.zoomIn();
583 | 				}
584 | 			});
585 | 			
586 | 			zoomControls.setOnZoomOutClickListener(new OnClickListener() {
587 | 				public void onClick(View v) {
588 | 					pbMap.zoomOut();
589 | 				}
590 | 			});
591 | 			
592 | 			confBestFit = new NPConfig();
593 | 			confBestFit.npCurLen = 0.0;
594 | 			confBestFit.npLastMatchedStep = -1;
595 | 			confBestFit.npMatchedSteps = 0;
596 | 			confBestFit.npPointer = 0;
597 | 			// /100.0f -> cm to m
598 | 			confBestFit.npStepSize = this.getIntent().getFloatExtra("stepLength", 191.0f/0.415f/100.0f)/100.0f;
599 | 			confBestFit.npUnmatchedSteps = 0;
600 | 			
601 | 			confFirstFit = new NPConfig(confBestFit);
602 | 				
603 | 			// Create correct pointer to chosen positioner
604 | 			conf = confBestFit;
605 | 			
606 | 			double a = getSharedPreferences(Calibrator.CALIB_DATA,0).getFloat("a", 0.5f);
607 | 			double peak = getSharedPreferences(Calibrator.CALIB_DATA,0).getFloat("peak", 0.5f);
608 | 			int step_timeout_ms = getSharedPreferences(Calibrator.CALIB_DATA,0).getInt("timeout", 666);
609 | 			
610 | 			stepDetection = new StepDetection(this, this, a, peak, step_timeout_ms);
611 | 			
612 | 			posBestFit = new Positioner_OnlineBestFit(this, this.navPathEdges, confBestFit);
613 | 			posFirstFit = new Positioner_OnlineFirstFit(this, this.navPathEdges, confFirstFit);
614 | 		
615 | 			
616 | 			
617 | 			setNavigating( true );
618 | 		} else { // navPathStack was null
619 | 			this.setResult(RESULT_CANCELED);
620 | 			this.finish();
621 | 		}
622 | 	}
623 | 	
624 | 	@Override
625 | 	public void onPause() {
626 | 		super.onPause();
627 | 		stepDetection.unload();
628 | 		if(log){
629 | 			// Log to info file
630 | 			logger.logInfo("a: " + stepDetection.getA());
631 | 			logger.logInfo("peak: " + stepDetection.getPeak());
632 | 			logger.logInfo("step timeout (ms): " + stepDetection.getStep_timeout_ms());
633 | 			logger.logInfo("Recognised steps: " + this.totalStepsWalked);
634 | 			logger.logInfo("Estimated stepsize: " + this.getEstimatedStepLength());
635 | 			logger.logInfo("Output of columns:");
636 | 			logger.stopLogging();
637 | 			if(logAudio){
638 | 				avwCapture.stopCapture();
639 | 				avwCapture.unregisterCapture();
640 | 			}
641 | 		}
642 | 		
643 | 	}
644 | 
645 | 	@Override
646 | 	public void onDestroy() {
647 | 		super.onDestroy();
648 | 	}
649 | 
650 | 	@Override
651 | 	public void onResume() {
652 | 		super.onResume();
653 | 		if(log){
654 | 			logger.startLogging();
655 | 			// Only log route if files opened correctly
656 | 			if(logger.started()){
657 | 				
658 | 				if(log){
659 | 					for(GraphEdge e: navPathEdges){
660 | 						logger.logSimpleRoute(e.getNode0().getLat(), e.getNode0().getLon());
661 | 					}
662 | 					GraphEdge e = navPathEdges.get(navPathEdges.size()-1);
663 | 					logger.logSimpleRoute(e.getNode1().getLat(), e.getNode1().getLon());
664 | 				}
665 | 				if(log){
666 | 					for(GraphEdge e: tempEdges){
667 | 						logger.logRoute(e.getNode0().getLat(), e.getNode0().getLon());
668 | 					}
669 | 					GraphEdge e = tempEdges.get(tempEdges.size()-1);
670 | 					logger.logRoute(e.getNode1().getLat(), e.getNode1().getLon());
671 | 				}
672 | 				
673 | 				
674 | 				
675 | 				
676 | 				// Create files for AudioWrite here, with correct file name as other log files
677 | 				if(nodeFromId==0){
678 | 					if(logAudio){
679 | 						avwCapture = new AudioWriter("" + logger.getRouteId() + "_" + nodeFrom + "_" + nodeTo +"/", "video.3gp");
680 | 					}
681 | 				} else {
682 | 					if(logAudio){
683 | 						avwCapture = new AudioWriter("" + logger.getRouteId() + "_" + nodeFromId + "_" + nodeTo +"/", "video.3gp");
684 | 					}
685 | 				}
686 | 				
687 | 				if(logAudio){
688 | 					try {
689 | 						avwCapture.registerCapture();
690 | 						avwCapture.startCapture();
691 | 					} catch (IllegalStateException e) {
692 | 						e.printStackTrace();
693 | 					} catch (IOException e) {
694 | 						e.printStackTrace();
695 | 					}
696 | 				}
697 | 			}
698 | 		
699 | 		}
700 | 		
701 | 		stepDetection.load();
702 | 		
703 | 	}
704 | 
705 | 	
706 | 
707 | 	// #########################################################################
708 | 	// ############################## Functions ################################
709 | 	// #########################################################################
710 | 
711 | 	private void replaceSurfaceView(SurfaceView svNew, SurfaceView svOld) {
712 | 		LayoutParams layParam = svOld.getLayoutParams();
713 | 		LinearLayout ll = (LinearLayout) findViewById(R.id.ll01);
714 | 		ll.removeView(svOld);
715 | 		ll.addView(svNew, layParam);
716 | 	}
717 | 
718 | 	
719 | 	/**
720 | 	 * Add values to backlog (for variance)
721 | 	 * @param x	Sensor x value
722 | 	 * @param y	Sensor y value
723 | 	 * @param z Sensor z value
724 | 	 */
725 | 	private void addTriple(double x, double y, double z) {
726 | 		x_History[(historyPtr + 1) % historySize] = x;
727 | 		y_History[(historyPtr + 1) % historySize] = y;
728 | 		z_History[(historyPtr + 1) % historySize] = z;
729 | 		historyPtr++;
730 | 	}
731 | 	/**
732 | 	 * Calculates the mean of a given set
733 | 	 * @param set the set
734 | 	 * @return	the mean value
735 | 	 */
736 | 	private double meanOfSet(double[] set) {
737 | 		double res = 0.0;
738 | 		for (double i : set) {
739 | 			res += i;
740 | 		}
741 | 		return res / set.length;
742 | 
743 | 	}
744 | 	/**
745 | 	 * Calculates the variance of a given set
746 | 	 * @param set the set
747 | 	 * @return	the variance value
748 | 	 */
749 | 	private double varianceOfSet(double[] set) {
750 | 		double res = 0.0;
751 | 		double mean = meanOfSet(set);
752 | 		for (double i : set) {
753 | 			res += (i - mean) * (i - mean);
754 | 		}
755 | 		return res / set.length;
756 | 	}
757 | 	
758 | 	// -1 := left
759 | 	//  0 := straight on
760 | 	//  1 := right
761 | 	public int getNextTurn(){
762 | 		if(conf.npPointer == navPathEdges.size()-1){
763 | 			// Walking on the last edge, go straight on
764 | 			return 0;
765 | 		}
766 | 		
767 | 		if(Positioner.isInRange(navPathEdges.get(conf.npPointer).getCompDir(),navPathEdges.get(conf.npPointer+1).getCompDir(),10)){
768 | 			// +- 10 degrees is straight on
769 | 			return 0;
770 | 		}
771 | 		if(Positioner.isInRange(navPathEdges.get(conf.npPointer).getCompDir()-90,navPathEdges.get(conf.npPointer+1).getCompDir(),90)){
772 | 			// This edge -90 degrees is in range of next edge
773 | 			// -> next turn is left turn
774 | 			return -1;
775 | 		}
776 | 		// Else its a right turn
777 | 		return 1;
778 | 	}
779 | 	
780 | }
781 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/gui/PaintBoxHistory.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.gui;
  2 | 
  3 | import android.content.Context;
  4 | import android.graphics.Canvas;
  5 | import android.graphics.Color;
  6 | import android.graphics.Paint;
  7 | import de.uvwxy.footpath.ToolBox;
  8 | import de.uvwxy.paintbox.PaintBox;
  9 | 
 10 | /**
 11 |  * 
 12 |  * @author Paul Smith
 13 |  *
 14 |  */
 15 | class PaintBoxHistory extends PaintBox {
 16 | 	//private Context context;
 17 | 
 18 | 	private int historySize;
 19 | 	private double[] x_History;
