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"x": -0.2, + "y": 0.3, + "z": 9.81 + }, + "gyr": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotationVector": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "w": 1.0 + }, + "stepCount": 14 + }, + { + "relativeTimestamp": "14400", + "acc": { + "x": -0.2, + "y": 0.3, + "z": 9.81 + }, + "gyr": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotationVector": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "w": 1.0 + }, + "stepCount": 14 + }, + { + "relativeTimestamp": "14500", + "acc": { + "x": -0.2, + "y": 0.3, + "z": 9.81 + }, + "gyr": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotationVector": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "w": 1.0 + }, + "stepCount": 14 + }, + { + "relativeTimestamp": "14600", + "acc": { + "x": -0.2, + "y": 0.3, + "z": 9.81 + }, + "gyr": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotationVector": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "w": 1.0 + }, + "stepCount": 14 + }, + { + "relativeTimestamp": "14700", + "acc": { + "x": -0.2, + "y": 0.3, + "z": 9.81 + }, + "gyr": { + 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"rotationVector": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "w": 1.0 + }, + "stepCount": 15 + }, + { + "relativeTimestamp": "15200", + "acc": { + "x": -0.2, + "y": 0.3, + "z": 9.81 + }, + "gyr": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotationVector": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "w": 1.0 + }, + "stepCount": 15 + }, + { + "relativeTimestamp": "15300", + "acc": { + "x": -0.2, + "y": 0.3, + "z": 9.81 + }, + "gyr": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotationVector": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "w": 1.0 + }, + "stepCount": 15 + }, + { + "relativeTimestamp": "15400", + "acc": { + "x": -0.2, + "y": 0.3, + "z": 9.81 + }, + "gyr": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotationVector": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "w": 1.0 + }, + "stepCount": 15 + }, + { + "relativeTimestamp": "15500", + "acc": { + "x": -0.2, + "y": 0.3, + "z": 9.81 + }, + "gyr": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "rotationVector": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "w": 1.0 + }, + "stepCount": 15 + } + ], + "pdrData": [ + { + "relativeTimestamp": "0", + "x": 0.0, + "y": 0.0, + "currentElevation": 0.0, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "500", + "x": 1.4, + "y": 0.0, + "currentElevation": 0.0, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "1000", + "x": 2.8, + "y": 0.0, + "currentElevation": 0.0, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "1500", + "x": 4.2, + "y": 0.0, + "currentElevation": 0.0, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "2000", + "x": 5.6, + "y": 0.0, + "currentElevation": 0.0, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "2500", + "x": 7.0, + "y": 0.0, + "currentElevation": 0.0, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "3000", + "x": 8.4, + "y": 0.0, + "currentElevation": 0.0, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "3500", + "x": 9.8, + "y": 0.0, + "currentElevation": 0.0, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "4000", + "x": 11.2, + "y": 0.0, + "currentElevation": 0.0, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "4500", + "x": 12.6, + "y": 0.0, + "currentElevation": 0.0, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "5000", + "x": 15.0, + "y": 1.1, + "currentElevation": 0.6, + "deltaHeight": 0.6, + "heightChanged": true, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "5500", + "x": 16.0, + "y": 2.3, + "currentElevation": 1.2, + "deltaHeight": 0.6, + "heightChanged": true, + "syntheticFloor": 0 + }, + { + "relativeTimestamp": "6000", + "x": 16.9, + "y": 3.6, + "currentElevation": 2.0, + "deltaHeight": 0.8, + "heightChanged": true, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "6500", + "x": 17.7, + "y": 4.7, + "currentElevation": 2.7, + "deltaHeight": 0.7, + "heightChanged": true, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "7000", + "x": 18.5, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.6, + "heightChanged": true, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "7500", + "x": 20.0, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "8000", + "x": 21.5, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "8500", + "x": 23.0, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "9000", + "x": 24.5, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "9500", + "x": 26.0, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "10000", + "x": 27.5, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "10500", + "x": 29.0, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "11000", + "x": 30.5, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "11500", + "x": 32.0, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "12000", + "x": 33.5, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "12500", + "x": 35.0, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "13000", + "x": 36.5, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "13500", + "x": 38.0, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + }, + { + "relativeTimestamp": "14000", + "x": 39.5, + "y": 5.7, + "currentElevation": 3.3, + "deltaHeight": 0.0, + "heightChanged": false, + "syntheticFloor": 1 + } + ], + "gnssData": [], + "magnetometerData": [] +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java index 2d2b1cbf..a1d618d4 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java +++ b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java @@ -4,9 +4,11 @@ import android.hardware.SensorManager; import android.util.Log; +import androidx.annotation.Nullable; + import com.google.android.gms.maps.model.LatLng; -import com.google.gson.Gson; import com.google.gson.JsonArray; +import com.google.gson.JsonElement; import com.google.gson.JsonObject; import com.google.gson.JsonParser; import com.openpositioning.PositionMe.presentation.fragment.ReplayFragment; @@ -19,111 +21,91 @@ import java.util.Collections; import java.util.Comparator; import java.util.List; +import java.util.Locale; /** - * Handles parsing of trajectory data stored in JSON files, combining IMU, PDR, and GNSS data - * to reconstruct motion paths. - * - *

- * The **TrajParser** is primarily responsible for processing recorded trajectory data and - * reconstructing motion information, including estimated positions, GNSS coordinates, speed, and orientation. - * It does this by reading a JSON file containing: - *

- * - * - *

- * **Usage in Module 'PositionMe.app.main':** - *

- * - * - * @see ReplayFragment which uses parsed trajectory data for visualization. - * @see SensorFusion for motion processing and sensor integration. - * @see com.openpositioning.PositionMe.presentation.fragment.ReplayFragment for implementation details. - * - * @author Shu Gu - * @author Lin Cheng + * Handles parsing of trajectory data stored in JSON files, combining IMU, PDR, GNSS and + * optional barometer data to reconstruct replay motion paths. */ public class TrajParser { private static final String TAG = "TrajParser"; + private static final double DEFAULT_REPLAY_FLOOR_HEIGHT_METERS = 4.0d; + private static final double REPLAY_HEIGHT_CHANGED_THRESHOLD_METERS = 1.6d; - /** - * Represents a single replay point containing estimated PDR position, GNSS location, - * orientation, speed, and timestamp. - */ public static class ReplayPoint { - public LatLng pdrLocation; // PDR-derived location estimate - public LatLng gnssLocation; // GNSS location (may be null if unavailable) - public float orientation; // Orientation in degrees - public float speed; // Speed in meters per second - public long timestamp; // Relative timestamp - - /** - * Constructs a ReplayPoint. - * - * @param pdrLocation The pedestrian dead reckoning (PDR) location. - * @param gnssLocation The GNSS location, or null if unavailable. - * @param orientation The orientation angle in degrees. - * @param speed The speed in meters per second. - * @param timestamp The timestamp associated with this point. - */ - public ReplayPoint(LatLng pdrLocation, LatLng gnssLocation, float orientation, float speed, long timestamp) { + public LatLng pdrLocation; + public LatLng gnssLocation; + public float orientation; + public float speed; + public long timestamp; + public Integer syntheticFloor; + public Double currentElevation; + public Double deltaHeight; + public boolean heightChanged; + public Integer initialFloor; + + public ReplayPoint(LatLng pdrLocation, + LatLng gnssLocation, + float orientation, + float speed, + long timestamp, + Integer syntheticFloor, + Double currentElevation, + Double deltaHeight, + boolean heightChanged, + Integer initialFloor) { this.pdrLocation = pdrLocation; this.gnssLocation = gnssLocation; this.orientation = orientation; this.speed = speed; this.timestamp = timestamp; + this.syntheticFloor = syntheticFloor; + this.currentElevation = currentElevation; + this.deltaHeight = deltaHeight; + this.heightChanged = heightChanged; + this.initialFloor = initialFloor; } } - /** Represents an IMU (Inertial Measurement Unit) data record used for orientation calculations. */ private static class ImuRecord { - public long relativeTimestamp; - public float accX, accY, accZ; // Accelerometer values - public float gyrX, gyrY, gyrZ; // Gyroscope values - public float rotationVectorX, rotationVectorY, rotationVectorZ, rotationVectorW; // Rotation quaternion + long relativeTimestamp; + float rotationVectorX, rotationVectorY, rotationVectorZ, rotationVectorW; } - /** Represents a Pedestrian Dead Reckoning (PDR) data record storing position shifts over time. */ private static class PdrRecord { - public long relativeTimestamp; - public float x, y; // Position relative to the starting point + long relativeTimestamp; + float x, y; + Integer syntheticFloor; + Double currentElevation; + Double deltaHeight; + Boolean heightChanged; } - /** Represents a GNSS (Global Navigation Satellite System) data record with latitude/longitude. */ private static class GnssRecord { - public long relativeTimestamp; - public double latitude, longitude; // GNSS coordinates + long relativeTimestamp; + double latitude, longitude; + } + + private static class PressureRecord { + long relativeTimestamp; + double pressureHpa; + } + + private static class VerticalEstimate { + final double currentElevation; + final double deltaHeight; + final boolean heightChanged; + final int syntheticFloor; + + VerticalEstimate(double currentElevation, double deltaHeight, boolean heightChanged, int syntheticFloor) { + this.currentElevation = currentElevation; + this.deltaHeight = deltaHeight; + this.heightChanged = heightChanged; + this.syntheticFloor = syntheticFloor; + } } - /** - * Parses trajectory data from a JSON file and reconstructs a list of replay points. - * - *

- * This method processes a trajectory log file, extracting IMU, PDR, and GNSS records, - * and uses them to generate **ReplayPoint** objects. Each point contains: - *