 20 | 	private double[] y_History;
 21 | 	private double[] z_History;
 22 | 	private long[] time_History;
 23 | 	private int historyPtr = 0;
 24 | 	private double valueRange = Double.NEGATIVE_INFINITY;
 25 | 	private int drawWidth = 0;
 26 | 	private int drawHeight = 0;
 27 | 	//private double scale_x = 1;
 28 | 	private double scale_y = 1;
 29 | 	private int offset_y = 0;
 30 | 	boolean once = true;
 31 | 	
 32 | 	private int seconds = 1; // # of seconds to show on screen
 33 | 	private int num_steps = 0;
 34 | 
 35 | 	/**
 36 | 	 * 
 37 | 	 * @param context
 38 | 	 *            the context under which is painted
 39 | 	 * @param valueRange
 40 | 	 *            range of values to be display around zero
 41 | 	 * @param seconds
 42 | 	 * @param tvSteps 
 43 | 	 * @param drawWidth
 44 | 	 *            the width of the paintable area
 45 | 	 * @param drawHeight
 46 | 	 *            the height of the paintable area
 47 | 	 */
 48 | 	public PaintBoxHistory(Context context, double valueRange, int historySize, int seconds) {
 49 | 		super(context);
 50 | 		// save to have e.g. access to asserts
 51 | //		this.context = context;
 52 | 		this.valueRange = valueRange;
 53 | 		this.historySize = historySize;
 54 | 		x_History = new double[historySize];
 55 | 		y_History = new double[historySize];
 56 | 		z_History = new double[historySize];
 57 | 		time_History = new long[historySize];
 58 | 		this.seconds = seconds;
 59 | 	}
 60 | 
 61 | 	private int getPosOnScreen(long x_ms, long current_ms) {
 62 | 		long diff_ms = current_ms - x_ms;
 63 | 
 64 | 		// addition because diff_ms is negative!
 65 | 		int res = (int) (drawWidth - (((double) drawWidth / (double) seconds) / 1000.0) * diff_ms);
 66 | 		return res;
 67 | 	}
 68 | 
 69 | 	@Override
 70 | 	protected void onDraw(Canvas canvas) {
 71 | 		if (once) {
 72 | 			setDimensions();
 73 | 		}
 74 | 		canvas.drawColor(Color.WHITE);
 75 | 		canvas.drawLine(0, offset_y, drawWidth, offset_y, ToolBox.myPaint(1, Color.BLACK));
 76 | 		Paint paint = ToolBox.myPaint(2, Color.RED);
 77 | 		paint.setTextSize(40.0f);
 78 | 		canvas.drawText("Steps: " + num_steps, 10, getHeight()-40, paint);
 79 | 		long uptime_ms = System.currentTimeMillis();
 80 | 		
 81 | 		for(long ts : tenLastSteps){
 82 | 			canvas.drawLine(getPosOnScreen(ts, uptime_ms), 0,
 83 | 					getPosOnScreen(ts, uptime_ms), drawHeight, ToolBox.myPaint(2, Color.RED));
 84 | 		}
 85 | 		
 86 | 		drawDataSet(canvas, x_History, ToolBox.myPaint(2, Color.RED), uptime_ms);
 87 | 		drawDataSet(canvas, y_History, ToolBox.myPaint(2, Color.GREEN), uptime_ms);
 88 | 		drawDataSet(canvas, z_History, ToolBox.myPaint(2, Color.BLUE), uptime_ms);
 89 | 		
 90 | 		canvas.drawText("" + varianceOfSet(x_History), 10, 10, ToolBox.myPaint(2, Color.BLACK));
 91 | 		canvas.drawText("" + varianceOfSet(y_History), 10, 32, ToolBox.myPaint(2, Color.BLACK));
 92 | 		canvas.drawText("" + varianceOfSet(z_History), 10, 54, ToolBox.myPaint(2, Color.BLACK));
 93 | 	}
 94 | 
 95 | 	private void drawDataSet(Canvas canvas, double[] set, Paint paint, long uptime_ms) {
 96 | 		int item0, item1;
 97 | 		for (int i = 0; i < historySize - 1; i++) {
 98 | 			item0 = (historyPtr + 1 + i) % historySize;
 99 | 			item1 = (historyPtr + 2 + i) % historySize;
100 | 			double y1 = -set[item0] * scale_y + offset_y;
101 | 			double y2 = -set[item1] * scale_y + offset_y;
102 | 
103 | 			canvas.drawLine(getPosOnScreen(time_History[item0], uptime_ms), (int) y1,
104 | 					getPosOnScreen(time_History[item1], uptime_ms), (int) y2, paint);
105 | 			
106 | 		}		
107 | 	}
108 | 
109 | 	public void setDimensions() {
110 | 		this.drawWidth = this.getWidth();
111 | 		this.drawHeight = this.getHeight();
112 | //		scale_x = this.drawWidth / historySize;
113 | 		scale_y = this.drawHeight / valueRange;
114 | 		offset_y = this.drawHeight / 2;
115 | 	}
116 | 
117 | 	/**
118 | 	 * Call this timed
119 | 	 * @param t
120 | 	 * @param x
121 | 	 * @param y
122 | 	 * @param z
123 | 	 */
124 | 	public void addTriple(long t, double[] acc) {
125 | 		x_History[(historyPtr + 1) % historySize] = acc[0];
126 | 		y_History[(historyPtr + 1) % historySize] = acc[1];
127 | 		z_History[(historyPtr + 1) % historySize] = acc[2];
128 | 		time_History[(historyPtr + 1) % historySize] = t;
129 | 		historyPtr++;
130 | 	}
131 | 
132 | 	/**
133 | 	 * Calculate the mean of a given array
134 | 	 * 
135 | 	 * @param set
136 | 	 *            the input data
137 | 	 * @return mean of the input data
138 | 	 */
139 | 	private double meanOfSet(double[] set) {
140 | 		double res = 0.0;
141 | 		for (double i : set) {
142 | 			res += i;
143 | 		}
144 | 		return res / set.length;
145 | 
146 | 	}
147 | 
148 | 	/**
149 | 	 * Calculate the variance of agiven array
150 | 	 * 
151 | 	 * @param set
152 | 	 *            the input data
153 | 	 * @return variance of the input data
154 | 	 */
155 | 	private double varianceOfSet(double[] set) {
156 | 		double res = 0.0;
157 | 		double mean = meanOfSet(set);
158 | 		for (double i : set) {
159 | 			res += (i - mean) * (i - mean);
160 | 		}
161 | 		return res / set.length;
162 | 	}
163 | 
164 | 	
165 | 	private int stepHistorySize = 10;
166 | 	private long[] tenLastSteps = new long[stepHistorySize];
167 | 	private int shPointer = 0;
168 | 	
169 | 	public void addStepTS(long ts){
170 | 		num_steps++;		
171 | 		tenLastSteps[shPointer % stepHistorySize] = ts;								// add value to values_history
172 | 		shPointer++;
173 | 		shPointer = shPointer % stepHistorySize;
174 | 	}
175 | }
176 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/gui/PaintBoxMap.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.gui;
  2 | 
  3 | import java.io.File;
  4 | import java.io.FileOutputStream;
  5 | import java.io.IOException;
  6 | import java.io.InputStream;
  7 | import java.net.HttpURLConnection;
  8 | import java.net.MalformedURLException;
  9 | import java.net.URL;
 10 | import java.util.LinkedList;
 11 | 
 12 | import android.content.Context;
 13 | import android.content.SharedPreferences;
 14 | import android.graphics.Bitmap;
 15 | import android.graphics.BitmapFactory;
 16 | import android.graphics.Canvas;
 17 | import android.graphics.Color;
 18 | import android.graphics.Matrix;
 19 | import android.graphics.Paint;
 20 | import android.graphics.RectF;
 21 | import android.os.Environment;
 22 | import android.util.Log;
 23 | import de.uvwxy.footpath.R;
 24 | import de.uvwxy.footpath.ToolBox;
 25 | import de.uvwxy.footpath.core.Positioner;
 26 | import de.uvwxy.footpath.graph.GraphEdge;
 27 | import de.uvwxy.footpath.graph.LatLonPos;
 28 | import de.uvwxy.paintbox.PaintBox;
 29 | 
 30 | /**
 31 |  * 
 32 |  * @author Paul Smith
 33 |  * 
 34 |  */
 35 | class PaintBoxMap extends PaintBox {
 36 | 	private static final String MAP_SETTINGS = "PaintBoxMap";
 37 | 	
 38 | 	private Tile[] tiles;								// array to store osm tiles
 39 | 	private Bitmap arrow;								// png, this is the user position
 40 | 	private Bitmap arrowred;							// user position in red
 41 | 	private Bitmap stairs;								// icon to show stairs on map
 42 | 	
 43 | 	private Context context;							
 44 | 	private Navigator navigator;						// object to get data from (location, bearing,..)
 45 | 
 46 | 	private LinkedList<GraphEdge> edges;				// all edges on the path, in right order
 47 | 	private LatLonPos lbBound;							// left bottom position of bounding box (lat/lon)
 48 | 	private LatLonPos rtBound;							// rigt top position of bounding box (lat/lon)
 49 | 
 50 | 	private float gScale = 1.0f;						// global scaling, pressing the zoom buttons will change this
 51 | 	private float scaleFactor = 0.6f;					// value added/removed when changing zoom level
 52 | 	
 53 | 	private boolean runOnce = true;						// needed to create/load resources once
 54 | 	
 55 | 	public PaintBoxMap(Context context, Navigator navigator) {
 56 | 		super(context);
 57 | 		this.context = context;
 58 | 		this.navigator = navigator;
 59 | 		// Load saved zoom level
 60 | 		this.gScale = context.getSharedPreferences(MAP_SETTINGS,0).getFloat("gScale",1.0f); 
 61 | 	}
 62 | 
 63 | 	// create lbBound and rtBound
 64 | 	private void setBoundaries() {
 65 | 		double latMin = Double.POSITIVE_INFINITY;
 66 | 		double latMax = Double.NEGATIVE_INFINITY;
 67 | 		double lonMin = Double.POSITIVE_INFINITY;
 68 | 		double lonMax = Double.NEGATIVE_INFINITY;
 69 | 		for(GraphEdge edge : edges){			// edges contain only edges from path
 70 | 												// but still, almost every node is searched twice ([a,b][b,c][c,d]...)
 71 | 			double n0lat = edge.getNode0().getLat();
 72 | 			double n1lat = edge.getNode1().getLat();
 73 | 			double n0lon = edge.getNode0().getLon();
 74 | 			double n1lon = edge.getNode1().getLon();
 75 | 			
 76 | 			if(n0lat < latMin)			// find minimum lat
 77 | 				latMin = n0lat;
 78 | 			if(n1lat < latMin)
 79 | 				latMin = n1lat;
 80 | 			if(n0lon < lonMin)			// find minimum lon
 81 | 				lonMin = n0lon;
 82 | 			if(n1lon < lonMin)
 83 | 				lonMin = n1lon;
 84 | 			
 85 | 			if(n0lat > latMax)			// find maximum lat
 86 | 				latMax = n0lat;
 87 | 			if(n1lat > latMax)
 88 | 				latMax = n1lat;
 89 | 			if(n0lon > lonMax)			// find maximum lon
 90 | 				lonMax = n0lon;
 91 | 			if(n1lon > lonMax)
 92 | 				lonMax = n1lon;
 93 | 		}
 94 | 		
 95 | 		lbBound = new LatLonPos(latMin, lonMin, -1337);
 96 | 		rtBound = new LatLonPos(latMax, lonMax, -1337);
 97 | 	}
 98 | 	
 99 | 	// load tiles for given zoom level, from sdcard or http
100 | 	private Tile[] loadTiles(int zoomlevel, LatLonPos lbBoundary, LatLonPos rtBoundary){
101 | 		// source: http://wiki.openstreetmap.org/wiki/Slippy_map_tilenames
102 | 		
103 | 		// find out which tiles to get
104 | 		int x0 = getTileX(lbBoundary.getLon(), zoomlevel);			// point 0 left top
105 | 		int y0 = getTileY(rtBoundary.getLat(), zoomlevel);
106 | 		int x1 = getTileX(rtBoundary.getLon(), zoomlevel);			// point 1 right top
107 | 		int y2 = getTileY(lbBoundary.getLat(), zoomlevel);			// point 2 left bottom
108 | 		
109 | 		int diffX = x1 - x0;
110 | 		int diffY = y2 - y0;
111 | 		
112 | 		int arraySize = (diffX+3)*(diffY+3);
113 | 		arraySize = arraySize <= 0 ? 1 : arraySize;			// fix size if only one tile needed
114 | 		Tile[] res = new Tile[arraySize];
115 | 		
116 | 		// check if dir exists
117 | 		File dir = new File(Environment.getExternalStorageDirectory(),"footpath/");
118 | 		if(!dir.exists()){
119 | 			dir.mkdir();
120 | 		}
121 | 		int counter = 0;
122 | 		boolean downloadFailed = false;
123 | 		for(int x = -1; x <= diffX+1; x++){			// x/y =  -1 to have some more tiles around the building 
124 | 			for(int y = -1; y <= diffY+1; y++){   	// because some parts of the building might be overlapping
125 | 													// and thus not visible (nicer graphics)
126 | 				File f = new File(Environment.getExternalStorageDirectory(),"footpath/tile." 