- * - * - * @param filePath Path to the JSON file containing trajectory data. - * @param context Android application context (used for sensor processing). - * @param originLat Latitude of the reference origin. - * @param originLng Longitude of the reference origin. - * @return A list of parsed {@link ReplayPoint} objects. - */ public static List parseTrajectoryData(String filePath, Context context, double originLat, double originLng) { List result = new ArrayList<>(); @@ -139,20 +121,33 @@ public static List parseTrajectoryData(String filePath, Context con return result; } - BufferedReader br = new BufferedReader(new FileReader(file)); - JsonObject root = new JsonParser().parse(br).getAsJsonObject(); - br.close(); - + JsonObject root = readJsonObject(file); Log.i(TAG, "Successfully read trajectory file: " + filePath); - long startTimestamp = root.has("startTimestamp") ? root.get("startTimestamp").getAsLong() : 0; + Integer initialFloor = root.has("initialFloor") && !root.get("initialFloor").isJsonNull() + ? safeGetInt(root.get("initialFloor"), null) + : null; List imuList = parseImuData(root.getAsJsonArray("imuData")); List pdrList = parsePdrData(root.getAsJsonArray("pdrData")); List gnssList = parseGnssData(root.getAsJsonArray("gnssData")); + List pressureList = parsePressureData(root.getAsJsonArray("pressureData")); + + Log.i(TAG, String.format(Locale.US, + "Parsed data - IMU=%d PDR=%d GNSS=%d Pressure=%d", + imuList.size(), pdrList.size(), gnssList.size(), pressureList.size())); + + if (pdrList.isEmpty()) { + return result; + } - Log.i(TAG, "Parsed data - IMU: " + imuList.size() + " records, PDR: " - + pdrList.size() + " records, GNSS: " + gnssList.size() + " records"); + long replayReferenceTimestamp = pdrList.get(0).relativeTimestamp; + PressureRecord replayReferencePressure = findClosestPressureRecord(pressureList, replayReferenceTimestamp); + Double baseElevation = replayReferencePressure != null + ? pressureToRelativeElevationMeters(replayReferencePressure.pressureHpa, + replayReferencePressure.pressureHpa) + : null; + double floorHeightMeters = DEFAULT_REPLAY_FLOOR_HEIGHT_METERS; for (int i = 0; i < pdrList.size(); i++) { PdrRecord pdr = pdrList.get(i); @@ -173,24 +168,61 @@ public static List parseTrajectoryData(String filePath, Context con double dx = pdr.x - prev.x; double dy = pdr.y - prev.y; double distance = Math.sqrt(dx * dx + dy * dy); - if (dt > 0) speed = (float) (distance / dt); + if (dt > 0) { + speed = (float) (distance / dt); + } } - double lat = originLat + pdr.y * 1E-5; double lng = originLng + pdr.x * 1E-5; LatLng pdrLocation = new LatLng(lat, lng); GnssRecord closestGnss = findClosestGnssRecord(gnssList, pdr.relativeTimestamp); - LatLng gnssLocation = closestGnss != null ? - new LatLng(closestGnss.latitude, closestGnss.longitude) : null; + LatLng gnssLocation = closestGnss != null + ? new LatLng(closestGnss.latitude, closestGnss.longitude) + : null; + + Integer syntheticFloor = pdr.syntheticFloor; + Double currentElevation = pdr.currentElevation; + Double deltaHeight = pdr.deltaHeight; + boolean heightChanged = Boolean.TRUE.equals(pdr.heightChanged); + + if (syntheticFloor == null || currentElevation == null || deltaHeight == null || !heightChanged) { + VerticalEstimate estimate = buildVerticalEstimate( + pressureList, + replayReferencePressure, + pdr.relativeTimestamp, + floorHeightMeters + ); + if (syntheticFloor == null) { + syntheticFloor = estimate.syntheticFloor; + } + if (currentElevation == null) { + currentElevation = estimate.currentElevation; + } + if (deltaHeight == null) { + deltaHeight = estimate.deltaHeight; + } + if (!heightChanged) { + heightChanged = estimate.heightChanged; + } + } - result.add(new ReplayPoint(pdrLocation, gnssLocation, orientationDeg, - 0f, pdr.relativeTimestamp)); + result.add(new ReplayPoint( + pdrLocation, + gnssLocation, + orientationDeg, + speed, + pdr.relativeTimestamp, + syntheticFloor, + currentElevation, + deltaHeight, + heightChanged, + initialFloor + )); } Collections.sort(result, Comparator.comparingLong(rp -> rp.timestamp)); - Log.i(TAG, "Final ReplayPoints count: " + result.size()); } catch (Exception e) { @@ -199,58 +231,227 @@ public static List parseTrajectoryData(String filePath, Context con return result; } -/** Parses IMU data from JSON. */ -private static List parseImuData(JsonArray imuArray) { - List imuList = new ArrayList<>(); - if (imuArray == null) return imuList; - Gson gson = new Gson(); - for (int i = 0; i < imuArray.size(); i++) { - ImuRecord record = gson.fromJson(imuArray.get(i), ImuRecord.class); - imuList.add(record); + + private static JsonObject readJsonObject(File file) throws Exception { + StringBuilder sb = new StringBuilder(); + try (BufferedReader reader = new BufferedReader(new FileReader(file))) { + String line; + while ((line = reader.readLine()) != null) { + sb.append(line).append('\n'); + } + } + + String raw = sb.toString(); + int firstBrace = raw.indexOf('{'); + if (firstBrace > 0) { + raw = raw.substring(firstBrace); + } + return JsonParser.parseString(raw).getAsJsonObject(); + } + + private static List parseImuData(@Nullable JsonArray imuArray) { + List imuList = new ArrayList<>(); + if (imuArray == null) { + return imuList; + } + + for (JsonElement element : imuArray) { + if (!element.isJsonObject()) { + continue; + } + JsonObject obj = element.getAsJsonObject(); + ImuRecord record = new ImuRecord(); + record.relativeTimestamp = safeGetLong(obj.get("relativeTimestamp"), 0L); + + JsonObject rv = obj.has("rotationVector") && obj.get("rotationVector").isJsonObject() + ? obj.getAsJsonObject("rotationVector") : null; + if (rv != null) { + record.rotationVectorX = safeGetFloat(rv.get("x"), 0f); + record.rotationVectorY = safeGetFloat(rv.get("y"), 0f); + record.rotationVectorZ = safeGetFloat(rv.get("z"), 0f); + record.rotationVectorW = safeGetFloat(rv.get("w"), 1f); + } else { + record.rotationVectorW = 1f; + } + imuList.add(record); + } + return imuList; + } + + private static List parsePdrData(@Nullable JsonArray pdrArray) { + List pdrList = new ArrayList<>(); + if (pdrArray == null) { + return pdrList; + } + + for (JsonElement element : pdrArray) { + if (!element.isJsonObject()) { + continue; + } + JsonObject obj = element.getAsJsonObject(); + PdrRecord record = new PdrRecord(); + record.relativeTimestamp = safeGetLong(obj.get("relativeTimestamp"), 0L); + record.x = safeGetFloat(obj.get("x"), 0f); + record.y = safeGetFloat(obj.get("y"), 0f); + record.syntheticFloor = safeGetInt(obj.get("syntheticFloor"), null); + record.currentElevation = safeGetDoubleObj(obj.get("currentElevation")); + record.deltaHeight = safeGetDoubleObj(obj.get("deltaHeight")); + record.heightChanged = safeGetBoolean(obj.get("heightChanged"), null); + pdrList.add(record); + } + return pdrList; } - return imuList; -}/** Parses PDR data from JSON. */ -private static List parsePdrData(JsonArray pdrArray) { - List pdrList = new ArrayList<>(); - if (pdrArray == null) return pdrList; - Gson gson = new Gson(); - for (int i = 0; i < pdrArray.size(); i++) { - PdrRecord record = gson.fromJson(pdrArray.get(i), PdrRecord.class); - pdrList.add(record); + + private static List parseGnssData(@Nullable JsonArray gnssArray) { + List gnssList = new ArrayList<>(); + if (gnssArray == null) { + return gnssList; + } + + for (JsonElement element : gnssArray) { + if (!element.isJsonObject()) { + continue; + } + JsonObject obj = element.getAsJsonObject(); + JsonObject position = obj.has("position") && obj.get("position").isJsonObject() + ? obj.getAsJsonObject("position") : obj; + + GnssRecord record = new GnssRecord(); + record.relativeTimestamp = safeGetLong(position.get("relativeTimestamp"), 0L); + record.latitude = safeGetDouble(position.get("latitude"), 0d); + record.longitude = safeGetDouble(position.get("longitude"), 0d); + gnssList.add(record); + } + return gnssList; } - return pdrList; -}/** Parses GNSS data from JSON. */ -private static List parseGnssData(JsonArray gnssArray) { - List gnssList = new ArrayList<>(); - if (gnssArray == null) return gnssList; - Gson gson = new Gson(); - for (int i = 0; i < gnssArray.size(); i++) { - GnssRecord record = gson.fromJson(gnssArray.get(i), GnssRecord.class); - gnssList.add(record); + + private static List parsePressureData(@Nullable JsonArray pressureArray) { + List pressureList = new ArrayList<>(); + if (pressureArray == null) { + return pressureList; + } + + for (JsonElement element : pressureArray) { + if (!element.isJsonObject()) { + continue; + } + JsonObject obj = element.getAsJsonObject(); + PressureRecord record = new PressureRecord(); + record.relativeTimestamp = safeGetLong(obj.get("relativeTimestamp"), 0L); + record.pressureHpa = safeGetDouble(obj.get("pressure"), Double.NaN); + if (!Double.isNaN(record.pressureHpa) && record.pressureHpa > 0d) { + pressureList.add(record); + } + } + return pressureList; } - return gnssList; -}/** Finds the closest IMU record to the given timestamp. */ -private static ImuRecord findClosestImuRecord(List imuList, long targetTimestamp) { - return imuList.stream().min(Comparator.comparingLong(imu -> Math.abs(imu.relativeTimestamp - targetTimestamp))) - .orElse(null); - -}/** Finds the closest GNSS record to the given timestamp. */ -private static GnssRecord findClosestGnssRecord(List gnssList, long targetTimestamp) { - return gnssList.stream().min(Comparator.comparingLong(gnss -> Math.abs(gnss.relativeTimestamp - targetTimestamp))) - .orElse(null); - -}/** Computes the orientation from a rotation vector. */ -private static float computeOrientationFromRotationVector(float rx, float ry, float rz, float rw, Context context) { - float[] rotationVector = new float[]{rx, ry, rz, rw}; - float[] rotationMatrix = new float[9]; - float[] orientationAngles = new float[3]; - - SensorManager sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE); - SensorManager.getRotationMatrixFromVector(rotationMatrix, rotationVector); - SensorManager.getOrientation(rotationMatrix, orientationAngles); - - float azimuthDeg = (float) Math.toDegrees(orientationAngles[0]); - return azimuthDeg < 0 ? azimuthDeg + 360.0f : azimuthDeg; -} -} \ No newline at end of file + private static VerticalEstimate buildVerticalEstimate(List pressureList, + @Nullable PressureRecord basePressure, + long targetTimestamp, + double floorHeightMeters) { + if (pressureList == null || pressureList.isEmpty() || basePressure == null) { + return new VerticalEstimate(0d, 0d, false, 0); + } + + PressureRecord closest = findClosestPressureRecord(pressureList, targetTimestamp); + if (closest == null) { + return new VerticalEstimate(0d, 0d, false, 0); + } + + double currentElevation = pressureToRelativeElevationMeters(basePressure.pressureHpa, closest.pressureHpa); + double deltaHeight = currentElevation; + boolean heightChanged = Math.abs(deltaHeight) >= REPLAY_HEIGHT_CHANGED_THRESHOLD_METERS; + int syntheticFloor = (int) Math.round(deltaHeight / floorHeightMeters); + + return new VerticalEstimate(currentElevation, deltaHeight, heightChanged, syntheticFloor); + } + + private static double pressureToRelativeElevationMeters(double basePressureHpa, double currentPressureHpa) { + return 44330.0d * (1.0d - Math.pow(currentPressureHpa / basePressureHpa, 0.1903d)); + } + + @Nullable + private static ImuRecord findClosestImuRecord(List imuList, long targetTimestamp) { + return imuList.stream() + .min(Comparator.comparingLong(imu -> Math.abs(imu.relativeTimestamp - targetTimestamp))) + .orElse(null); + } + + @Nullable + private static GnssRecord findClosestGnssRecord(List gnssList, long targetTimestamp) { + return gnssList.stream() + .min(Comparator.comparingLong(gnss -> Math.abs(gnss.relativeTimestamp - targetTimestamp))) + .orElse(null); + } + + @Nullable + private static PressureRecord findClosestPressureRecord(List pressureList, long targetTimestamp) { + return pressureList.stream() + .min(Comparator.comparingLong(pr -> Math.abs(pr.relativeTimestamp - targetTimestamp))) + .orElse(null); + } + + private static float computeOrientationFromRotationVector(float rx, float ry, float rz, float rw, Context context) { + float[] rotationVector = new float[]{rx, ry, rz, rw}; + float[] rotationMatrix = new float[9]; + float[] orientationAngles = new float[3]; + + SensorManager.getRotationMatrixFromVector(rotationMatrix, rotationVector); + SensorManager.getOrientation(rotationMatrix, orientationAngles); + + float azimuthDeg = (float) Math.toDegrees(orientationAngles[0]); + return azimuthDeg < 0 ? azimuthDeg + 360.0f : azimuthDeg; + } + + private static long safeGetLong(@Nullable JsonElement element, long fallback) { + try { + return element == null || element.isJsonNull() ? fallback : element.getAsLong(); + } catch (Exception ignored) { + return fallback; + } + } + + private static float safeGetFloat(@Nullable JsonElement element, float fallback) { + try { + return element == null || element.isJsonNull() ? fallback : element.getAsFloat(); + } catch (Exception ignored) { + return fallback; + } + } + + private static double safeGetDouble(@Nullable JsonElement element, double fallback) { + try { + return element == null || element.isJsonNull() ? fallback : element.getAsDouble(); + } catch (Exception ignored) { + return fallback; + } + } + + @Nullable + private static Double safeGetDoubleObj(@Nullable JsonElement element) { + try { + return element == null || element.isJsonNull() ? null : element.getAsDouble(); + } catch (Exception ignored) { + return null; + } + } + + @Nullable + private static Integer safeGetInt(@Nullable JsonElement element, @Nullable Integer fallback) { + try { + return element == null || element.isJsonNull() ? fallback : element.getAsInt(); + } catch (Exception ignored) { + return fallback; + } + } + + @Nullable + private static Boolean safeGetBoolean(@Nullable JsonElement element, @Nullable Boolean fallback) { + try { + return element == null || element.isJsonNull() ? fallback : element.getAsBoolean(); + } catch (Exception ignored) { + return fallback; + } + } +} diff --git a/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java b/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java index cadb6037..cffcd586 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java +++ b/app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java @@ -192,6 +192,9 @@ public interface FloorplanCallback { */ public void requestFloorplan(double lat, double lon, List macs, FloorplanCallback callback) { + Log.d(TAG, "userKey length = " + (BuildConfig.OPENPOSITIONING_API_KEY == null ? -1 : BuildConfig.OPENPOSITIONING_API_KEY.length())); + Log.d(TAG, "masterKey = " + BuildConfig.OPENPOSITIONING_MASTER_KEY); + String url = BASE_URL + userKey + "?key=" + masterKey; // Build JSON request body @@ -233,12 +236,14 @@ public void onFailure(Call call, IOException e) { public void onResponse(Call call, Response response) throws IOException { try (ResponseBody responseBody = response.body()) { if (!response.isSuccessful() || responseBody == null) { - String error = responseBody != null - ? responseBody.string() : "Unknown error"; - Log.e(TAG, "Floorplan request error: " - + response.code() + " " + error); + String error = responseBody != null ? responseBody.string() : "Unknown error"; + String allow = response.header("Allow"); + Log.e(TAG, "Floorplan request error: code=" + response.code() + + ", allow=" + allow + + ", body=" + error); postToMainThread(() -> - callback.onFailure("Server error: " + response.code())); + callback.onFailure("Server error: " + response.code() + + (allow != null ? " allow=" + allow : ""))); return; } diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java new file mode 100644 index 00000000..343dbbce --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/AdaptiveQsmfiHeadingCalibrator.java @@ -0,0 +1,499 @@ +package com.openpositioning.PositionMe.fusion; + +import android.hardware.SensorManager; + +import java.util.ArrayDeque; +import java.util.ArrayList; +import java.util.Deque; +import java.util.List; + +/** + * Adaptive QSMFI + gyro heading calibrator. + * + * Paper-inspired behaviour: + * - classifies stationary vs walking + * - uses different sliding-window durations for each mode + * - adapts magnetic heading variance thresholds over time + * - rejects candidate QSMFIs when gyro rotation over the window is too large + * - rejects candidate QSMFIs when stable compass heading disagrees too much with gyro heading + * - when accepted, uses the stable compass heading to recalibrate fused heading + * + * Output: + * - fusedHeadingRad: the heading that should be fed into both PDR and the particle filter + */ +public class AdaptiveQsmfiHeadingCalibrator { + + private static final double DEG2RAD = Math.PI / 180.0; + + // --------------------------------------------------------------------- + // Current sensor states + // --------------------------------------------------------------------- + private boolean hasGravity = false; + private boolean hasMagnetic = false; + private boolean initialised = false; + + private final float[] gravity = new float[3]; + private final float[] magnetic = new float[3]; + + private double compassHeadingRad = 0.0; // tilt-compensated magnetic heading + private double gyroHeadingRad = 0.0; // integrated gyro heading + private double fusedHeadingRad = 0.0; // final output heading + + private long lastGyroTimestampNs = -1L; + private long lastStepTimestampNs = -1L; + + // --------------------------------------------------------------------- + // Adaptive QSMFI thresholds and windows + // --------------------------------------------------------------------- + private long windowNsStationary = 2_000_000_000L; // 2.0 s + private long windowNsWalking = 800_000_000L; // 0.8 s + + // variance of heading in radians^2 + private double tauMagVarStationary = Math.pow(6.0 * DEG2RAD, 2); + private double tauMagVarWalking = Math.pow(10.0 * DEG2RAD, 2); + + private static final double TAU_MAG_VAR_MIN = Math.pow(3.0 * DEG2RAD, 2); + private static final double TAU_MAG_VAR_MAX = Math.pow(18.0 * DEG2RAD, 2); + + // gyro motion thresholds + private static final double TAU_GYRO_STATIONARY = 5.0 * DEG2RAD; + private static final double TAU_GYRO_WALKING = 12.0 * DEG2RAD; + + // compass-vs-gyro agreement threshold + private static final double TAU_QSMFI_GYRO_AGREE = 15.0 * DEG2RAD; + + // adaptive update parameters + private static final double EPS_ADAPT = 0.15; + private static final double DELTA_INC = Math.pow(1.5 * DEG2RAD, 2); + private static final double DELTA_DEC = Math.pow(1.0 * DEG2RAD, 2); + + // --------------------------------------------------------------------- + // Histories + // --------------------------------------------------------------------- + private final Deque compassHistory = new ArrayDeque<>(); + private final Deque gyroHistory = new ArrayDeque<>(); + private final Deque qsmfiAcceptHistory = new ArrayDeque<>(); + private static final int QSMFI_ACCEPT_HISTORY_SIZE = 20; + + // --------------------------------------------------------------------- + // Status + // --------------------------------------------------------------------- + private boolean headingReliable = true; + private String lastCorrectionSource = "gyro_only"; + + // Turn detection with hysteresis + private static final double TURN_RATE_ON = 30.0 * DEG2RAD; + private static final double TURN_RATE_OFF = 18.0 * DEG2RAD; + + private boolean isTurning = false; + private double lastGyroRate = 0.0; + private boolean isCompassStable = false; + private boolean isGyroStable = false; + private boolean isStraight = false; + private static final double FIXED_HEADING_BIAS_RAD = Math.toRadians(25.0); + + private double applyHeadingBias(double headingRad) { + return wrapAngle(headingRad - FIXED_HEADING_BIAS_RAD); + } + + public void reset() { + hasGravity = false; + hasMagnetic = false; + initialised = false; + gravity[0] = gravity[1] = gravity[2] = 0f; + magnetic[0] = magnetic[1] = magnetic[2] = 0f; + compassHeadingRad = 0.0; + gyroHeadingRad = 0.0; + fusedHeadingRad = 0.0; + lastGyroTimestampNs = -1L; + lastStepTimestampNs = -1L; + windowNsStationary = 2_000_000_000L; + windowNsWalking = 800_000_000L; + tauMagVarStationary = Math.pow(6.0 * DEG2RAD, 2); + tauMagVarWalking = Math.pow(10.0 * DEG2RAD, 2); + compassHistory.clear(); + gyroHistory.clear(); + qsmfiAcceptHistory.clear(); + isTurning = false; + isCompassStable = false; + isGyroStable = false; + lastGyroRate = 0.0; + isStraight = false; + headingReliable = false; + lastCorrectionSource = "gyro_only"; + } + + /** + * Updates gyro-based heading using angular rate integration. + */ + public void onGyro(float gzRadPerSec, long timestampNs) { + if (lastGyroTimestampNs < 0L) { + lastGyroTimestampNs = timestampNs; + return; + } + + double dt = (timestampNs - lastGyroTimestampNs) * 1e-9; + lastGyroTimestampNs = timestampNs; + + // Sign corrected to match your compass heading convention + double correctedGyroRate = -gzRadPerSec; + + lastGyroRate = Math.abs(correctedGyroRate); + + if (isTurning) { + isTurning = lastGyroRate > TURN_RATE_OFF; + } else { + isTurning = lastGyroRate > TURN_RATE_ON; + } + + gyroHeadingRad = wrapAngle(gyroHeadingRad + correctedGyroRate * dt); + + if (!initialised) { + fusedHeadingRad = gyroHeadingRad; + } else { + fusedHeadingRad = wrapAngle(fusedHeadingRad + correctedGyroRate * dt); + } + + gyroHistory.addLast(new AngleSample(timestampNs, gyroHeadingRad)); + trimHistory(gyroHistory, windowNsStationary + 500_000_000L); + } + + // Updates gravity vector and refreshes compass heading if possible. + public void onGravity(float gx, float gy, float gz) { + gravity[0] = gx; + gravity[1] = gy; + gravity[2] = gz; + hasGravity = true; + updateCompassHeading(); + } + /** + * Updates magnetic field data, computes compass heading, stores history, + * and attempts heading calibration. + */ + public void onMagneticField(float mx, float my, float mz, long timestampNs) { + magnetic[0] = mx; + magnetic[1] = my; + magnetic[2] = mz; + hasMagnetic = true; + updateCompassHeading(); + + if (!hasGravity || !hasMagnetic) { + return; + } + + compassHistory.addLast(new AngleSample(timestampNs, compassHeadingRad)); + trimHistory(compassHistory, windowNsStationary + 500_000_000L); + + attemptQsmfiCalibration(timestampNs); + } + + // Marks the latest step time for walking detection. + public void onStepDetected(long timestampNs) { + lastStepTimestampNs = timestampNs; + } + + /** + * Computes tilt-compensated compass heading from gravity and magnetic sensors. + */ + private void updateCompassHeading() { + if (!hasGravity || !hasMagnetic) { + return; + } + + float[] R = new float[9]; + float[] I = new float[9]; + boolean ok = SensorManager.getRotationMatrix(R, I, gravity, magnetic); + if (!ok) { + return; + } + + float[] orientation = new float[3]; + SensorManager.getOrientation(R, orientation); + +// compassHeadingRad = wrapAngle(orientation[0]); + compassHeadingRad = applyHeadingBias(orientation[0]); + + if (!initialised) { + initialised = true; + gyroHeadingRad = compassHeadingRad; + fusedHeadingRad = compassHeadingRad; + } + } + + /** + * Attempts to correct fused heading using a stable compass heading window. + */ + private void attemptQsmfiCalibration(long nowNs) { + boolean walking = isWalking(nowNs); + + // Select the time window and thresholds based on the motion state. + long windowNs = walking ? windowNsWalking : windowNsStationary; + double tauMagVar = walking ? tauMagVarWalking : tauMagVarStationary; + double tauGyro = walking ? TAU_GYRO_WALKING : TAU_GYRO_STATIONARY; + + // Get recent compass heading samples inside the selected window. + List compassWindow = getRecentAngles(compassHistory, nowNs, windowNs); + + // Not enough data yet to judge heading stability. + if (compassWindow.size() < 8) { + headingReliable = false; + lastCorrectionSource = "gyro_only"; + return; + } + // Measure compass heading variation and gyro heading change over the same window. + double varCompass = circularVariance(compassWindow); + double gyroDelta = getRecentGyroDelta(nowNs, windowNs); + + boolean accepted = false; + + // Check whether gyro motion is calm enough and compass heading is stable enough. + isGyroStable = Math.abs(gyroDelta) < tauGyro; + isCompassStable = varCompass < tauMagVar; + + // Compute a stable compass heading from the recent window. + double stableHeading = circularMean(compassWindow); + // Compare compass-based heading with current gyro heading. + double disagreement = Math.abs(wrapAngle(stableHeading - gyroHeadingRad)); + + boolean canFuse; + + if (isTurning) { + // During turns, be more strict before accepting compass correction. + canFuse = isCompassStable + && disagreement < TAU_QSMFI_GYRO_AGREE * 0.5; + } else { + // During straight or calm motion, require both stable gyro and stable compass. + canFuse = isCompassStable + && isGyroStable + && disagreement < TAU_QSMFI_GYRO_AGREE; + } + + if (canFuse) { + double gain; + // Use smaller correction gain during turns, larger gain when stable. + if (isTurning) { + gain = walking ? 0.07 : 0.10; + } else { + gain = walking ? 0.12 : 0.25; + } + // Blend fused heading toward the stable compass heading. + fusedHeadingRad = blendAngle(fusedHeadingRad, stableHeading, gain); + headingReliable = true; + lastCorrectionSource = "qsmfi"; + accepted = true; + } else { + // If checks fail, keep using gyro-only heading. + headingReliable = false; + lastCorrectionSource = "gyro_only"; + } + + updateQsmfiAcceptance(accepted); + adaptQsmfiThresholds(); + } + + private void updateQsmfiAcceptance(boolean accepted) { + // Store whether the latest QSMFI attempt was accepted. + qsmfiAcceptHistory.addLast(accepted); + // Keep only the most recent acceptance results. + while (qsmfiAcceptHistory.size() > QSMFI_ACCEPT_HISTORY_SIZE) { + qsmfiAcceptHistory.removeFirst(); + } + } + + private void adaptQsmfiThresholds() { + // Nothing to adapt if there is no acceptance history yet. + if (qsmfiAcceptHistory.isEmpty()) { + return; + } + + // Compute the recent acceptance rate of QSMFI correction. + double acceptRate = 0.0; + for (Boolean b : qsmfiAcceptHistory) { + if (Boolean.TRUE.equals(b)) { + acceptRate += 1.0; + } + } + acceptRate /= qsmfiAcceptHistory.size(); + + // Adapt walking compass-variance threshold: + // increase it if acceptance is low, decrease it if acceptance is high. + tauMagVarWalking = clamp( + tauMagVarWalking + EPS_ADAPT * (DELTA_INC * (1.0 - acceptRate) - DELTA_DEC * acceptRate), + TAU_MAG_VAR_MIN, + TAU_MAG_VAR_MAX + ); + + tauMagVarStationary = clamp( + tauMagVarStationary + EPS_ADAPT * (DELTA_INC * (1.0 - acceptRate) - DELTA_DEC * acceptRate), + TAU_MAG_VAR_MIN, + TAU_MAG_VAR_MAX + ); + } + + // --------------------------------------------------------------------- + // Helpers + // --------------------------------------------------------------------- + + private boolean isWalking(long nowNs) { + // Treat the user as walking if a step was detected recently. + return lastStepTimestampNs > 0L && (nowNs - lastStepTimestampNs) < 1_500_000_000L; + } + + private void trimHistory(Deque history, long maxAgeNs) { + // Use the latest known sensor timestamp as the reference time. + long nowNs = Math.max( + compassHistory.isEmpty() ? 0L : compassHistory.peekLast().timestampNs, + gyroHistory.isEmpty() ? 0L : gyroHistory.peekLast().timestampNs + ); + + // Remove samples that are older than the allowed history length. + while (!history.isEmpty() && nowNs - history.peekFirst().timestampNs > maxAgeNs) { + history.removeFirst(); + } + } + + private List getRecentAngles(Deque history, long nowNs, long windowNs) { + // Collect angle samples that lie inside the requested recent time window. + List out = new ArrayList<>(); + for (AngleSample s : history) { + if (nowNs - s.timestampNs <= windowNs) { + out.add(s.angleRad); + } + } + return out; + } + + private double getRecentGyroDelta(long nowNs, long windowNs) { + // Find the first and last gyro heading samples inside the time window. + AngleSample first = null; + AngleSample last = null; + + for (AngleSample s : gyroHistory) { + if (nowNs - s.timestampNs <= windowNs) { + if (first == null) { + first = s; + } + last = s; + } + } + + // If there are not enough samples, return zero change. + if (first == null || last == null) { + return 0.0; + } + + // Return the wrapped heading change over the window. + return wrapAngle(last.angleRad - first.angleRad); + } + + private double circularMean(List angles) { + // Return zero if no angles are available. + if (angles.isEmpty()) { + return 0.0; + } + + // Compute circular mean using summed sine and cosine. + double s = 0.0; + double c = 0.0; + for (double a : angles) { + s += Math.sin(a); + c += Math.cos(a); + } + + return Math.atan2(s / angles.size(), c / angles.size()); + } + + private double circularVariance(List angles) { + // No valid variance if there are no samples. + if (angles.isEmpty()) { + return Double.POSITIVE_INFINITY; + } + + // Compute spread of angles around the circular mean. + double mean = circularMean(angles); + double sum = 0.0; + for (double a : angles) { + double d = wrapAngle(a - mean); + sum += d * d; + } + return sum / angles.size(); + } + + private double blendAngle(double current, double target, double gain) { + + // Move the current angle toward the target angle by the given gain. + return wrapAngle(current + gain * wrapAngle(target - current)); + } + + private double clamp(double v, double lo, double hi) { + // Restrict a value to the given range. + return Math.max(lo, Math.min(hi, v)); + } + + private double wrapAngle(double angle) { + // Keep angle inside the range [-pi, pi]. + while (angle > Math.PI) angle -= 2.0 * Math.PI; + while (angle < -Math.PI) angle += 2.0 * Math.PI; + return angle; + } + + private static class AngleSample { + // Timestamped heading sample used in sliding-window history. + final long timestampNs; + final double angleRad; + + AngleSample(long timestampNs, double angleRad) { + this.timestampNs = timestampNs; + this.angleRad = angleRad; + } + } + + // --------------------------------------------------------------------- + // Getter Functions + // --------------------------------------------------------------------- + + public float getGyroHeadingRad() { + // Returns current gyro-integrated heading. + return (float) gyroHeadingRad; + } + + public float