127 | 						+ zoomlevel + "." + (x0+x) + "." + (y0+y) + ".png");
128 | 				if(f.exists()){
129 | 					// file existed -> read it
130 | 					res[counter] = new Tile(zoomlevel, x0+x, y0+y, BitmapFactory.decodeFile(f.getPath()));
131 | 					Log.i("FOOTPATH", "Loading from sd footpath/tile."  + zoomlevel + "." + (x0+x) + "." + (y0+y) + ".png)");
132 | 				} else {
133 | 					// file did not exist -> download it
134 | 					URL u = null;
135 | 					try {
136 | 						u= new URL("http://tile.openstreetmap.org/" + zoomlevel + "/" + (x0+x) + "/" + (y0+y) + ".png");
137 | 					} catch (MalformedURLException e) {
138 | 						Log.i("FOOTPATH", "URL creation failed (http://tile.openstreetmap.org/"  + zoomlevel + "/" + (x0+x) + "/" + (y0+y) + ".png)" + "\n" + e);
139 | 					}    
140 | 					try {
141 | 						HttpURLConnection c = (HttpURLConnection)u.openConnection();
142 | 						c.setDoInput(true);
143 | 						InputStream is = c.getInputStream();    
144 | 						res[counter] =  new Tile(zoomlevel, x0+x, y0+y, BitmapFactory.decodeStream(is));
145 | 						Log.i("FOOTPATH", "Download succeeded (" + u.toString() + ")");
146 | 						// -> and save it
147 | 						try {
148 | 						       FileOutputStream out = new FileOutputStream(f);
149 | 						       res[counter].getBitmap().compress(Bitmap.CompressFormat.PNG, 90, out);
150 | 						       Log.i("FOOTPATH", "Writing of file suceeded (" + f.toString() + ")");
151 | 						} catch (Exception e) {
152 | 						      Log.i("FOOTPATH", "Writing of file failed (" + f.toString() + ")" + "\n" + e);
153 | 						}
154 | 					} catch (IOException e) {
155 | 						Log.i("FOOTPATH", "Download failed (" + u.toString() + ")" + "\n" + e);
156 | 						downloadFailed = true;
157 | 					}
158 | 				}
159 | 				counter++;
160 | 			}
161 | 		}
162 | 		if(downloadFailed){
163 | 			// TODO: Give feedback on failed download of map tiles
164 | 		}
165 | 		return res;
166 | 	}
167 | 	
168 | 	private int getTileX(double lon, int zoom) {
169 | 		return (int)Math.floor( (lon + 180) / 360 * (1<<zoom));
170 | 	}
171 | 	private int getTileY(double lat, int zoom) {
172 | 		return (int)Math.floor( (1 - Math.log(Math.tan(Math.toRadians(lat)) + 1 / Math.cos(Math.toRadians(lat))) / Math.PI) / 2 * (1<<zoom) ) ;
173 | 	}
174 | 	
175 | 	@Override
176 | 	protected void onDraw(Canvas canvas) {
177 | 		if(runOnce){
178 | 			edges = this.navigator.getNavPathEdges();
179 | 			setBoundaries();
180 | 			tiles = loadTiles(18,lbBound, rtBound);
181 | 			arrow = BitmapFactory.decodeResource(getResources(), R.drawable.arrow);
182 | 			arrowred = BitmapFactory.decodeResource(getResources(), R.drawable.arrowred);
183 | 			stairs = BitmapFactory.decodeResource(getResources(), R.drawable.stairs);
184 | 			runOnce = false; 
185 | 		}		
186 | 		double localScale = gScale;
187 | 		LatLonPos pos = navigator.getPosition();			// get position
188 | 		
189 | 		globalOffsetX = getWidth()/2.0f - getPosX(pos, localScale);		// center position to screen center
190 | 		globalOffsetY = getHeight()/2.0f - getPosY(pos, localScale);	// center position to screen center
191 | 		
192 | 		canvas.drawColor(Color.BLACK); 						// black background
193 | 		drawTiles(canvas, localScale);									// draw map
194 | 		this.drawPath(canvas, localScale);								// draw route
195 | 
196 | 		// draw arrow.png to the screen (user position indicator)
197 | 				
198 | 		if(Positioner.isInRange(navigator.getCompassValue(), navigator.getNavPathDir(), navigator.getAcceptanceWidth())){
199 | 			Matrix m = new Matrix();
200 | 			m = new Matrix();
201 | 			m.setRotate((float) (navigator.getCompassValue()),arrow.getWidth()/2.0f,arrow.getHeight()/2.0f);
202 | 			m.postTranslate(globalOffsetX + getPosX(pos, localScale) - arrow.getWidth()/2.0f , globalOffsetY + getPosY(pos, localScale) - arrow.getHeight()/2.0f);
203 | 			canvas.drawBitmap(arrow,m,null);					// draw arrow.png to the screen (user position indicator)
204 | 		}else {
205 | 			Matrix m = new Matrix();
206 | 			m.setRotate((float) (navigator.getNavPathDir()),arrow.getWidth()/2.0f,arrow.getHeight()/2.0f);
207 | 			m.postTranslate(globalOffsetX + getPosX(pos, localScale) - arrow.getWidth()/2.0f , globalOffsetY + getPosY(pos, localScale) - arrow.getHeight()/2.0f);
208 | 			canvas.drawBitmap(arrow,m,null);	
209 | 			m = new Matrix();
210 | 			m.setRotate((float) (navigator.getCompassValue()),arrow.getWidth()/2.0f,arrow.getHeight()/2.0f);
211 | 			m.postTranslate(globalOffsetX + getPosX(pos, localScale) - arrow.getWidth()/2.0f , globalOffsetY + getPosY(pos, localScale) - arrow.getHeight()/2.0f);
212 | 			canvas.drawBitmap(arrowred,m,null);					// draw arrowred.png to the screen, meaning wrong direction
213 | 		}
214 | 		
215 | 		
216 | 		// draw additional text + background (readability)
217 | 		canvas.drawRect(0, 0, getWidth(), 148, ToolBox.myPaint(1, Color.BLACK, 128));
218 | 		// check if route end reached
219 | 		if (navigator.getNavPathEdgeLenLeft() != -1) {
220 | 			// draw information
221 | 			canvas.drawText(
222 | 					"Distance: " + ToolBox.tdp(navigator.getNavPathLen() - navigator.getNavPathLenLeft()) + "m of " +
223 | 					ToolBox.tdp(navigator.getNavPathLen()) + "m" , 10, 42, ToolBox.greenPaint(32.0f));
224 | 			
225 | 			String nextPath = "";
226 | 			switch(navigator.getNextTurn()){
227 | 			case -1:
228 | 				nextPath = "turn left";
229 | 				break;
230 | 			case 0:
231 | 				nextPath = "straight on";
232 | 				break;
233 | 			case 1:
234 | 				nextPath = "turn right";
235 | 				break;
236 | 			}
237 | 			canvas.drawText(
238 | 					"Go " + ToolBox.tdp(navigator.getNavPathEdgeLenLeft())
239 | 					+ "m then " + nextPath, 10, 74, ToolBox.greenPaint(32.0f));
240 | 			Paint p = ToolBox.greenPaint(32.0f);
241 | 			if(!Positioner.isInRange(navigator.getNavPathDir(),
242 | 					navigator.getCompassValue(),
243 | 					navigator.getAcceptanceWidth())){
244 | 				p = ToolBox.redPaint(32.0f);
245 | 			}
246 | 			canvas.drawText(
247 | 					"Bearing: " + ToolBox.tdp(navigator.getCompassValue()) + "/" + (ToolBox.tdp(navigator.getNavPathDir())), 10, 106, p);
248 | //			canvas.drawText(
249 | //					"Variances: " + ToolBox.tdp(navigator.getVarianceOfX()) + "/" + ToolBox.tdp(navigator.getVarianceOfY()) 
250 | //					+ "/" + ToolBox.tdp(navigator.getVarianceOfZ()), 10, 138, ToolBox.greenPaint(32.0f));
251 | 			canvas.drawText("Est. step length: " 
252 | 					+ ToolBox.tdp(navigator.getEstimatedStepLength()) + " vs " + ToolBox.tdp(navigator.getStepLengthInMeters()) ,10, 138, ToolBox.greenPaint(32.0f));
253 | 
254 | 		} else {
255 | 			canvas.drawText("Destination ( " + navigator.getRouteEnd().getName() + ") reached", 10, 32, ToolBox.redPaint(32.0f));
256 | 		}
257 | 	}
258 | 
259 | 	private void drawTiles(Canvas canvas, double localScale){
260 | 		for(int i = 0; i < tiles.length; i++){
261 | 			if(tiles[i]!=null){
262 | 				LatLonPos lt = tiles[i].getLatLonPosLeftTop();
263 | 				LatLonPos rb = tiles[i].getLatLonPosRightBottom();
264 | 				float left = globalOffsetX + getPosX(lt, localScale);
265 | 				float top = globalOffsetY + getPosY(lt, localScale);
266 | 				float right = globalOffsetX + getPosX(rb, localScale);
267 | 				float bottom = globalOffsetY + getPosY(rb, localScale);
268 | 				RectF destRect = new RectF(left, top, right, bottom);
269 | 				
270 | 				if(tiles[i].getBitmap()!=null){
271 | 					canvas.drawBitmap(tiles[i].getBitmap(), null, destRect, null);
272 | 				}
273 | 			}
274 | 		}
275 | 	}
276 | 	
277 | 	private void drawPath(Canvas canvas, double localScale) {
278 | 		if(edges.size() == 1){				// special case: only one edge
279 | 			Paint wPaint = edges.get(0).getWheelchair()<0 ? ToolBox.redPaint() : ToolBox.greenPaint();
280 | 			canvas.drawLine(globalOffsetX + getPosX(edges.get(0).getNode0().getPos(), localScale),
281 | 					globalOffsetY + getPosY(edges.get(0).getNode0().getPos(), localScale),
282 | 					globalOffsetX + getPosX(edges.get(0).getNode1().getPos(), localScale),
283 | 					globalOffsetY + getPosY(edges.get(0).getNode1().getPos(), localScale), wPaint);
284 | 			return;
285 | 		}
286 | 		
287 | 		// try to find node which is not part of next edge:
288 | 		int oldNodeId = edges.get(0).getNode0().getId();					// set oldNodeId to node0
289 | 		LatLonPos oldNodePos;
290 | 		if(oldNodeId == edges.get(1).getNode0().getId()						// oldNodeId is in next edge
291 | 				|| oldNodeId == edges.get(1).getNode1().getId()){
292 | 			oldNodeId = edges.get(0).getNode1().getId();					// set oldNodeId to other node
293 | 			oldNodePos = new LatLonPos(edges.get(0).getNode1().getLat(),		
294 | 					edges.get(0).getNode1().getLon(),
295 | 					edges.get(0).getNode1().getLevel());
296 | 		} else {
297 | 			oldNodePos = new LatLonPos(edges.get(0).getNode0().getLat(),	// node is not in next edge (is first node)
298 | 					edges.get(0).getNode0().getLon(),
299 | 					edges.get(0).getNode0().getLevel());					// only update lat/lon
300 | 		}
301 | 
302 | 		LatLonPos newNodePos;
303 | 		for(int i = 0; i < edges.size(); i++){
304 | 			int node0id = edges.get(i).getNode0().getId();
305 | 			if(oldNodeId == node0id){
306 | 				newNodePos = new LatLonPos(edges.get(i).getNode1().getLat(),
307 | 						edges.get(i).getNode1().getLon(),
308 | 						edges.get(i).getNode1().getLevel());
309 | 				oldNodeId = edges.get(i).getNode1().getId();
310 | 			} else {
311 | 				newNodePos = new LatLonPos(edges.get(i).getNode0().getLat(),
312 | 					edges.get(i).getNode0().getLon(),
313 | 					edges.get(i).getNode0().getLevel());
314 | 				oldNodeId = edges.get(i).getNode0().getId();
315 | 			}
316 | 			// set color according to accessibility (wheelchairable -> green, else red)
317 | 			Paint wPaint = edges.get(i).getWheelchair()<0 ? ToolBox.redPaint() : ToolBox.greenPaint();
318 | 			
319 | 			if(edges.get(i).isStairs()){				// draw stairs icon
320 | 				Matrix m = new Matrix();
321 | 				m.setScale(1.0f, 1.0f);
322 | 				m.postTranslate(globalOffsetX + getPosX(newNodePos, localScale) - stairs.getWidth()/2.0f ,
323 | 						globalOffsetY + getPosY(newNodePos, localScale) - stairs.getHeight()/2.0f);
324 | 				canvas.drawBitmap(stairs,m,null);
325 | 			}
326 | 			canvas.drawLine(globalOffsetX + getPosX(oldNodePos, localScale), 			// draw path
327 | 					globalOffsetY + getPosY(oldNodePos, localScale),
328 | 					globalOffsetX + getPosX(newNodePos, localScale),
329 | 					globalOffsetY + getPosY(newNodePos, localScale),
330 | 					wPaint);
331 | 			
332 | 			oldNodePos = newNodePos;
333 | 
334 | 		}
335 | 	}
336 | 
337 | 	float scaleWidth;									// displacement to center path: x
338 | 	float scaleHeight;									// displacement to center path: y
339 | 	float globalOffsetX = 0.0f;							// in case we want to "move" path in x
340 | 	float globalOffsetY = 0.0f;							// in case we want to "move" path in y
341 | 	
342 | 	private float getPosX(LatLonPos p, double localScale){
343 | 		return mercatXToScreen(p.getMercatorX(), localScale);		
344 | 	}
345 | 	
346 | 	private float getPosY(LatLonPos p, double localScale){
347 | 		return mercatYToScreen(p.getMercatorY(), localScale);
348 | 	}
349 | 	
350 | 	private float mercatXToScreen(double x, double localScale){			// this returns the position relative to the middle of the
351 | 		double highX = rtBound.getMercatorX();			// width of all data
352 | 		double lowX = lbBound.getMercatorX();
353 | 		double w = (highX - lowX);
354 | 		double xs = w/2 - (highX - x);					// xs = relative position to center of data
355 | 		xs *=localScale;
356 | 		return (float)xs;
357 | 	}
358 | 	
359 | 	private float mercatYToScreen(double y, double localScale){			// this returns the position relative to the middle of the
360 | 		double highY = rtBound.getMercatorY();			// height of all data
361 | 		double lowY = lbBound.getMercatorY();
362 | 		double h = (highY - lowY);
363 | 		double ys = h/2 - (highY - y);					// ys = relative position to center of data
364 | 		ys *= -1.0*localScale;
365 | 		return (float)ys;
366 | 	}
367 | 
368 | 	public void zoomOut() {
369 | 		if (gScale <= scaleFactor) {
370 | 		} else {
371 | 			gScale -= scaleFactor;
372 | 			SharedPreferences settings = context.getSharedPreferences(MAP_SETTINGS, 0);
373 | 		    SharedPreferences.Editor editor = settings.edit();
374 | 		    editor.putFloat("gScale", gScale);
375 | 		    editor.commit();
376 | 		}
377 | 	}
378 | 
379 | 	public void zoomIn() {
380 | 		if (gScale >= 100.0f) {
381 | 		} else {
382 | 			gScale += scaleFactor;
383 | 			SharedPreferences settings = context.getSharedPreferences(MAP_SETTINGS, 0);
384 | 		    SharedPreferences.Editor editor = settings.edit();
385 | 		    editor.putFloat("gScale", gScale);
386 | 		    editor.commit();
387 | 		}
388 | 	}
389 | }
390 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/gui/Tile.java:
--------------------------------------------------------------------------------
 1 | package de.uvwxy.footpath.gui;
 2 | 
 3 | import android.graphics.Bitmap;
 4 | import de.uvwxy.footpath.graph.LatLonPos;
 5 | /**
 6 |  * 
 7 |  * @author Paul Smith
 8 |  * 
 9 |  */
10 | public class Tile {
11 | 	int zoomlevel;
12 | 	int x;
13 | 	int y;
14 | 	Bitmap bitmap;
15 | 	public Tile(int zoomlevel, int x, int y, Bitmap bitmap) {
16 | 		this.zoomlevel = zoomlevel;
17 | 		this.x = x;
18 | 		this.y = y;
19 | 		this.bitmap = bitmap;
20 | 	}
21 | 	public int getZoomlevel() {
22 | 		return zoomlevel;
23 | 	}
24 | 	public int getX() {
25 | 		return x;
26 | 	}
27 | 	public int getY() {
28 | 		return y;
29 | 	}
30 | 	public Bitmap getBitmap() {
31 | 		return bitmap;
32 | 	}
33 | 	public void setZoomlevel(int zoomlevel) {
34 | 		this.zoomlevel = zoomlevel;
35 | 	}
36 | 	public void setX(int x) {
37 | 		this.x = x;
38 | 	}
39 | 	public void setY(int y) {
40 | 		this.y = y;
41 | 	}
42 | 	public void setBitmap(Bitmap bitmap) {
43 | 		this.bitmap = bitmap;
44 | 	}
45 | 	public LatLonPos getLatLonPosLeftTop(){
46 | 		// source: http://wiki.openstreetmap.org/wiki/Slippy_map_tilenames
47 | 		double lon = 0.0;
48 | 		double lat = 0.0;
49 | 		double n = Math.pow(2, zoomlevel);
50 | 		lon = x/n*360.0-180.0;
51 | 		double lat_rad = Math.atan(Math.sinh(Math.PI*(1.0-2.0*y/n)));
52 | 		lat = lat_rad * 180.0/Math.PI;
53 | 		return new LatLonPos(lat,lon,-1337);
54 | 	}
55 | 	public LatLonPos getLatLonPosRightBottom(){
56 | 		// source: http://wiki.openstreetmap.org/wiki/Slippy_map_tilenames
57 | 		double lon = 0.0;
58 | 		double lat = 0.0;
59 | 		double n = Math.pow(2, zoomlevel);
60 | 		lon = (x+1)/n*360.0-180.0;
61 | 		double lat_rad = Math.atan(Math.sinh(Math.PI*(1.0-2.0*(y+1)/n)));
62 | 		lat = lat_rad * 180.0/Math.PI;
63 | 		return new LatLonPos(lat,lon,-1337);
64 | 	}
65 | }


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/log/AudioWriter.java:
--------------------------------------------------------------------------------
 1 | package de.uvwxy.footpath.log;
 2 | 
 3 | import java.io.File;
 4 | import java.io.IOException;
 5 | 
 6 | import de.uvwxy.footpath.gui.Navigator;
 7 | 
 8 | import android.media.MediaRecorder;
 9 | import android.os.Environment;
10 | 
11 | /**
12 |  * A class for recording of an audio/video file, with input from the
13 |  * microphone/camera . The directory written to is LOG_DIR within the directory
14 |  * retrieved from getExternalStorageDirectory(). The file name is given to the
15 |  * constructor.