getCompassHeadingRad() { + // Returns current tilt-compensated compass heading. + return (float) compassHeadingRad; + } + + public float getFusedHeadingRad() { + // Returns final fused heading used by downstream logic. + return (float) fusedHeadingRad; + } + + public boolean getIsTurning() { + // Returns whether the user is currently detected as turning. + return isTurning; + } + + public boolean getCompassStable() { + // Returns whether recent compass heading is stable enough. + return isCompassStable; + } + + public boolean getGyroStable() { + // Returns whether recent gyro motion is stable enough. + return isGyroStable; + } + + public boolean isHeadingReliable() { + // Returns whether the current heading output is considered reliable. + return headingReliable; + } + public boolean isInitialised() { + // Returns whether the calibrator has been initialised successfully. + return initialised; + } + + public String getLastCorrectionSource() { + // Returns the source of the most recent heading correction. + return lastCorrectionSource; + } + +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/AutoFloorManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/AutoFloorManager.java new file mode 100644 index 00000000..0c7b5edb --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/AutoFloorManager.java @@ -0,0 +1,421 @@ +package com.openpositioning.PositionMe.fusion; + +import android.util.Log; + +import androidx.annotation.NonNull; +import androidx.annotation.Nullable; + +import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint; +import com.openpositioning.PositionMe.sensors.SensorFusion; + +/** + * AutoFloorManager + * + * Owns the live floor-transition decision state for the PF pipeline. + * + * Design intent: + * - startup floor bootstrap is handled elsewhere (manual floor / initial WiFi floor / default floor) + * - this class handles only LIVE floor ownership after the session has started + * - live floor changes must be conservative: + * 1. require real vertical evidence relative to the last committed floor anchor + * 2. in lift mode, require a stable repeated WiFi target floor + * 3. in non-lift mode, allow only conservative adjacent-floor suggestions + * + * Important: + * this class does NOT directly move particles or change UI. + * It only decides: + * - what floor is currently owned + * - what floor is being requested + * - when a floor change should be committed + * + * ParticleFilterManager remains responsible for: + * - calling this class + * - validating requested floor changes through MapMatchingService + * - applying committed floor changes to the PF engine and live fused pose + */ +public class AutoFloorManager { + + private static final String TAG = "AutoFloorManager"; + + /** Cooldown after a committed floor change to avoid rapid repeated flips. */ + private static final long FLOOR_CHANGE_COOLDOWN_MS = 3000L; + + /** Stable WiFi floor duration required before trusting lift-assisted floor change. */ + private static final long LIVE_LIFT_WIFI_STABLE_MS = 1800L; + + /** Stable WiFi floor sample count required before trusting lift-assisted floor change. */ + private static final int LIVE_LIFT_WIFI_REQUIRED_SAMPLES = 4; + + /** + * Minimum vertical change required before any live floor transition is allowed. + * + * This prevents accidental floor switches just because the user is close to a lift/stairs + * or because of small barometer noise. + */ + private static final double LIVE_AUTO_FLOOR_MIN_VERTICAL_DELTA_METERS = 1.2; + + /** + * Fraction of nominal floor height that must be exceeded before the next floor + * is considered plausible. + * + * Example with 3.0 m floor height and 0.55 fraction: + * required delta per floor β‰ˆ 1.65 m + */ + private static final double LIVE_AUTO_FLOOR_VERTICAL_FRACTION_PER_FLOOR = 0.80; + + /** Default floor height used when real building floor heights are not available. */ + private static final double DEFAULT_FLOOR_HEIGHT_METERS = 3.0; + + /** + * Adapter so AutoFloorManager can validate and clamp floor indices without knowing + * how the building model is stored. + */ + public interface FloorIndexAdapter { + boolean isFloorIndexAvailable(int floorIndex); + int sanitiseFloorIndex(int floorIndex); + } + + /** Main live sensor/state source. */ + private final SensorFusion sensorFusion; + + /** Building-specific floor bounds adapter owned by the PF manager. */ + private final FloorIndexAdapter floorIndexAdapter; + + /** Current authoritative live PF floor. */ + private int activeFloor = 0; + + /** Timestamp when the current floor was last committed. */ + private long lastCommittedFloorChangeElapsedMs = 0L; + + /** Elevation snapshot when the current floor was committed. */ + private double lastCommittedElevationMeters = Double.NaN; + + /** Pending repeated WiFi floor candidate used only during lift mode. */ + private int pendingLiftWifiFloor = Integer.MIN_VALUE; + + /** First timestamp when the current pending lift WiFi floor was observed. */ + private long pendingLiftWifiSinceMs = 0L; + + /** Number of repeated samples seen for the pending lift WiFi floor. */ + private int pendingLiftWifiSamples = 0; + + public AutoFloorManager(@NonNull SensorFusion sensorFusion, + @NonNull FloorIndexAdapter floorIndexAdapter) { + this.sensorFusion = sensorFusion; + this.floorIndexAdapter = floorIndexAdapter; + } + + /** + * Resets all live floor-transition state. + * + * Use this at the start/end of a recording session, or whenever the PF manager resets. + */ + public void reset() { + activeFloor = 0; + lastCommittedFloorChangeElapsedMs = 0L; + lastCommittedElevationMeters = Double.NaN; + resetLiftWifiFloorState(); + } + + /** + * Initialises the live floor owner to a known starting floor. + * + * This should be called once the PF start floor is chosen, so later live transitions + * are measured relative to a committed elevation anchor. + */ + public void initialiseFloor(int floorIndex) { + activeFloor = floorIndexAdapter.sanitiseFloorIndex(floorIndex); + syncCommittedFloorAnchor(); + resetLiftWifiFloorState(); + } + + /** + * Forces a new current floor immediately. + * + * This is used when the user manually changes the floor from the UI. + */ + public void forceFloor(int floorIndex) { + initialiseFloor(floorIndex); + } + + /** + * Returns the currently owned live floor. + */ + public int getActiveFloor() { + return activeFloor; + } + + /** + * Commits a validated floor transition. + * + * This should only be called AFTER MapMatchingService has accepted the floor change. + */ + public void onFloorCommitted(int floorIndex, long timestampMs) { + activeFloor = floorIndexAdapter.sanitiseFloorIndex(floorIndex); + lastCommittedFloorChangeElapsedMs = timestampMs; + syncCommittedFloorAnchor(); + resetLiftWifiFloorState(); + + Log.d(TAG, + "Committed live floor" + + " | activeFloor=" + activeFloor + + ", committedAt=" + timestampMs + + ", committedElevation=" + lastCommittedElevationMeters); + } + + /** + * Decides whether a cross-floor WiFi observation may be accepted as a position observation. + * + * This is intentionally strict: + * - only relevant during lift mode + * - WiFi floor must be stable + * - enough vertical change from the committed anchor must already exist + * + * Use this only for observation gating, not as the final floor-switch decision. + */ + public boolean shouldAcceptCrossFloorWifiObservation(int observedWifiFloor, long timestampMs) { + if (!sensorFusion.getElevator()) { + return false; + } + + if (!floorIndexAdapter.isFloorIndexAvailable(observedWifiFloor)) { + return false; + } + + int candidateFloor = floorIndexAdapter.sanitiseFloorIndex(observedWifiFloor); + Integer stableLiftWifiFloor = resolveStableLiftWifiFloor(timestampMs); + + return stableLiftWifiFloor != null + && stableLiftWifiFloor == candidateFloor + && hasSufficientCommittedVerticalChange(candidateFloor); + } + + /** + * Produces the next requested floor for the current live update. + * + * Policy: + * - if live auto floor is disabled -> keep current floor + * - if there is no valid vertical transition hint -> keep current floor + * - if cooldown is active -> keep current floor + * - in lift mode: + * trust only stable repeated WiFi floor + sufficient vertical change + * - in non-lift mode: + * allow adjacent WiFi floor if plausible, otherwise infer adjacent floor from height sign + * + * This returns only a REQUESTED floor. + * It does not itself commit the floor change. + */ + public int resolveRequestedFloor(@Nullable VerticalTransitionHint verticalHint, + long timestampMs) { + + if (!sensorFusion.isLiveAutoFloorEnabled()) { + resetLiftWifiFloorState(); + return activeFloor; + } + + if (verticalHint == null || !verticalHint.isHeightChanged()) { + resetLiftWifiFloorState(); + return activeFloor; + } + + if (timestampMs - lastCommittedFloorChangeElapsedMs < FLOOR_CHANGE_COOLDOWN_MS) { + return activeFloor; + } + + boolean elevatorLikely = sensorFusion.getElevator(); + + if (elevatorLikely) { + Integer stableLiftWifiFloor = resolveStableLiftWifiFloor(timestampMs); + if (stableLiftWifiFloor != null + && stableLiftWifiFloor != activeFloor + && hasSufficientCommittedVerticalChange(stableLiftWifiFloor)) { + + Log.d(TAG, + "Requested floor by stable lift WiFi" + + " | activeFloor=" + activeFloor + + ", targetFloor=" + stableLiftWifiFloor + + ", deltaHeight=" + verticalHint.getDeltaHeight()); + + return stableLiftWifiFloor; + } + + /* + * Minimal fallback: + * if lift WiFi is not stable enough yet, but the barometric height strongly + * indicates a one-floor transition, allow a conservative adjacent-floor request + * by height sign. + */ + int candidateByHeight; + if (verticalHint.getDeltaHeight() > 0.0) { + candidateByHeight = floorIndexAdapter.sanitiseFloorIndex(activeFloor + 1); + } else if (verticalHint.getDeltaHeight() < 0.0) { + candidateByHeight = floorIndexAdapter.sanitiseFloorIndex(activeFloor - 1); + } else { + return activeFloor; + } + + if (candidateByHeight != activeFloor + && Math.abs(candidateByHeight - activeFloor) == 1 + && hasSufficientCommittedVerticalChange(candidateByHeight)) { + + Log.d(TAG, + "Requested floor by lift height fallback" + + " | activeFloor=" + activeFloor + + ", targetFloor=" + candidateByHeight + + ", deltaHeight=" + verticalHint.getDeltaHeight()); + + return candidateByHeight; + } + + return activeFloor; + } + + // Non-lift mode: reset lift WiFi state and use conservative adjacent-floor logic. + resetLiftWifiFloorState(); + + int wifiFloor = sensorFusion.getWifiFloor(); + boolean wifiFloorValid = floorIndexAdapter.isFloorIndexAvailable(wifiFloor); + + if (wifiFloorValid + && wifiFloor != activeFloor + && Math.abs(wifiFloor - activeFloor) == 1 + && hasSufficientCommittedVerticalChange(wifiFloor)) { + return floorIndexAdapter.sanitiseFloorIndex(wifiFloor); + } + + int candidateByHeight; + if (verticalHint.getDeltaHeight() > 0.0) { + candidateByHeight = floorIndexAdapter.sanitiseFloorIndex(activeFloor + 1); + } else if (verticalHint.getDeltaHeight() < 0.0) { + candidateByHeight = floorIndexAdapter.sanitiseFloorIndex(activeFloor - 1); + } else { + return activeFloor; + } + + if (candidateByHeight != activeFloor + && hasSufficientCommittedVerticalChange(candidateByHeight)) { + return candidateByHeight; + } + + return activeFloor; + } + + /** + * Clears all pending lift WiFi stability state. + * + * This must be called whenever: + * - the user forces a floor + * - a floor is committed + * - lift mode is no longer relevant + * - no usable WiFi floor is present + */ + private void resetLiftWifiFloorState() { + pendingLiftWifiFloor = Integer.MIN_VALUE; + pendingLiftWifiSinceMs = 0L; + pendingLiftWifiSamples = 0; + } + + /** + * Re-anchors the current floor ownership to the latest elevation. + * + * Later floor transitions are measured relative to this committed elevation anchor. + */ + private void syncCommittedFloorAnchor() { + lastCommittedElevationMeters = sensorFusion.getElevation(); + } + + /** + * Tracks repeated WiFi floor samples during lift mode and returns a stable candidate floor. + * + * Requirements: + * - WiFi position must exist + * - WiFi floor must be a valid floor + * - WiFi floor must differ from the currently active floor + * - same WiFi floor must repeat for enough samples and enough elapsed time + */ + @Nullable + private Integer resolveStableLiftWifiFloor(long timestampMs) { + if (sensorFusion.getLatLngWifiPositioning() == null) { + resetLiftWifiFloorState(); + return null; + } + + int wifiFloor = sensorFusion.getWifiFloor(); + if (!floorIndexAdapter.isFloorIndexAvailable(wifiFloor)) { + resetLiftWifiFloorState(); + return null; + } + + int candidateFloor = floorIndexAdapter.sanitiseFloorIndex(wifiFloor); + + if (candidateFloor == activeFloor) { + resetLiftWifiFloorState(); + return null; + } + + if (candidateFloor != pendingLiftWifiFloor) { + pendingLiftWifiFloor = candidateFloor; + pendingLiftWifiSinceMs = timestampMs; + pendingLiftWifiSamples = 1; + + Log.d(TAG, + "Pending lift WiFi floor" + + " | candidate=" + candidateFloor + + ", active=" + activeFloor); + + return null; + } + + pendingLiftWifiSamples++; + long stableDurationMs = timestampMs - pendingLiftWifiSinceMs; + + if (pendingLiftWifiSamples >= LIVE_LIFT_WIFI_REQUIRED_SAMPLES + && stableDurationMs >= LIVE_LIFT_WIFI_STABLE_MS) { + Log.d(TAG, + "Stable lift WiFi floor accepted" + + " | candidate=" + candidateFloor + + ", active=" + activeFloor + + ", samples=" + pendingLiftWifiSamples + + ", stableMs=" + stableDurationMs); + return candidateFloor; + } + + return null; + } + + /** + * Checks whether enough barometric vertical change has accumulated since the last + * committed floor anchor. + * + * This is the main safeguard against false floor changes caused by: + * - being physically near a lift + * - one noisy WiFi floor estimate + * - small pressure fluctuations + */ + private boolean hasSufficientCommittedVerticalChange(int targetFloor) { + if (!Double.isFinite(lastCommittedElevationMeters)) { + return false; + } + + int floorSteps = Math.max(1, Math.abs(targetFloor - activeFloor)); + double requiredDeltaMeters = Math.max( + LIVE_AUTO_FLOOR_MIN_VERTICAL_DELTA_METERS, + DEFAULT_FLOOR_HEIGHT_METERS + * LIVE_AUTO_FLOOR_VERTICAL_FRACTION_PER_FLOOR + * floorSteps + ); + + double actualDeltaMeters = Math.abs(sensorFusion.getElevation() - lastCommittedElevationMeters); + + Log.d(TAG, + "Vertical gate" + + " | active=" + activeFloor + + ", target=" + targetFloor + + ", actualDelta=" + actualDeltaMeters + + ", requiredDelta=" + requiredDeltaMeters + + ", anchorElev=" + lastCommittedElevationMeters + + ", currentElev=" + sensorFusion.getElevation()); + + return actualDeltaMeters >= requiredDeltaMeters; + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java new file mode 100644 index 00000000..329947b5 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/CoordinateConverter.java @@ -0,0 +1,60 @@ +package com.openpositioning.PositionMe.fusion; + +import com.google.android.gms.maps.model.LatLng; + +/** + * Utility for converting between geographic WGS84 coordinates and a local + * tangent-plane style coordinate system expressed in meters. + * + *