16 |  * 
17 |  * Usage:
18 |  * 
19 |  * 	o = new AudioWriter()
20 |  * 	o.registerCapture()
21 |  * 	o.startCapture()
22 |  * 	[... magic moment in time ...]
23 |  * 	o.stopCapture()
24 |  * 	o.unregisterCapture()
25 |  * 
26 |  * 
27 |  * @author Paul Smith
28 |  * 
29 |  */
30 | public class AudioWriter {
31 | 	private MediaRecorder recorder;
32 | 	private String filePath;
33 | 		
34 | 	/**
35 | 	 * The only constructor
36 | 	 * 
37 | 	 * @param fileName  the file name
38 | 	 */
39 | 	public AudioWriter(String sub_directory, String fileName) {
40 | 		File dir = new File(Environment.getExternalStorageDirectory(),
41 | 				Navigator.LOG_DIR + sub_directory);
42 | 		dir.mkdir();
43 | 		this.filePath = dir.getAbsolutePath() + "/" + fileName;
44 | 	}
45 | 
46 | 	/**
47 | 	 * Call this to initialize everything needed to capture from AudioSource.MIC
48 | 	 * 
49 | 	 * @throws IllegalStateException
50 | 	 * @throws IOException
51 | 	 */
52 | 	public void registerCapture() throws IllegalStateException, IOException {
53 | 		recorder = new MediaRecorder();
54 | 		recorder.setAudioSource(MediaRecorder.AudioSource.MIC);
55 | 		recorder.setOutputFormat(MediaRecorder.OutputFormat.DEFAULT);
56 | 		recorder.setAudioEncoder(MediaRecorder.AudioEncoder.DEFAULT);
57 | 		recorder.setOutputFile(filePath);
58 | 		recorder.prepare();
59 | 	}
60 | 
61 | 	/**
62 | 	 * Call this to start capture
63 | 	 */
64 | 	public void startCapture() {
65 | 		recorder.start();
66 | 	}
67 | 
68 | 	/**
69 | 	 * Call this to stop capture
70 | 	 */
71 | 	public void stopCapture() {
72 | 		recorder.stop();
73 | 		recorder.reset();
74 | 	}
75 | 
76 | 	/**
77 | 	 * Call this to release capture device
78 | 	 */
79 | 	public void unregisterCapture() {
80 | 		recorder.release();
81 | 	}
82 | 
83 | }
84 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/log/DataLogger.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.log;
  2 | 
  3 | import java.io.FileNotFoundException;
  4 | import java.util.List;
  5 | 
  6 | import android.content.BroadcastReceiver;
  7 | import android.content.Context;
  8 | import android.content.Intent;
  9 | import android.content.IntentFilter;
 10 | import android.location.Location;
 11 | import android.location.LocationListener;
 12 | import android.location.LocationManager;
 13 | import android.net.wifi.ScanResult;
 14 | import android.net.wifi.WifiManager;
 15 | import android.os.Bundle;
 16 | import android.util.Log;
 17 | import de.uvwxy.footpath.Rev;
 18 | 
 19 | /**
 20 |  * Interface to log compass, accelerometer, GPS, WiFi and route
 21 |  * Use startLogging() to register file writers and GPS/WiFi interfaces
 22 |  * Use log[..](params) from class using the DataLogger interface
 23 |  * GPS/WiFi Logging will be handled in this object
 24 |  * Use stopLogging() to close everything mentioned above
 25 |  * @author Paul Smith
 26 |  *
 27 |  */
 28 | public class DataLogger {
 29 | 	// Objects to work with
 30 | 	private long routeID;
 31 | 	private String from;
 32 | 	private String to;
 33 | 				
 34 | 	private boolean started = false;
 35 | 	private boolean accOpen = false;				// To check if files have been opened successfully
 36 | 	private boolean compOpen = false;
 37 | 	
 38 | 	private FWriter fwCompass;						// Log data to /sdcard/routelog/
 39 | 	private FWriter fwAccelerometer;
 40 | 	private FWriter fwVariance;
 41 | 	private FWriter fwPosition;
 42 | 	private FWriter fwSteps;
 43 | 	private FWriter fwGPS;
 44 | 	private FWriter fwWifi;
 45 | 	private FWriter fwRawAccel;
 46 | 	private FWriter fwRawCompass;
 47 | 	private FWriter fwRoute;
 48 | 	private FWriter fwSimpleRoute;
 49 | 	private FWriter fwInfo;
 50 | 	private LocationManager locationManager = null;
 51 | 	
 52 | 	private WifiManager wm01;
 53 | 	private WifiReceiver wr01;
 54 | 	private List<ScanResult> lScanResult;
 55 | 	
 56 | 	private Context context;
 57 | 	
 58 | 	/*
 59 | 	 * Handles writing of GPS data.
 60 | 	 */
 61 | 	LocationListener locationListener = new LocationListener() {
 62 | 		@Override
 63 | 		public void onLocationChanged(Location location) {
 64 | 				try {
 65 | 					fwGPS.openFileOnCard();
 66 | 					fwGPS.appendLineToFile(""
 67 | 						+ System.currentTimeMillis() + ","
 68 | 						+ location.getLatitude() + ","
 69 | 						+ location.getLongitude());
 70 | 					fwGPS.closeFileOnCard();
 71 | 				} catch (FileNotFoundException e) {
 72 | 					e.printStackTrace();
 73 | 				}
 74 | 		}
 75 | 		@Override
 76 | 		public void onStatusChanged(String provider, int status, Bundle extras) {
 77 | 		}
 78 | 		@Override
 79 | 		public void onProviderEnabled(String provider) {
 80 | 		}
 81 | 		@Override
 82 | 		public void onProviderDisabled(String provider) {
 83 | 		}
 84 | 
 85 | 	};
 86 | 	
 87 | 	/**
 88 | 	 * A class that receives the scan results of a WiFi scan. After each scan a
 89 | 	 * new scan is started.
 90 | 	 * 
 91 | 	 * @author Paul
 92 | 	 * 
 93 | 	 */
 94 | 	class WifiReceiver extends BroadcastReceiver {
 95 | 		// Wifi
 96 | 		WifiManager wmLocal;
 97 | 
 98 | 		public WifiReceiver(WifiManager wm01) {
 99 | 			wmLocal = wm01;
100 | 		}
101 | 
102 | 		@Override
103 | 		public void onReceive(Context c, Intent intent) {
104 | 			lScanResult = wm01.getScanResults();
105 | 			boolean retry = true;
106 | 			int tries = 0;
107 | 			while(retry && tries < 3){
108 | 				try {
109 | 					fwWifi.openFileOnCard();
110 | 					fwWifi.appendLineToFile("Time passed (ms): "
111 | 							+ (System.currentTimeMillis()));					
112 | 					retry = false;
113 | 				} catch (FileNotFoundException e) {
114 | 					tries++;
115 | 				}
116 | 			}			
117 | 			// retry was set to false, can log data
118 | 			if(!retry){
119 | 				for (int i = 0; i < lScanResult.size(); i++) {
120 | 					fwWifi.appendLineToFile((new Integer(i + 1).toString()
121 | 							+ "." + lScanResult.get(i)).toString());
122 | 				}
123 | 				fwWifi.closeFileOnCard();
124 | 			}
125 | 			// After each scan, start a new scan.