This is intentionally simple and is appropriate for small local areas such + * as the assignment buildings. It matches the assignment requirement that PDR, + * Wi-Fi, and GNSS should be fused in a local easting/northing-style frame.

+ */ +public class CoordinateConverter { + + private static final double EARTH_RADIUS_METERS = 6378137.0; + + private final double lat0Deg; + private final double lon0Deg; + + /** + * Creates a converter anchored at the given geographic origin. + * + * @param lat0Deg anchor latitude in degrees + * @param lon0Deg anchor longitude in degrees + */ + public CoordinateConverter(double lat0Deg, double lon0Deg) { + this.lat0Deg = lat0Deg; + this.lon0Deg = lon0Deg; + } + + /** + * Converts a LatLng into local metric coordinates. + * + * @param latLng geographic coordinate to convert + * @return array of size 2 containing x and y in meters + */ + public double[] latLngToLocal(LatLng latLng) { + double dLat = Math.toRadians(latLng.latitude - lat0Deg); + double dLon = Math.toRadians(latLng.longitude - lon0Deg); + + double x = EARTH_RADIUS_METERS * dLon * Math.cos(Math.toRadians(lat0Deg)); + double y = EARTH_RADIUS_METERS * dLat; + return new double[]{x, y}; + } + + /** + * Converts local metric coordinates back into a LatLng. + * + * @param x local x coordinate in meters + * @param y local y coordinate in meters + * @return corresponding geographic coordinate + */ + public LatLng localToLatLng(double x, double y) { + double lat = lat0Deg + Math.toDegrees(y / EARTH_RADIUS_METERS); + double lon = lon0Deg + Math.toDegrees( + x / (EARTH_RADIUS_METERS * Math.cos(Math.toRadians(lat0Deg))) + ); + return new LatLng(lat, lon); + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java new file mode 100644 index 00000000..42fb82d4 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/FusedPose.java @@ -0,0 +1,98 @@ +package com.openpositioning.PositionMe.fusion; +import com.google.android.gms.maps.model.LatLng; + +/** + * Immutable model representing the latest fused pose estimate produced by the + * particle filter. + * + *

The pose is stored both in local metric coordinates (x/y in meters) + * and in geographic coordinates (LatLng) so that the filter can work in a + * local ENU-like frame while the UI can render the result directly on the + * Google Map.

+ */ +public class FusedPose { + private final double xMeters; + private final double yMeters; + private final double headingRad; + private final int floor; + private final LatLng latLng; + private final float confidence; + + /** + * Creates a new fused pose estimate. + * + * @param xMeters local x position in meters + * @param yMeters local y position in meters + * @param headingRad heading in radians + * @param floor estimated floor + * @param latLng geographic representation of the position + * @param confidence confidence indicator in the range [0, 1] + */ + public FusedPose(double xMeters, + double yMeters, + double headingRad, + int floor, + LatLng latLng, + float confidence) { + this.xMeters = xMeters; + this.yMeters = yMeters; + this.headingRad = headingRad; + this.floor = floor; + this.latLng = latLng; + this.confidence = confidence; + } + + /** + * Returns the fused local x coordinate in meters. + * + * @return local x coordinate + */ + public double getXMeters() { + return xMeters; + } + + /** + * Returns the fused local y coordinate in meters. + * + * @return local y coordinate + */ + public double getYMeters() { + return yMeters; + } + + /** + * Returns the fused heading in radians. + * + * @return heading in radians + */ + public double getHeadingRad() { + return headingRad; + } + + /** + * Returns the fused floor estimate. + * + * @return estimated floor + */ + public int getFloor() { + return floor; + } + + /** + * Returns the fused position as a geographic coordinate. + * + * @return fused geographic position + */ + public LatLng getLatLng() { + return latLng; + } + + /** + * Returns a simple confidence score derived from particle diversity. + * + * @return confidence in the range [0, 1] + */ + public float getConfidence() { + return confidence; + } +} diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java new file mode 100644 index 00000000..8a650136 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/KalmanPoseSmoother.java @@ -0,0 +1,116 @@ +package com.openpositioning.PositionMe.fusion; + +/** + * Lightweight Kalman-style output smoother for PF poses. + * + * It does NOT modify the internal particle set. + * It only smooths the exported/displayed fused pose. + * + * State: + * - x, y in local meters + * - theta in radians + * + * Inputs per update: + * - raw PF pose + * - PF confidence + * - step distance + * - absolute heading change + * - whether a strong absolute observation was accepted this update + */ +public class KalmanPoseSmoother { + private boolean initialised = false; + + private double x; + private double y; + private double theta; + + // State uncertainty + private double pPos = 1.0; + private double pTheta = Math.toRadians(15.0) * Math.toRadians(15.0); + + public void reset() { + initialised = false; + x = 0.0; + y = 0.0; + theta = 0.0; + pPos = 1.0; + pTheta = Math.toRadians(15.0) * Math.toRadians(15.0); + } + + public SmoothedPose update( + double rawX, + double rawY, + double rawTheta, + double confidence, + double stepDistance, + double deltaThetaAbs, + boolean strongAbsoluteObservationAccepted + ) { + if (!initialised) { + initialised = true; + x = rawX; + y = rawY; + theta = rawTheta; + return new SmoothedPose(x, y, theta); + } + + double qPos = 0.02 + 0.20 * stepDistance * stepDistance; + double qTheta = Math.toRadians(1.0) * Math.toRadians(1.0) + + 0.50 * deltaThetaAbs * deltaThetaAbs; + + pPos += qPos; + pTheta += qTheta; + + double clampedConf = clamp(confidence, 0.0, 1.0); + + double rPos = lerp(9.0, 0.5, clampedConf); + double rTheta = lerp( + Math.toRadians(20.0) * Math.toRadians(20.0), + Math.toRadians(3.0) * Math.toRadians(3.0), + clampedConf + ); + + if (!strongAbsoluteObservationAccepted) { + rPos *= 1.5; + rTheta *= 1.2; + } + + double kPos = pPos / (pPos + rPos); + double kTheta = pTheta / (pTheta + rTheta); + + x = x + kPos * (rawX - x); + y = y + kPos * (rawY - y); + theta = wrapAngle(theta + kTheta * wrapAngle(rawTheta - theta)); + + pPos = (1.0 - kPos) * pPos; + pTheta = (1.0 - kTheta) * pTheta; + + return new SmoothedPose(x, y, theta); + } + + private static double clamp(double v, double lo, double hi) { + return Math.max(lo, Math.min(hi, v)); + } + + private static double lerp(double a, double b, double t) { + return a + t * (b - a); + } + + private static double wrapAngle(double angle) { + while (angle > Math.PI) angle -= 2.0 * Math.PI; + while (angle < -Math.PI) angle += 2.0 * Math.PI; + return angle; + } + + public static class SmoothedPose { + public final double x; + public final double y; + public final double theta; + + public SmoothedPose(double x, double y, double theta) { + this.x = x; + this.y = y; + this.theta = theta; + } + } +} diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java new file mode 100644 index 00000000..a4289eda --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java @@ -0,0 +1,55 @@ +package com.openpositioning.PositionMe.fusion; + +/** + * Mutable particle state used internally by the particle filter. + * + *

Each particle stores a candidate user pose and an importance weight. + * The filter propagates, reweights, and resamples these particles over time.

+ */ +public class Particle { + + double x; + double y; + double theta; + int floor; + double weight; + + // Previous state from the last predict() boundary. + // These are used for discrete map-constraint checks such as wall crossing. + double prevX; + double prevY; + int prevFloor; + + /** + * Creates a particle with the supplied state. + * + * @param x local x coordinate in meters + * @param y local y coordinate in meters + * @param theta heading in radians + * @param floor floor index + * @param weight importance weight + */ + public Particle(double x, double y, double theta, int floor, double weight) { + this.x = x; + this.y = y; + this.theta = theta; + this.floor = floor; + this.weight = weight; + this.prevX = x; + this.prevY = y; + this.prevFloor = floor; + } + + /** + * Returns a deep copy of this particle. + * + * @return copied particle + */ + public Particle copy() { + Particle copy = new Particle(x, y, theta, floor, weight); + copy.prevX = prevX; + copy.prevY = prevY; + copy.prevFloor = prevFloor; + return copy; + } +} diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java new file mode 100644 index 00000000..0d601826 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleConstraintDebugger.java @@ -0,0 +1,117 @@ +package com.openpositioning.PositionMe.fusion; + +import android.util.Log; + +import androidx.annotation.NonNull; +import androidx.annotation.Nullable; + +import java.util.Locale; + +/** + * Small helper for particle filter debug logging. + * + * This class does not affect particle filter logic. + * It only formats and prints debug information in a consistent way, + * and can optionally limit how often logs are printed. + */ +public class ParticleConstraintDebugger { + + // Logcat tag used for all messages from this debugger. + private final String tag; + // Time of the last printed log message. + private long lastLogTimeMs = 0L; + // Minimum allowed time gap between logs. + private long minIntervalMs = 0L; + + + /** + * Creates a debugger with the given Logcat tag. + */ + public ParticleConstraintDebugger(@NonNull String tag) { + this.tag = tag; + } + + /** + * Sets the minimum interval between log messages. + * + * If set to 0, logs are not rate-limited. + */ + public void setMinIntervalMs(long minIntervalMs) { + this.minIntervalMs = Math.max(0L, minIntervalMs); + } + /** + * Logs a summary of one particle filter step. + * + * @param phase current PF phase name + * @param particleCount total number of particles + * @param aliveCount number of particles still active + * @param wallRejectedCount number of particles rejected by wall checks + * @param floorRejectedCount number of particles rejected by floor checks + * @param observationWeightedCount number of particles weighted by observations + * @param note optional extra note for debugging + */ + public void logStep(@NonNull String phase, + int particleCount, + int aliveCount, + int wallRejectedCount, + int floorRejectedCount, + int observationWeightedCount, + @Nullable String note) { + + // Get current time for rate limiting. + long now = System.currentTimeMillis(); + + // Skip this log if the minimum interval has not passed yet. + if (now - lastLogTimeMs < minIntervalMs) { + return; + } + + // Update last log time. + lastLogTimeMs = now; + + // Print formatted particle step debug information. + Log.d(tag, String.format(Locale.US, + "PF_STEP phase=%s particles=%d alive=%d wallRejected=%d floorRejected=%d obsWeighted=%d note=%s", + phase, + particleCount, + aliveCount, + wallRejectedCount, + floorRejectedCount, + observationWeightedCount, + note == null ? "-" : note)); + } + + /** + * Logs the current fused pose estimate. + * + * @param phase current PF phase name + * @param lat fused latitude + * @param lng fused longitude + * @param floor fused floor + * @param headingRad fused heading in radians + * @param confidence fused pose confidence + */ + public void logFusedPose(@NonNull String phase, + double lat, + double lng, + int floor, + double headingRad, + double confidence) { + + // Get current time for rate limiting. + long now = System.currentTimeMillis(); + + // Skip this log if the minimum interval has not passed yet. + if (now - lastLogTimeMs < minIntervalMs) { + return; + } + + // Update last log time. + lastLogTimeMs = now; + + // Print formatted fused pose debug information. + Log.d(tag, String.format(Locale.US, + "PF_FUSED phase=%s lat=%.6f lng=%.6f floor=%d headingRad=%.3f confidence=%.3f", + phase, lat, lng, floor, headingRad, confidence)); + } +} diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java new file mode 100644 index 00000000..86d20caa --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterConfig.java @@ -0,0 +1,65 @@ +package com.openpositioning.PositionMe.fusion; + +/** + * Immutable parameter bundle for the particle filter. + * + *

All values here are already converted into internal units: + * - distances in meters + * - angles in radians + */ +public class ParticleFilterConfig { + + /** Number of particles in the filter. */ + public final int particleCount; + + /** Standard deviation of translational prediction noise (m). */ + public final double sigmaStep; + + /** Standard deviation of heading prediction noise (rad). */ + public final double sigmaThetaRad; + + /** Wi-Fi likelihood spread (m). */ + public final double sigmaWifi; + + /** GNSS likelihood spread (m). */ + public final double sigmaGnss; + + /** Initial position spread around the startup pose (m). */ + public final double initPosStd; + + /** Initial heading spread around the startup heading (rad). */ + public final double initHeadingStdRad; + + /** Resampling threshold as a ratio of particle count. */ + public final double resampleRatio; + + /** Position jitter added after resampling (m). */ + public final double sigmaRegPos; + + /** Heading jitter added after resampling (rad). */ + public final double sigmaRegThetaRad; + + public ParticleFilterConfig( + int particleCount, + double sigmaStep, + double sigmaThetaRad, + double sigmaWifi, + double sigmaGnss, + double initPosStd, + double initHeadingStdRad, + double resampleRatio, + double sigmaRegPos, + double sigmaRegThetaRad + ) { + this.particleCount = particleCount; + this.sigmaStep = sigmaStep; + this.sigmaThetaRad = sigmaThetaRad; + this.sigmaWifi = sigmaWifi; + this.sigmaGnss = sigmaGnss; + this.initPosStd = initPosStd; + this.initHeadingStdRad = initHeadingStdRad; + this.resampleRatio = resampleRatio; + this.sigmaRegPos = sigmaRegPos; + this.sigmaRegThetaRad = sigmaRegThetaRad; + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java new file mode 100644 index 00000000..6f810e8c --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterEngine.java @@ -0,0 +1,719 @@ +package com.openpositioning.PositionMe.fusion; + +import android.util.Log; +import androidx.annotation.Nullable; + +import com.google.android.gms.maps.model.LatLng; +import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; +import com.openpositioning.PositionMe.mapmatching.MapGeometryUtils; + +import java.util.ArrayList; +import java.util.List; +import java.util.Random; + +/** + * Particle filter engine for live indoor positioning. + * + * This class maintains the particle cloud and performs the main particle filter cycle: + * 1. initialise particles around a start pose + * 2. predict particle motion from step distance and heading change + * 3. update particle weights using WiFi / GNSS observations + * 4. apply wall-based map constraints + * 5. estimate the fused pose from the weighted particles + * + * Main responsibilities: + * - store and update the active particle set + * - model motion uncertainty with Gaussian noise + * - score particles against absolute observations + * - reduce invalid wall-crossing particles + * - resample and regularise particles when the cloud degenerates + * - provide simple debug statistics such as N_eff and wall-invalid ratio + * + * Notes: + * - positions are stored in local x/y coordinates + * - heading is stored in radians + * - floor is stored as a discrete hypothesis per particle + * - map constraints are used as discrete checks, not as a continuous wall-distance field + */ +public class ParticleFilterEngine { + + private static final String TAG = "ParticleFilterEngine"; + + // Minimum movement before wall check is applied. + private static final double MIN_STEP_FOR_WALL_CHECK_METERS = 0.03; + // Threshold to determine particle alive + private static final double ALIVE_WEIGHT_EPS = 1e-6; + + // Active particle cloud. + private final List particles = new ArrayList<>(); + + // Random source for motion noise and resampling jitter. + private final Random rng = new Random(); + + // Tunable filter parameters + private final int particleCount; + private final double sigmaStep; + private final double sigmaTheta; + private final double sigmaWifi; + private final double sigmaGnss; + private final double initPosStd; + private final double initHeadingStd; + private final double resampleRatio; + private final double sigmaRegPos; + private final double sigmaRegTheta; + + /** Effective sample size after the latest update step. */ + private double lastNeff = 0.0; + + /** Whether the last update triggered resampling. */ + private boolean lastResampled = false; + /** Number of particles that crossed a wall during the latest update. */ + private int lastWallInvalidCount = 0; + + /** Fraction of particles that crossed a wall during the latest update. */ + private double lastWallInvalidRatio = 0.0; + + // Load all particle filter settings from config. + public ParticleFilterEngine(ParticleFilterConfig cfg) { + this.particleCount = cfg.particleCount; + this.sigmaStep = cfg.sigmaStep; + this.sigmaTheta = cfg.sigmaThetaRad; + this.sigmaWifi = cfg.sigmaWifi; + this.sigmaGnss = cfg.sigmaGnss; + this.initPosStd = cfg.initPosStd; + this.initHeadingStd = cfg.initHeadingStdRad; + this.resampleRatio = cfg.resampleRatio; + this.sigmaRegPos = cfg.sigmaRegPos; + this.sigmaRegTheta = cfg.sigmaRegThetaRad; + } + + /** + * Initialises the particle cloud around a starting pose hypothesis. + * + *

All particles begin on the same floor, but position and heading are + * spread using Gaussian noise to represent initial uncertainty. + * + * @param x initial x coordinate in local frame + * @param y initial y coordinate in local frame + * @param theta initial heading in radians + * @param floor initial floor estimate + */ + public void initialise(double x, double y, double theta, int floor) { + // Reset old particles before creating a new cloud. + particles.clear(); + // Create spread particles around the given start position and heading. + for (int i = 0; i < particleCount; i++) { + // add some Gaussian noise for particle variability + double px = x + rng.nextGaussian() * initPosStd; + double py = y + rng.nextGaussian() * initPosStd; + double pt = wrapAngle(theta + rng.nextGaussian() * initHeadingStd); + particles.add(new Particle(px, py, pt, floor, 1.0 / particleCount)); + } + lastNeff = particleCount; + lastResampled = false; + lastWallInvalidCount = 0; + lastWallInvalidRatio = 0.0; + Log.d(TAG, "PF engine initialised" + + " | particleCount=" + particleCount + + ", initPosStd=" + initPosStd + + ", initHeadingStdDeg=" + Math.toDegrees(initHeadingStd)); + } + + /** @return true once particles have been created */ + public boolean isInitialised() { + return !particles.isEmpty(); + } + + /** + * Forces every particle to use the same floor hypothesis. + * + *

This is used after a validated live floor transition. The cloud remains + * motion-driven in x/y, but the authoritative floor owner stays in the manager. + */ + public void setAllParticlesFloor(int floor) { + for (Particle particle : particles) { + particle.floor = floor; + particle.prevFloor = floor; + } + } + + + /** + * Motion prediction step. + * + *