126 | 			wmLocal.startScan();
127 | 		}
128 | 	}
129 | 	
130 | 	public DataLogger(Context context, long routeID, String from, String to){
131 | 		this.routeID = routeID;
132 | 		this.from = from;
133 | 		this.to = to;
134 | 		this.context = context;
135 | 		locationManager = (LocationManager) context.getSystemService(Context.LOCATION_SERVICE);
136 | 	}
137 | 	
138 | 	public void logTimedCompass(long timestamp, double value){
139 | 		writeTofwObject(fwCompass, "" + timestamp + ", " + value);
140 | 	}
141 | 	public void logTimedVariance(long timestamp, double value){
142 | 		writeTofwObject(fwVariance, "" + timestamp + ", " + value);
143 | 	}
144 | 	
145 | 	public void logRawCompass(long timestamp, double x, double y, double z){
146 | 		if(!compOpen){
147 | 			boolean retry = true;
148 | 			int tries = 0;
149 | 			while(retry && tries < 3){
150 | 				try {
151 | 					fwRawCompass.openFileOnCard();
152 | 					retry = false;
153 | 					compOpen = true;
154 | 				} catch (FileNotFoundException e) {
155 | 					tries++;
156 | 				}
157 | 			}
158 | 		}
159 | 		if(compOpen){
160 | 			fwRawCompass.appendLineToFile("" + timestamp + ", " + x + ", " + y + ", " + z);
161 | 		}
162 | 	}
163 | 	
164 | 	public void logTimedAcc(long timestamp, double value){
165 | 		writeTofwObject(fwAccelerometer, "" + timestamp + ", " + value);
166 | 	}
167 | 	
168 | 	public void logRawAcc(long timestamp, double x, double y, double z){
169 | 		if(!accOpen){
170 | 			boolean retry = true;
171 | 			int tries = 0;
172 | 			while(retry && tries < 3){
173 | 				try {
174 | 					fwRawAccel.openFileOnCard();
175 | 					retry = false;
176 | 					accOpen = true;
177 | 				} catch (FileNotFoundException e) {
178 | 					tries++;
179 | 				}
180 | 			}
181 | 		}
182 | 		if(accOpen){
183 | 			fwRawAccel.appendLineToFile("" + timestamp + ", " + x + ", " + y + ", " + z);
184 | 		}
185 | 	}
186 | 	
187 | 	public void logPosition(long timestamp, double latBest, double lonBest, double progressBest,
188 | 			double latFirst, double lonFirst, double progressFirst){
189 | 		// NOTE: progress is in [0,1]
190 | 		writeTofwObject(fwPosition, "" + timestamp + ", " + latBest + ", " + lonBest + ", " + progressBest
191 | 				+ latFirst + ", " + lonFirst + ", " + progressFirst);
192 | 	}
193 | 	
194 | 	public void logRoute(double lat0, double lon0){
195 | 		writeTofwObject(fwRoute, "" + lat0 + ", " + lon0);		
196 | 	}
197 | 	public void logSimpleRoute(double lat0, double lon0){
198 | 		writeTofwObject(fwSimpleRoute, "" + lat0 + ", " + lon0);
199 | 	}
200 | 	
201 | 	public void logStep(long timestamp, double direction){
202 | 		writeTofwObject(fwSteps, "" + timestamp + ", " + direction);
203 | 	}
204 | 	
205 | 	public void logInfo(String s){
206 | 		writeTofwObject(fwInfo, s);
207 | 	}
208 | 	
209 | 	public boolean started(){
210 | 		return started;
211 | 	}
212 | 	
213 | 	public long getRouteId(){
214 | 		return routeID;
215 | 	}
216 | 	
217 | 	public void startLogging(){
218 | 		Log.i("FOOTPATH", "Starting Logging");
219 | 		routeID = System.currentTimeMillis();
220 | 		createFileObjects();
221 | 		
222 | 		try {
223 | 			fwRawAccel.openFileOnCard();
224 | 			accOpen = true;
225 | 			fwRawCompass.openFileOnCard();
226 | 			compOpen = true;
227 | 		} catch (FileNotFoundException e) {
228 | 			e.printStackTrace();
229 | 		}	
230 | 		
231 | 		locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0,
232 | 				0, locationListener);
233 | 		wm01 = (WifiManager) context.getSystemService(Context.WIFI_SERVICE);
234 | 		wr01 = new WifiReceiver(wm01);
235 | 		context.registerReceiver(wr01, new IntentFilter(
236 | 				WifiManager.SCAN_RESULTS_AVAILABLE_ACTION));
237 | 		Log.i("FOOTPATH", "Registered WifiReceiver");
238 | 		wm01.startScan();
239 | 		Log.i("FOOTPATH", "Started WiFi Scan");
240 | 		started = true;
241 | 	}
242 | 	
243 | 	public void stopLogging(){
244 | 		started = false;
245 | 		locationManager.removeUpdates(locationListener);
246 | 		context.unregisterReceiver(wr01);
247 | 		if(accOpen){
248 | 			fwRawAccel.closeFileOnCard();
249 | 		}
250 | 		if(compOpen){
251 | 			fwRawCompass.closeFileOnCard();
252 | 		}
253 | 	}
254 | 	
255 | 	private void createFileObjects() {
256 | 		fwAccelerometer = new FWriter("" + routeID + "_" + from + "_" + to, "acc.csv");
257 | 		fwCompass = new FWriter("" + routeID + "_" + from + "_" + to, "comp.csv");
258 | 		fwVariance = new FWriter("" + routeID + "_" + from + "_" + to, "zVar.csv");
259 | 		fwPosition = new FWriter("" + routeID + "_" + from + "_" + to, "pos.csv");
260 | 		fwSteps = new FWriter("" + routeID + "_" + from + "_" + to, "steps.csv");
261 | 		fwGPS = new FWriter("" + routeID + "_" + from + "_" + to, "gps.csv");
262 | 		fwWifi = new FWriter("" + routeID + "_" + from + "_" + to, "wifi.csv");
263 | 		fwRawAccel = new FWriter("" + routeID + "_" + from + "_" + to, "rawacc.csv");
264 | 		fwRawCompass = new FWriter("" + routeID + "_" + from + "_" + to, "rawcomp.csv");
265 | 		fwRoute = new FWriter("" + routeID + "_" + from + "_" + to, "route.csv");
266 | 		fwSimpleRoute = new FWriter("" + routeID + "_" + from + "_" + to, "simpleroute.csv");
267 | 		fwInfo = new FWriter("" + routeID + "_" + from + "_" + to, "info(rev. " +  Rev.rev  + ").txt");
268 | 	}
269 | 	
270 | 	private void writeTofwObject(FWriter fw, String data){
271 | 		boolean retry = true;
272 | 		int tries = 0;
273 | 		while(retry && tries < 3){
274 | 			try {
275 | 				fw.openFileOnCard();
276 | 				fw.appendLineToFile(data);
277 | 				fw.closeFileOnCard();
278 | 				retry = false;
279 | 			} catch (FileNotFoundException e) {
280 | 				//e.printStackTrace();
281 | 				tries++;
282 | 			}
283 | 		}
284 | 	}
285 | }
286 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/footpath/log/FWriter.java:
--------------------------------------------------------------------------------
  1 | package de.uvwxy.footpath.log;
  2 | 
  3 | import java.io.File;
  4 | import java.io.FileNotFoundException;
  5 | import java.io.FileOutputStream;
  6 | import java.io.IOException;
  7 | import java.io.PrintWriter;
  8 | 
  9 | import de.uvwxy.footpath.gui.Navigator;
 10 | 
 11 | import android.os.Environment;
 12 | import android.util.Log;
 13 | 
 14 | /**
 15 |  * A class for opening, writing to and closing of a text file. The directory
 16 |  * written to is LOG_DIR in the directory retrieved from
 17 |  * getExternalStorageDirectory(). The file name is given to the constructor.