This propagates each particle forward according to: + * - a distance increment deltaS + * - a heading increment deltaTheta + * + *

Noise is added independently to translation and heading to represent + * uncertainty in the motion model. + * + * @param deltaS motion increment in meters + * @param deltaTheta heading increment in radians + */ + public void predict(double deltaS, double deltaTheta, @Nullable ConstraintContext constraintContext) { + for (Particle particle : particles) { + // Save previous state for later wall checks. + particle.prevX = particle.x; + particle.prevY = particle.y; + particle.prevFloor = particle.floor; + + // Add noise to distance and heading. + double ds = deltaS + rng.nextGaussian() * sigmaStep; + double dTheta = deltaTheta + rng.nextGaussian() * sigmaTheta; + + // Update heading + particle.theta = wrapAngle(particle.theta + dTheta); + + // Change angle so zero rad is east + double motionHeading = (Math.PI / 2.0) - particle.theta; + + // Move particle in local Cartesian frame. + particle.x += ds * Math.cos(motionHeading); + particle.y += ds * Math.sin(motionHeading); + + // Only apply wall logic if map constraint data is available + if (constraintContext != null && constraintContext.isUsable()) { + // Ignore very small motion to avoid false wall detections from jitter. + double moved = Math.hypot( + particle.x - particle.prevX, + particle.y - particle.prevY + ); + + if (moved >= MIN_STEP_FOR_WALL_CHECK_METERS) { + // Convert previous and current local points back to map coordinates. + LatLng prevLatLng = constraintContext.coordinateConverter.localToLatLng( + particle.prevX, + particle.prevY + ); + LatLng currentLatLng = constraintContext.coordinateConverter.localToLatLng( + particle.x, + particle.y + ); + + // check if cross wall + boolean crossesWall = MapGeometryUtils.crossesWall(prevLatLng, currentLatLng, constraintContext.sourceFloorShapes); + + // If the predicted path crosses a wall, push the particle back to a valid area. + if (crossesWall) { + // Snap near the last valid point before the wall. + LatLng lastValid = MapGeometryUtils.findFarthestValidPointBeforeWall(prevLatLng, currentLatLng,constraintContext.sourceFloorShapes); + + if (lastValid != null) { + // Get local coordinates of the last valid point. + double[] p = constraintContext.coordinateConverter.latLngToLocal(lastValid); + // randomly choose between snap back to valid pposition or move particles near previous position to maintain particle diversity + if (rng.nextDouble() < 0.5) { + // Move particle near the last valid point. + particle.x = p[0] + rng.nextGaussian() * 0.3; + particle.y = p[1] + rng.nextGaussian() * 0.3; + } else { + // Move particle back near its previous position. + particle.x = particle.prevX + rng.nextGaussian() * 0.015; + particle.y = particle.prevY + rng.nextGaussian() * 0.015; + } + } else { + // Fall back to the previous position. + particle.x = particle.prevX; + particle.y = particle.prevY; + } + } + } + } + } + } + + /** + * Backward-compatible update path with no map constraints. + */ + public void update(ParticleFilterObservation observation) { + update(observation, null); + } + + /** + * Updates particle weights using available observations and map constraints. + * + * This step checks how well each particle matches: + * - Wi-Fi position + * - Wi-Fi floor + * - GNSS position + * - wall constraint validity + * + * Particles that better match the observations get higher weights. + * Particles that cross walls are penalised, and particles inside walls are rejected. + * After weighting, the weights are normalised and the filter may resample if needed. + */ + public void update(ParticleFilterObservation observation, + @Nullable ConstraintContext constraintContext) { + // Do nothing if the particle cloud has not been initialised. + if (particles.isEmpty()) { + return; + } + // Sum of all particle weights before normalisation. + double weightSum = 0.0; + // Count how many particles crossed a wall in this update. + int wallInvalidCount = 0; + + for (Particle particle : particles) { + // Start from neutral weight, then multiply by each observation likelihood. + double w = 1.0; + + // Apply Wi-Fi position likelihood if Wi-Fi observation is available. + if (observation.getWifiX() != null && observation.getWifiY() != null) { + double dx = particle.x - observation.getWifiX(); + double dy = particle.y - observation.getWifiY(); + // Higher weight if particle is closer to Wi-Fi observation. + w *= gaussian2D(dx, dy, sigmaWifi); + // Apply an extra penalty if particle floor disagrees with Wi-Fi floor. + if (observation.getWifiFloor() != null && particle.floor != observation.getWifiFloor()) { + w *= 0.50; + } + } + + // Apply GNSS position likelihood if GNSS observation is available. + if (observation.getGnssX() != null && observation.getGnssY() != null) { + double dx = particle.x - observation.getGnssX(); + double dy = particle.y - observation.getGnssY(); + // Higher weight if particle is closer to GNSS observation. + w *= gaussian2D(dx, dy, sigmaGnss); + } + + // Apply map-based wall penalties if map constraint data is available. + if (constraintContext != null && constraintContext.isUsable()) { + // Convert current and previous local positions to LatLng for wall checks. + LatLng currentLatLng = constraintContext.coordinateConverter.localToLatLng( + particle.x, + particle.y + ); + + LatLng prevLatLng = constraintContext.coordinateConverter.localToLatLng( + particle.prevX, + particle.prevY + ); + + // Penalise particles whose motion path crossed a wall. + if (MapGeometryUtils.crossesWall(prevLatLng, currentLatLng, constraintContext.sourceFloorShapes)) { + wallInvalidCount++; + w *= constraintContext.wallCrossPenalty; + } + + // Completely reject particles that end up inside a wall. + if (MapGeometryUtils.isInsideWall(currentLatLng, constraintContext.sourceFloorShapes)) { + w = 0.0; + } + } + // Save the final weight for this particle. + particle.weight = w; + // Total weight accumulation + weightSum += w; + } + // Normalise weights so that all particle weights sum to 1. + normaliseWeights(weightSum); + // Store wall-crossing statistics for debug use. + lastWallInvalidCount = wallInvalidCount; + lastWallInvalidRatio = particleCount > 0 ? (double) wallInvalidCount / (double) particleCount : 0.0; + // Compute effective sample size after the update. + lastNeff = effectiveSampleSize(); + lastResampled = false; + // Resample if the particle set has become too degenerate. + if (lastNeff < particleCount * resampleRatio) { + systematicResample(); + regularizeParticles(); + lastResampled = true; + } + } + + /** + * Computes the fused pose from the current weighted particle cloud. + * + * This method combines all particle states into one final estimate: + * - x and y are computed as weighted average position + * - heading is computed as weighted circular mean + * - floor is computed as weighted average and rounded + * + * The result is then converted from local coordinates back to LatLng, + * and a simple confidence value is produced from the effective sample size. + * + * @param converter converts local x/y into LatLng + * @return fused pose estimate, or null if no particles exist + */ + public FusedPose estimate(CoordinateConverter converter) { + // Return nothing if the particle cloud is empty. + if (particles.isEmpty()) { + return null; + } + // Accumulators for weighted position, floor, and heading. + double x = 0.0; + double y = 0.0; + double weightedFloor = 0.0; + double sinSum = 0.0; + double cosSum = 0.0; + + for (Particle particle : particles) { + // Weighted average of particle position. + x += particle.x * particle.weight; + y += particle.y * particle.weight; + // Weighted average of floor hypothesis. + weightedFloor += particle.floor * particle.weight; + // Circular averaging for heading. + sinSum += Math.sin(particle.theta) * particle.weight; + cosSum += Math.cos(particle.theta) * particle.weight; + } + // Final heading from weighted sine and cosine sums. + double theta = Math.atan2(sinSum, cosSum); + // Final floor from weighted floor estimate. + int floor = (int) Math.round(weightedFloor); + + // Use effective sample size as a simple confidence value. + float confidence = (float) Math.min(1.0, lastNeff / particleCount); + + // Build and return the fused pose result. + return new FusedPose( + x, + y, + theta, + floor, + converter.localToLatLng(x, y), + confidence + ); + } + + /** + * Computes effective sample size. + * + *

A lower value means more degeneracy, i.e. fewer particles dominate + * the total weight distribution. + */ + public double effectiveSampleSize() { + double sumSquares = 0.0; + for (Particle particle : particles) { + sumSquares += particle.weight * particle.weight; + } + return 1.0 / Math.max(sumSquares, 1e-12); + } + + /** + * Rejuvenates weak particles around a recovery anchor. + * + * This is used when the particle cloud becomes unreliable or too many particles + * become invalid. The weakest particles are replaced with new candidates near + * a trusted anchor position. + * + * Recovery behaviour: + * - only a fraction of the cloud is replaced + * - new particles are biased mostly forward along the current heading + * - invalid candidates that cross walls or land inside walls are rejected + * - if no valid candidate is found, the particle falls back to the anchor + * + * After rejuvenation, all particle weights are reset uniformly. + * + * @param anchorX trusted anchor x position in local frame + * @param anchorY trusted anchor y position in local frame + * @param headingRad heading used to bias new particles forward + * @param floor floor assigned to respawned particles + * @param respawnFraction fraction of particles to replace + * @param positionStdMeters position spread for respawned particles + * @param headingStdRad heading spread for respawned particles + * @param constraintContext optional map constraint data for validity checks + * @return true if at least one particle was successfully recovered + */ + public boolean rejuvenateParticles(double anchorX, + double anchorY, + double headingRad, + int floor, + double respawnFraction, + double positionStdMeters, + double headingStdRad, + @Nullable ConstraintContext constraintContext) { + + // Do nothing if the particle cloud is empty. + if (particles.isEmpty()) { + return false; + } + + // Clamp respawn fraction to a safe range. + double clampedFraction = Math.max(0.05, Math.min(0.90, respawnFraction)); + int respawnCount = Math.max(1, (int) Math.round(particleCount * clampedFraction)); + + // Replace weakest particles first. + particles.sort((a, b) -> Double.compare(a.weight, b.weight)); + + int recoveredCount = 0; + + for (int i = 0; i < respawnCount && i < particles.size(); i++) { + Particle particle = particles.get(i); + + boolean placed = false; + for (int attempt = 0; attempt < 20; attempt++) { + // Sample a new heading around the recovery heading. + double sampledTheta = wrapAngle(headingRad + rng.nextGaussian() * headingStdRad); + + // Spawn mostly in front of the anchor, with a small sideways spread. + double forwardMeters = Math.max(0.05, (rng.nextGaussian()) * positionStdMeters); + double lateralMeters = rng.nextGaussian() * positionStdMeters * 0.35; + + double motionHeading = (Math.PI / 2.0) - sampledTheta; + + // Build a candidate respawn position. + double candidateX = anchorX + + forwardMeters * Math.cos(motionHeading) + - lateralMeters * Math.sin(motionHeading); + + double candidateY = anchorY + + forwardMeters * Math.sin(motionHeading) + + lateralMeters * Math.cos(motionHeading); + + // Reject the candidate if it is map-invalid. + if (!isValidRecoveryCandidate(anchorX, anchorY, candidateX, candidateY, constraintContext)) { + continue; + } + + // Accept the candidate and reset particle state. + particle.prevX = anchorX; + particle.prevY = anchorY; + particle.prevFloor = floor; + particle.x = candidateX; + particle.y = candidateY; + particle.theta = sampledTheta; + particle.floor = floor; + particle.weight = 1.0 / particleCount; + placed = true; + recoveredCount++; + break; + } + + if (!placed) { + // Conservative fallback: respawn exactly at the anchor with new heading. + particle.prevX = anchorX; + particle.prevY = anchorY; + particle.prevFloor = floor; + particle.x = anchorX; + particle.y = anchorY; + particle.theta = headingRad; + particle.floor = floor; + particle.weight = 1.0 / particleCount; + } + } + + // Reset the whole cloud to uniform weights after rejuvenation. + double uniformWeight = 1.0 / particleCount; + for (Particle particle : particles) { + particle.weight = uniformWeight; + } + // Reset simple filter status values + lastNeff = particleCount; + lastResampled = false; + + Log.d(TAG, + "PF rejuvenation complete" + + " | respawnCount=" + respawnCount + + ", recoveredCount=" + recoveredCount + + ", anchorX=" + anchorX + + ", anchorY=" + anchorY + + ", floor=" + floor + + ", headingDeg=" + Math.toDegrees(headingRad)); + + return recoveredCount > 0; + } + + /** + * Checks whether a recovery candidate is valid. + * + * A candidate is valid if: + * - map constraints are unavailable, or + * - the path from anchor to candidate does not cross a wall, and + * - the candidate does not end inside a wall + * + * @param anchorX anchor x in local frame + * @param anchorY anchor y in local frame + * @param candidateX candidate x in local frame + * @param candidateY candidate y in local frame + * @param constraintContext optional map constraint data + * @return true if the candidate is valid for recovery + */ + private boolean isValidRecoveryCandidate(double anchorX, + double anchorY, + double candidateX, + double candidateY, + @Nullable ConstraintContext constraintContext) { + // If no usable map constraints exist, accept the candidate. + if (constraintContext == null || !constraintContext.isUsable()) { + return true; + } + // Convert anchor and candidate positions to LatLng for wall checks. + LatLng anchorLatLng = constraintContext.coordinateConverter.localToLatLng(anchorX, anchorY); + LatLng candidateLatLng = constraintContext.coordinateConverter.localToLatLng(candidateX, candidateY); + // Reject candidates whose path crosses a wall. + if (MapGeometryUtils.crossesWall( + anchorLatLng, + candidateLatLng, + constraintContext.sourceFloorShapes + )) { + return false; + } + // Reject candidates that land inside a wall. + return !MapGeometryUtils.isInsideWall( + candidateLatLng, + constraintContext.sourceFloorShapes + ); + } + + /** + * Gaussian likelihood in local 2D position space. + * + *

This is used for Wi-Fi and GNSS weighting. + */ + private double gaussian2D(double dx, double dy, double sigma) { + double d2 = dx * dx + dy * dy; + double s2 = sigma * sigma; + + if (s2 < 1e-12) { + return 1.0; + } + + return Math.exp(-0.5 * d2 / s2); + } + + /** + * Normalises particle weights so they sum to 1. + * + *

If all weights collapse numerically, recover by assigning uniform + * weights instead of producing NaNs. + */ + private void normaliseWeights(double weightSum) { + if (weightSum < 1e-12) { + double uniformWeight = 1.0 / particleCount; + for (Particle particle : particles) { + particle.weight = uniformWeight; + } + return; + } + + for (Particle particle : particles) { + particle.weight /= weightSum; + } + } + + /** + * Adds a small amount of random jitter after resampling. + * + *

This prevents the particle set from collapsing into too many exact + * copies of the same hypothesis. + */ + private void regularizeParticles() { + for (Particle particle : particles) { + particle.x += rng.nextGaussian() * sigmaRegPos; + particle.y += rng.nextGaussian() * sigmaRegPos; + particle.theta = wrapAngle(particle.theta + rng.nextGaussian() * sigmaRegTheta); + } + } + + /** + * Systematic resampling. + * + *