 18 |  * 
 19 |  * @author Paul Smith
 20 |  * 
 21 |  */
 22 | public class FWriter {
 23 | 	PrintWriter p;
 24 | 	FileOutputStream fos;
 25 | 	String fileName;
 26 | 	boolean open = false;
 27 | 	
 28 | 	String sub_directory;
 29 | 	/**
 30 | 	 * Constructor
 31 | 	 * 
 32 | 	 * @param fileName
 33 | 	 *            the file name
 34 | 	 */
 35 | 	public FWriter(String sub_directory, String fileName) {
 36 | 		this.fileName = fileName;
 37 | 		this.sub_directory = sub_directory;
 38 | 	}
 39 | 
 40 | 	/**
 41 | 	 * Creates the directory LOG_DIR on the external storage and opens the file
 42 | 	 * for writing. There is no problem if LOG_DIR already exists.
 43 | 	 * 
 44 | 	 * @throws FileNotFoundException
 45 | 	 */
 46 | 	public void openFileOnCard() throws FileNotFoundException {
 47 | 		// check if first dir exists
 48 | 		File dir = new File(Environment.getExternalStorageDirectory(),Navigator.LOG_DIR);
 49 | 		if(!dir.exists()){
 50 | 			dir.mkdir();
 51 | 		}
 52 | 		// check if second dir exists
 53 | 		dir = new File(Environment.getExternalStorageDirectory(),
 54 | 				Navigator.LOG_DIR + sub_directory);
 55 | 		if(!dir.exists()){
 56 | 			dir.mkdir();
 57 | 		}
 58 | 		// check if file exists
 59 | 		File f = new File (dir, fileName);
 60 | 		if(!f.exists()){
 61 | 			try {
 62 | 				// create it
 63 | 				f.createNewFile();
 64 | 			} catch (IOException e) {
 65 | 				Log.i("FOOTPATH", "ERROR: " + e.toString());
 66 | 				throw new FileNotFoundException("IOException");
 67 | 			}
 68 | 		}
 69 | 		try {
 70 | 			fos = new FileOutputStream(f, true);
 71 | 			p = new PrintWriter(fos);
 72 | 		} catch (IOException e) {
 73 | 			Log.i("FOOTPATH", "ERROR: " + e.toString());
 74 | 			throw new FileNotFoundException("IOException");
 75 | 		}
 76 | 		
 77 | 		open = true;
 78 | 	}
 79 | 
 80 | 	/**
 81 | 	 * Appends a string to a text file followed by a new line
 82 | 	 * 
 83 | 	 * @param data
 84 | 	 *            the line to append
 85 | 	 */
 86 | 	public void appendLineToFile(String data) {
 87 | 		p.append(data + "\n");
 88 | 	}
 89 | 
 90 | 	/**
 91 | 	 * Closes the previously opened file.F
 92 | 	 */
 93 | 	public void closeFileOnCard() {
 94 | 		if(open){
 95 | 			p.close();
 96 | 			open = false;
 97 | 		}
 98 | 	}
 99 | }
100 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/paintbox/PaintBox.java:
--------------------------------------------------------------------------------
 1 | package de.uvwxy.paintbox;
 2 | 
 3 | import android.content.Context;
 4 | import android.graphics.Canvas;
 5 | import android.view.SurfaceHolder;
 6 | import android.view.SurfaceView;
 7 | 
 8 | /**
 9 |  * A class managing the creation of a canvas to draw on.
10 |  * 
11 |  * Usage:
12 |  * 
13 |  * 	Create a class which overrides onDraw. Once the surface is created onDraw()
14 |  * 	is called in an infinite loop from a PaintThread. Destroying the surface
15 |  * 	stops the background thread calling onDraw().
16 |  * 
17 |  * @author Paul Smith
18 |  * 
19 |  */
20 | public abstract class PaintBox extends SurfaceView implements SurfaceHolder.Callback {
21 | 
22 | 	@Override
23 | 	public void surfaceChanged(SurfaceHolder arg0, int arg1, int arg2, int arg3) {
24 | 	}
25 | 
26 | 	@Override
27 | 	public void surfaceCreated(SurfaceHolder arg0) {
28 | 		pThread = new PaintThread(getHolder(), this);
29 | 		pThread.setRunning(true);
30 | 		pThread.start();
31 | 	}
32 | 
33 | 	@Override
34 | 	public void surfaceDestroyed(SurfaceHolder arg0) {
35 | 		boolean retry = true;
36 | 		pThread.setRunning(false);
37 | 		while (retry) {
38 | 			try {
39 | 				pThread.join();
40 | 				retry = false;
41 | 			} catch (InterruptedException e) {
42 | 			}
43 | 		}
44 | 	}
45 | 
46 | 	@Override
47 | 	protected abstract void onDraw(Canvas canvas);
48 | 
49 | 	PaintThread pThread;
50 | 
51 | 	public PaintBox(Context context) {
52 | 		super(context);
53 | 		getHolder().addCallback(this);
54 | 	}
55 | }
56 | 


--------------------------------------------------------------------------------
/src/de/uvwxy/paintbox/PaintThread.java:
--------------------------------------------------------------------------------
 1 | package de.uvwxy.paintbox;
 2 | 
 3 | import android.graphics.Canvas;
 4 | import android.view.SurfaceHolder;
 5 | 
 6 | /**
 7 |  * A class to create a thread to repaint the graphics.
 8 |  * 
 9 |  * @author Paul Smith
10 |  * 
11 |  */
12 | class PaintThread extends Thread {
13 | 	private SurfaceHolder surfaceHolder;
14 | 	private PaintBox pBox;
15 | 	private boolean bRunning = false;
16 | 
17 | 	public PaintThread(SurfaceHolder surfaceHolder, PaintBox pBox) {
18 | 		this.surfaceHolder = surfaceHolder;
19 | 		this.pBox = pBox;
20 | 	}
21 | 
22 | 	public void setRunning(boolean run) {
23 | 		bRunning = run;
24 | 	}
25 | 
26 | 	@Override
27 | 	public void run() {
28 | 		Canvas c;
29 | 		while (bRunning) {
30 | 			c = null;
31 | 			try {
32 | 				c = surfaceHolder.lockCanvas(null);
33 | 				synchronized (surfaceHolder) {
34 | 					pBox.onDraw(c);
35 | 				}
36 | 			} finally {
37 | 				if (c != null) {
38 | 					surfaceHolder.unlockCanvasAndPost(c);
39 | 				}
40 | 			}
41 | 		}
42 | 	}
43 | }


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/tools/4228_4222.png:
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https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/tools/4228_4222.png


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/tools/4228_5056.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/tools/4228_5056.png


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/tools/README:
--------------------------------------------------------------------------------
1 | Usage: java -jar URL2QR.jar <width in px> <height in px> <URL> <output file>
2 | OR
3 | Usage: java -jar URL2QR.jar <width in px> <height in px> <Base-URL> <Room From> <Room To> <output file>
4 | 
5 | 


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/tools/URL2QR.jar:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/COMSYS/FootPath/d3cfd0d9030e66a3fef30e83161cfc541a984dab/tools/URL2QR.jar


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/update-revfile.sh:
--------------------------------------------------------------------------------
 1 | #!/bin/bash
 2 | 
 3 | function parse_git_branch {
 4 |   git branch --no-color 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/\1/'
 5 | }
 6 | 
 7 | function get_git_revision {
 8 |   git rev-parse `parse_git_branch`
 9 | }
10 | 
11 | 
12 | #echo "branch:" `parse_git_branch`
13 | #echo "sha1:  " `get_git_revision`
14 | REVNO=$(get_git_revision)
15 | echo "package de.uvwxy.footpath;public class Rev{public final static String rev = \"$REVNO\";}" > gen/de/uvwxy/footpath/Rev.java
16 | 
17 | 
18 | 
19 | 


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