This produces a new particle set according to the current weights, + * then resets all copied particles to equal weight. + */ + private void systematicResample() { + List resampled = new ArrayList<>(particleCount); + double[] cdf = new double[particleCount]; + + cdf[0] = particles.get(0).weight; + for (int i = 1; i < particleCount; i++) { + cdf[i] = cdf[i - 1] + particles.get(i).weight; + } + + double step = 1.0 / particleCount; + double u0 = rng.nextDouble() * step; + int cdfIndex = 0; + + for (int i = 0; i < particleCount; i++) { + double threshold = u0 + i * step; + + while (cdfIndex < particleCount - 1 && cdf[cdfIndex] < threshold) { + cdfIndex++; + } + + Particle copy = particles.get(cdfIndex).copy(); + copy.weight = 1.0 / particleCount; + resampled.add(copy); + } + + particles.clear(); + particles.addAll(resampled); + } + + /** Wraps angle to [-pi, pi]. */ + private double wrapAngle(double angle) { + while (angle > Math.PI) { + angle -= 2.0 * Math.PI; + } + while (angle < -Math.PI) { + angle += 2.0 * Math.PI; + } + return angle; + } + + + /** + * Lightweight container for discrete map-constraint data. + */ + public static final class ConstraintContext { + final CoordinateConverter coordinateConverter; + final FloorplanApiClient.FloorShapes sourceFloorShapes; + final double wallCrossPenalty; + + public ConstraintContext(CoordinateConverter coordinateConverter, + FloorplanApiClient.FloorShapes sourceFloorShapes, + double wallCrossPenalty) { + this.coordinateConverter = coordinateConverter; + this.sourceFloorShapes = sourceFloorShapes; + this.wallCrossPenalty = wallCrossPenalty; + } + + boolean isUsable() { + return coordinateConverter != null + && sourceFloorShapes != null + && wallCrossPenalty >= 0.0; + } + } + + // ----- Getter function ------// + /** + * Returns the effective sample size from the last update. + */ + public double getLastNeff() { + return lastNeff; + } + /** + * Returns the fraction of particles that crossed a wall in the last update. + */ + public double getLastWallInvalidRatio() { + return lastWallInvalidRatio; + } + /** + * Returns the configured total number of particles. + */ + public int getParticleCount() { + return particleCount; + } + /** + * Counts how many particles still alive. + */ + public int getAliveParticleCount() { + int alive = 0; + for (Particle particle : particles) { + if (particle.weight > ALIVE_WEIGHT_EPS) { + alive++; + } + } + return alive; + } + /** + * Counts how many particles are effectively dead. + */ + public int getDeadParticleCount() { + return Math.max(0, particles.size() - getAliveParticleCount()); + } + +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java new file mode 100644 index 00000000..8164c8ee --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterManager.java @@ -0,0 +1,1514 @@ +package com.openpositioning.PositionMe.fusion; + +import android.content.Context; +import android.content.SharedPreferences; +import android.os.SystemClock; +import android.util.Log; + +import androidx.annotation.NonNull; +import androidx.annotation.Nullable; +import androidx.preference.PreferenceManager; + +import com.google.android.gms.maps.model.LatLng; +import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; +import com.openpositioning.PositionMe.mapmatching.CandidatePose; +import com.openpositioning.PositionMe.mapmatching.CorrectionType; +import com.openpositioning.PositionMe.mapmatching.MapMatchingInput; +import com.openpositioning.PositionMe.mapmatching.MapMatchingResult; +import com.openpositioning.PositionMe.mapmatching.MapMatchingService; +import com.openpositioning.PositionMe.mapmatching.MotionDelta; +import com.openpositioning.PositionMe.mapmatching.VerticalMotionDetector; +import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint; +import com.openpositioning.PositionMe.sensors.SensorFusion; +import com.openpositioning.PositionMe.mapmatching.MapGeometryUtils; + +import java.util.List; +import java.util.Locale; +import java.util.Random; + +/** + * Live particle-filter manager for indoor positioning. + * + * Ownership in this version: + * - owns the live PF pipeline and publishes the final fused pose + * - raw PDR remains raw and is not corrected here + * - WiFi / GNSS are used only as PF observations + * - live floor commit decisions are owned here through AutoFloorManager + * + * Live step flow: + * 1. refresh vertical context + * 2. initialise PF if needed + * 3. read incremental PDR motion + * 4. predict particles + * 5. build accepted observations + * 6. update particle weights + * 7. estimate raw PF pose + * 8. attempt stuck recovery if needed + * 9. apply discrete floor / connector validation + * 10. hard-clamp final published pose against walls + */ + +public class ParticleFilterManager { + + private static final String TAG = "ParticleFilterManager"; + + // Observation gating + private static final double WIFI_GATE_METERS = 3.0; + private static final double GNSS_GATE_METERS = 4.0; + private static final double WIFI_OBS_EMA_ALPHA = 0.10; + private static final double STATIONARY_STEP_THRESHOLD_METERS = 0.06; + + // Constraint / recovery + private static final double WALL_CROSS_PENALTY = 0.005; + private static final double SOFT_STUCK_WALL_RATIO = 0.40; + private static final double LOW_NEFF_RATIO = 0.4; + + private static final double MIN_STEP_FOR_RECOVERY_METERS = 0.35; + private static final int HARD_RECOVERY_AFTER_CONSECUTIVE_STEPS = 3; + + private static final double SOFT_RECOVERY_RESPAWN_FRACTION = 0.35; + private static final double HARD_RECOVERY_RESPAWN_FRACTION = 0.85; + + private static final double SOFT_RECOVERY_POSITION_STD_METERS = 0.45; + private static final double HARD_RECOVERY_POSITION_STD_METERS = 2.50; + private static final double RECOVERY_HEADING_STD_RAD = Math.toRadians(22.0); + private static final int WARMUP_FRAMES = 10; + + /** Main sensor / state source. */ + private final SensorFusion sensorFusion; + + /** Application context for preferences. */ + private final Context appContext; + + /** PF settings storage. */ + private final SharedPreferences prefs; + + /** Converts LatLng <-> local XY. */ + private CoordinateConverter coordinateConverter; + + /** PF engine. */ + private ParticleFilterEngine particleFilterEngine; + + /** Final fused live pose. */ + private FusedPose latestFusedPose; + + /** Whether PF is enabled for this recording session. */ + private boolean enabled = false; + + // ------------------------- + // PDR incremental tracking + // ------------------------- + private boolean firstPdrSample = true; + private double lastPdrX = 0.0; + private double lastPdrY = 0.0; + private double lastHeading = 0.0; + + // ------------------------- + // PF config state + // ------------------------- + private ParticleFilterConfig currentConfig; + private boolean pfConfigDirty = false; + + // ------------------------- + // Observation smoothing + // ------------------------- + private boolean wifiObsEmaInitialised = false; + private double wifiObsEmaX = 0.0; + private double wifiObsEmaY = 0.0; + + // ------------------------- + // Map-constraint state + // ------------------------- + private final MapMatchingService mapMatchingService = new MapMatchingService(); + private final VerticalMotionDetector verticalMotionDetector = new VerticalMotionDetector(); + /** + * Owns the LIVE floor decision state for the PF pipeline. + * + * Important: + * - startup/manual/bootstrap floor behaviour is still handled elsewhere + * - this manager only owns live PF floor request/commit logic after the session starts + */ + private final AutoFloorManager autoFloorManager; + @Nullable + private CandidatePose lastMatchedPose = null; + + /** Authoritative live PF floor. */ + private int activePfFloor = 0; + + /** Counts consecutive updates where the filter looks wall-stuck. */ + private int consecutiveStuckSteps = 0; + + // ------------------------- + // Live debug state + // ------------------------- + private double lastStepDistanceMeters = 0.0; + private boolean lastStationaryUpdate = false; + @NonNull + private String lastObservationSource = "none"; + @NonNull + private String lastCorrectionType = "NONE"; + @NonNull + private String lastCorrectionReason = "Waiting for updates"; + @NonNull + private String lastRecoveryType = "NONE"; + @NonNull + private String lastRecoveryReason = "No recovery"; + private boolean lastCrossedWall = false; + private boolean lastNearStairs = false; + private boolean lastNearLift = false; + private boolean lastFloorChangeAllowed = false; + private int lastRequestedFloor = 0; + private int lastMatchedFloor = 0; + /** One-shot flag consumed by the UI to start a new trajectory segment after a committed floor change. */ + private boolean floorChangedSinceLastConsume = false; + private double lastWallInvalidRatio = 0.0; + private int frameCount = 0; + private final Random rng = new Random(); + + /** + * Creates the live particle-filter manager. + * + * @param sensorFusion main live sensor/data source used to read PDR, GNSS, WiFi, elevation, etc. + * @param context application/activity context used to access shared preferences + */ + public ParticleFilterManager(@NonNull SensorFusion sensorFusion, @NonNull Context context) { + this.sensorFusion = sensorFusion; // Store the shared SensorFusion instance used by this manager. + this.appContext = context.getApplicationContext(); // Keep the application context to avoid leaking an Activity context. + this.prefs = PreferenceManager.getDefaultSharedPreferences(appContext); // Open the app's default shared preferences for PF settings. + + this.currentConfig = loadPfConfig(); // Read the initial PF configuration from preferences immediately. + + this.autoFloorManager = new AutoFloorManager( + sensorFusion, + new AutoFloorManager.FloorIndexAdapter() { + @Override + public boolean isFloorIndexAvailable(int floorIndex) { + return ParticleFilterManager.this.isFloorIndexAvailable(floorIndex); + } + + @Override + public int sanitiseFloorIndex(int floorIndex) { + return ParticleFilterManager.this.sanitiseFloorIndex(floorIndex); + } + } + ); + + prefs.registerOnSharedPreferenceChangeListener(pfListener); // Listen for later PF setting changes so the filter can refresh. + constraintDebugger.setMinIntervalMs(500L); + } + + /** + * Watches for live PF tuning changes from settings. + */ + private final SharedPreferences.OnSharedPreferenceChangeListener pfListener = + (sharedPreferences, key) -> { + if (key == null) { + return; + } + + switch (key) { + case "pf_particle_count": + case "pf_sigma_step": + case "pf_sigma_theta_deg": + case "pf_sigma_wifi": + case "pf_sigma_gnss": + case "pf_init_pos_std": + case "pf_init_heading_deg": + case "pf_resample_ratio": + case "pf_sigma_reg_pos": + case "pf_sigma_reg_theta_deg": + currentConfig = loadPfConfig(); + pfConfigDirty = true; + Log.d(TAG, "PF config changed: " + key); + break; + } + }; + + /** Small helper for consistent PF constraint / fused-pose debug logs. */ + private final ParticleConstraintDebugger constraintDebugger = + new ParticleConstraintDebugger("PF_CONSTRAINT_DEBUG"); + + /** + * Unregister listeners when the app is destroying this manager. + */ + public void destroy() { + prefs.unregisterOnSharedPreferenceChangeListener(pfListener); + } + + /** + * Loads current PF configuration from SharedPreferences. + */ + @NonNull + private ParticleFilterConfig loadPfConfig() { + int particleCount = Integer.parseInt(prefs.getString("pf_particle_count", "300")); + double sigmaStep = Double.parseDouble(prefs.getString("pf_sigma_step", "0.15")); + double sigmaThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_theta_deg", "4.5")); + double sigmaWifi = Double.parseDouble(prefs.getString("pf_sigma_wifi", "14")); + double sigmaGnss = Double.parseDouble(prefs.getString("pf_sigma_gnss", "25.0")); + double initPosStd = Double.parseDouble(prefs.getString("pf_init_pos_std", "1.0")); + double initHeadingDeg = Double.parseDouble(prefs.getString("pf_init_heading_deg", "10")); + double resampleRatio = Double.parseDouble(prefs.getString("pf_resample_ratio", "0.5")); + double sigmaRegPos = Double.parseDouble(prefs.getString("pf_sigma_reg_pos", "0.03")); + double sigmaRegThetaDeg = Double.parseDouble(prefs.getString("pf_sigma_reg_theta_deg", "2.0")); + + return new ParticleFilterConfig( + particleCount, + sigmaStep, + Math.toRadians(sigmaThetaDeg), + sigmaWifi, + sigmaGnss, + initPosStd, + Math.toRadians(initHeadingDeg), + resampleRatio, + sigmaRegPos, + Math.toRadians(sigmaRegThetaDeg) + ); + } + + /** + * Forces the live PF state onto a specific floor. + * + * Use this when the UI manually changes floor, so the PF internal floor, + * the fused pose floor, and the displayed floor all stay aligned. + */ + public void forceActiveFloor(int floorIndex) { + autoFloorManager.forceFloor(floorIndex); // Force the AutoFloorManager to adopt the requested floor immediately. + activePfFloor = autoFloorManager.getActiveFloor(); // Mirror the authoritative floor locally to minimise changes elsewhere. + + if (particleFilterEngine != null) { // If the PF engine already exists, all particles must move to the same floor owner. + particleFilterEngine.setAllParticlesFloor(activePfFloor); + } + + if (latestFusedPose != null) { // If a fused pose already exists, rewrite it with the forced floor so UI and PF stay aligned. + latestFusedPose = new FusedPose( + latestFusedPose.getXMeters(), + latestFusedPose.getYMeters(), + latestFusedPose.getHeadingRad(), + activePfFloor, + latestFusedPose.getLatLng(), + latestFusedPose.getConfidence() + ); + } + + if (lastMatchedPose != null && latestFusedPose != null && latestFusedPose.getLatLng() != null) { + lastMatchedPose = new CandidatePose( + latestFusedPose.getLatLng(), + activePfFloor, + SystemClock.elapsedRealtime(), + "manual_floor_override", + latestFusedPose.getHeadingRad() + ); + } + + Log.d(TAG, "Forced PF active floor = " + activePfFloor); + } + + /** + * Feeds barometer-derived vertical context into the live detector. + * + * Call this from your pressure path so stairs / lift evidence can accumulate + * even before the next step-triggered PF update. + */ + public void onVerticalContextSample(long timestampMs, + double elevationMeters, + boolean elevatorLikely) { + if (!enabled) { + return; + } + verticalMotionDetector.addSample(timestampMs, elevationMeters, elevatorLikely); + } + + /** + * Advances the live particle filter by one update cycle. + * + * Processing order: + * 1. refresh vertical context + * 2. initialise the PF if needed + * 3. compute incremental motion from PDR + * 4. predict particles + * 5. build absolute observations + * 6. update particle weights + * 7. estimate fused pose + * 8. attempt stuck recovery + * + * Important for this current version: + * - GNSS is intentionally still used + * - absolute-observation suppression is intentionally not enforced + * - this method only fixes the call/signature mismatch and adds clarity comments + */ + public void step() { + if (!enabled) { // Do nothing if PF mode is disabled for the current session. + return; // Exit early because no PF work should be done. + } + + if (pfConfigDirty) { // Check whether PF settings were changed from preferences. + Log.d(TAG, "Applying new PF config -> resetting filter"); // Log that the filter is being rebuilt with new settings. + reset(); // Clear all live PF state so the next initialisation uses the new config cleanly. + pfConfigDirty = false; // Mark the config as clean again after reset. + } + + onVerticalContextSample( // Feed the latest height/lift state into the vertical detector. + SystemClock.uptimeMillis(), // Use current uptime as the timestamp for this vertical sample. + sensorFusion.getElevation(), // Read the latest estimated elevation from SensorFusion. + sensorFusion.getElevator() // Read whether lift/elevator behaviour is currently likely. + ); + + initialiseIfNeeded(); // Lazily initialise the PF once a valid start anchor becomes available. + if (particleFilterEngine == null || coordinateConverter == null) { // If PF is still not ready, we cannot continue this cycle. + return; // Exit until a valid initial state exists. + } + + double deltaS = extractPdrDeltaDistance(); // Compute incremental distance travelled since the previous PF update. + double currentHeading = wrapAngle(sensorFusion.getSelectedHeadingRad()); // Read the selected heading source and wrap it to [-pi, pi]. + + boolean isTurning = sensorFusion.getIsTurning(); + boolean isGyroStable = sensorFusion.getIsGyroStable(); + boolean headingReliable = sensorFusion.isHeadingReliable(); + + // Freeze tiny heading changes during confident straight motion. + boolean isStraight = !isTurning && isGyroStable && headingReliable; + // HEADING LOCK + if (isStraight) { + // Strongly resist heading change + currentHeading = lastHeading; + } + + double deltaTheta = wrapAngle(currentHeading - lastHeading); // Compute heading change since the previous update. + lastHeading = currentHeading; // Store the current heading so the next cycle can compute the next delta. + + lastStepDistanceMeters = deltaS; // Save step distance for live debug output. + lastStationaryUpdate = deltaS < STATIONARY_STEP_THRESHOLD_METERS; // Mark this frame as stationary if motion is below the threshold. + + double MAX_STEP = 1.0; // Define a safety cap for overly large PDR jumps. + deltaS = Math.min(deltaS, MAX_STEP); // Clamp the PDR distance so one bad step does not move the PF too far. + + if (Math.abs(deltaTheta) < Math.toRadians(3)) { // Treat very small heading changes as noise. + deltaTheta = 0; // Zero out tiny rotations to reduce jitter. + } + + ParticleFilterEngine.ConstraintContext constraintContext = buildConstraintContext(); // Build wall-constraint data for predict/update. + + if (deltaS >= 0.01) { // Only run prediction when there is meaningful forward motion. + particleFilterEngine.predict(deltaS, deltaTheta, constraintContext); // Propagate particles using motion and map constraints. + Log.d(TAG, "PF predict: deltaS=" + deltaS + ", deltaTheta=" + deltaTheta); // Log the applied motion command. + } else { // Otherwise this is effectively a stationary frame. + Log.d(TAG, "PF stationary: skip predict, keep update"); // Log that motion prediction was skipped. + } + + // Build the accepted WiFi / GNSS observation bundle for this frame. + ParticleFilterObservation observation = buildObservation(deltaS); + + // Update particle weights using the accepted observations and wall constraints. + particleFilterEngine.update(observation, constraintContext); + + // Log particle health and update summary after the measurement update. + constraintDebugger.logStep( + "post_update", + particleFilterEngine.getParticleCount(), + particleFilterEngine.getAliveParticleCount(), + (int) Math.round( + particleFilterEngine.getLastWallInvalidRatio() + * particleFilterEngine.getParticleCount() + ), + 0, + ((observation.getWifiX() != null) || (observation.getGnssX() != null)) + ? particleFilterEngine.getAliveParticleCount() + : 0, + String.format( + Locale.US, + "step=%.2f dThetaDeg=%.1f floor=%d obs=%s neff=%.1f", + deltaS, + Math.toDegrees(deltaTheta), + activePfFloor, + lastObservationSource, + particleFilterEngine.getLastNeff() + ) + ); + + // Get the raw PF fused pose before recovery or floor validation. + FusedPose rawPose = particleFilterEngine.estimate(coordinateConverter); + + // Log the raw PF estimate for debugging. + if (rawPose != null && rawPose.getLatLng() != null) { + constraintDebugger.logFusedPose( + "raw_estimate", + rawPose.getLatLng().latitude, + rawPose.getLatLng().longitude, + rawPose.getFloor(), + rawPose.getHeadingRad(), + rawPose.getConfidence() + ); + } + + // Try to recover the filter if it looks stuck against walls or severely degraded. + FusedPose recoveredPose = maybeRecoverStuckParticles( + deltaS, + currentHeading, + observation, + constraintContext, + rawPose + ); + + // Use the recovered pose if recovery succeeded, otherwise keep the raw PF pose. + FusedPose poseAfterRecovery = recoveredPose != null ? recoveredPose : rawPose; + + /* + * Apply live floor / connector validation in the normal step path. + * This is important for stair transitions, because they should be + * committed using real walking motion rather than the no-step path. + */ + FusedPose floorCheckedPose = applyDiscreteMapMatching( + poseAfterRecovery, + currentHeading, + deltaS, + SystemClock.elapsedRealtime() + ); + + // Prefer the floor-checked pose if available. + FusedPose poseToPublish = floorCheckedPose != null ? floorCheckedPose : poseAfterRecovery; + + // Only continue if there is a valid pose and map location to publish. + if (poseToPublish != null && poseToPublish.getLatLng() != null) { + // Get wall geometry for the active floor. + FloorplanApiClient.FloorShapes wallShapes = getFloorShapesForFloor(activePfFloor); + // Final hard wall clamp before publishing to the UI. + LatLng finalLatLng = clampFinalPoseAgainstWalls(poseToPublish.getLatLng(), wallShapes); + + /* + * Extra hard safety check: + * even after final clamp, never publish a point that still lies inside a wall. + * If that happens, fall back to the last valid matched pose when possible. + */ + if (wallShapes != null && MapGeometryUtils.isInsideWall(finalLatLng, wallShapes)) { + if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null) { + // Fall back to the previous valid matched pose. + finalLatLng = lastMatchedPose.getLatLng(); + lastCorrectionType = "FINAL_INSIDE_WALL_FALLBACK"; + lastCorrectionReason = "Final candidate remained inside wall after clamp; reverted to last matched valid pose."; + lastCrossedWall = true; + } else { + // No valid fallback exists, so keep the current state but record the issue. + lastCorrectionType = "FINAL_INSIDE_WALL_HOLD"; + lastCorrectionReason = "Final candidate remained inside wall after clamp; no previous valid pose available."; + lastCrossedWall = true; + } + } + + // Convert the final published LatLng back into local x/y coordinates. + double[] finalLocal = coordinateConverter.latLngToLocal(finalLatLng); + + // Save the final fused pose used by the live UI. + latestFusedPose = new FusedPose( + finalLocal[0], + finalLocal[1], + poseToPublish.getHeadingRad(), + activePfFloor, + finalLatLng, + poseToPublish.getConfidence() + ); + + lastMatchedPose = new CandidatePose( + finalLatLng, + activePfFloor, + SystemClock.elapsedRealtime(), + "pf_wall_guard", + poseToPublish.getHeadingRad() + ); + + if (latestFusedPose != null && latestFusedPose.getLatLng() != null) { + constraintDebugger.logFusedPose( + "published", + latestFusedPose.getLatLng().latitude, + latestFusedPose.getLatLng().longitude, + latestFusedPose.getFloor(), + latestFusedPose.getHeadingRad(), + latestFusedPose.getConfidence() + ); + } + + } else { + // If no valid map location exists, keep the best available pose as-is. + latestFusedPose = poseToPublish; + } + } + + /** + * Initialises the PF only when a usable start anchor is available. + * + * Priority: + * - user-confirmed start marker + * - stored session start anchor + * - WiFi + * - GNSS + */ + public void initialiseIfNeeded() { + if (particleFilterEngine != null && particleFilterEngine.isInitialised()) { + return; + } + + LatLng initialLatLng = resolveInitialLatLng(); + if (initialLatLng == null) { + Log.d(TAG, "PF init skipped: waiting for start anchor."); + return; + } + + coordinateConverter = new CoordinateConverter( + initialLatLng.latitude, + initialLatLng.longitude + ); + + activePfFloor = resolveInitialFloorIndex(); // Resolve the starting floor from the existing startup policy. + autoFloorManager.initialiseFloor(activePfFloor); // Initialise live floor ownership and committed elevation anchor inside AutoFloorManager. + activePfFloor = autoFloorManager.getActiveFloor(); // Mirror back the sanitised authoritative floor. + + double[] initialLocal = coordinateConverter.latLngToLocal(initialLatLng); + double initialHeading = wrapAngle(sensorFusion.getSelectedHeadingRad()); + + particleFilterEngine = new ParticleFilterEngine(currentConfig); + particleFilterEngine.initialise( + initialLocal[0], + initialLocal[1], + initialHeading, + activePfFloor + ); + + FusedPose initialRawPose = particleFilterEngine.estimate(coordinateConverter); + FusedPose initialCorrectedPose = applyDiscreteMapMatching( + initialRawPose, + initialHeading, + 0.0, + SystemClock.elapsedRealtime() + ); + + latestFusedPose = initialCorrectedPose != null ? initialCorrectedPose : initialRawPose; + lastHeading = initialHeading; + + if (latestFusedPose != null) { + lastMatchedPose = new CandidatePose( + latestFusedPose.getLatLng(), + latestFusedPose.getFloor(), + SystemClock.elapsedRealtime(), + "pf_init", + latestFusedPose.getHeadingRad() + ); + } + + lastRequestedFloor = activePfFloor; + lastMatchedFloor = activePfFloor; + + Log.d(TAG, + "PF initialised" + + " | particles=" + currentConfig.particleCount + + ", sigmaStep=" + currentConfig.sigmaStep + + ", sigmaThetaDeg=" + Math.toDegrees(currentConfig.sigmaThetaRad) + + ", sigmaWifi=" + currentConfig.sigmaWifi + + ", sigmaGnss=" + currentConfig.sigmaGnss + + ", activeFloor=" + activePfFloor + + ", lat=" + initialLatLng.latitude + + ", lon=" + initialLatLng.longitude); + } + + /** + * Uses SensorFusion's single preferred-start resolver so raw-PDR seeding, + * recording start, and PF initialisation all read the same start location. + */ + @Nullable + private LatLng resolveInitialLatLng() { + return sensorFusion.resolvePreferredStartAnchor(); + } + + /** + * Uses SensorFusion's single preferred-start floor resolver. + */ + private int resolveInitialFloorIndex() { + return sanitiseFloorIndex(sensorFusion.resolvePreferredStartFloorIndex()); + } + + /** + * Fully resets PF state for a new recording session. + */ + public void reset() { + coordinateConverter = null; + particleFilterEngine = null; + latestFusedPose = null; + firstPdrSample = true; + lastPdrX = 0.0; + lastPdrY = 0.0; + lastHeading = 0.0; + wifiObsEmaInitialised = false; + wifiObsEmaX = 0.0; + wifiObsEmaY = 0.0; + activePfFloor = 0; + lastMatchedPose = null; + verticalMotionDetector.reset(); + mapMatchingService.resetTransientState(); + autoFloorManager.reset(); //Reset all live floor-ownership state handled by AutoFloorManager + consecutiveStuckSteps = 0; + frameCount = 0; + lastStepDistanceMeters = 0.0; + lastStationaryUpdate = false; + lastObservationSource = "none"; + lastCorrectionType = "NONE"; + lastCorrectionReason = "Waiting for updates"; + lastRecoveryType = "NONE"; + lastRecoveryReason = "No Recovery"; + lastCrossedWall = false; + lastNearStairs = false; + lastNearLift = false; + lastFloorChangeAllowed = false; + lastRequestedFloor = 0; + lastMatchedFloor = 0; + lastWallInvalidRatio = 0.0; + floorChangedSinceLastConsume = false; + } + + /** + * Returns the latest final fused pose for live rendering. + */ + @Nullable + public FusedPose getLatestFusedPose() { + return enabled ? latestFusedPose : null; + } + + /** + * Enables or disables PF for the current session. + */ + public void setEnabled(boolean enabled) { + this.enabled = enabled; + Log.d(TAG, "PF manager = " + (enabled ? "ENABLED" : "DISABLED")); + + if (!enabled) { + reset(); + } + } + + /** + * Returns whether this manager is active. + */ + public boolean isEnabled() { + return enabled; + } + + /** + * Returns whether a validated live floor change happened since the last UI read. + * + * This is a one-shot signal so the UI can start a new trajectory segment exactly once. + */ + public boolean consumeFloorChangedFlag() { + boolean changed = floorChangedSinceLastConsume; + floorChangedSinceLastConsume = false; + return changed; + } + + /** + * Builds the absolute-observation bundle used by the PF update step. + * + * Current policy in this version: + * - WiFi is still allowed when it passes gating checks + * - GNSS is also intentionally allowed + * - the step-distance argument is accepted for API consistency with the caller + * - stepDistanceMeters is intentionally unused here because you said you want + * to keep GNSS and skip absolute-observation suppression for now + * + * @param stepDistanceMeters latest PDR step distance for this update cycle + * @return accepted observation bundle for the PF measurement update + */ + @NonNull + private ParticleFilterObservation buildObservation(double stepDistanceMeters) { + lastObservationSource = "none"; // Reset the debug label before deciding which source is accepted this frame. + + Double wifiX = null; // Prepare WiFi local-x observation, initially absent. + Double wifiY = null; // Prepare WiFi local-y observation, initially absent. + Integer wifiFloor = null; // Prepare WiFi floor observation, initially absent. + + LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning(); // Read the latest WiFi position estimate in global coordinates. + if (isValidLatLng(wifiLatLng) && coordinateConverter != null) { // Continue only if WiFi is valid and coordinate conversion is ready. + double[] local = coordinateConverter.latLngToLocal(wifiLatLng); // Convert WiFi LatLng into local x/y coordinates. + int observedWifiFloor = sensorFusion.getWifiFloor(); // Read the WiFi-derived floor index. + + boolean acceptWifi = true; // Start by assuming the WiFi observation is usable. + + if (isIndoorContextActive() + && isFloorIndexAvailable(observedWifiFloor) + && observedWifiFloor != activePfFloor) { + + boolean allowCrossFloorWifi = autoFloorManager.shouldAcceptCrossFloorWifiObservation( + observedWifiFloor, + SystemClock.elapsedRealtime() + ); + + if (!allowCrossFloorWifi) { + acceptWifi = false; + Log.d(TAG, + "Rejecting WiFi position: floor mismatch with active PF floor." + + " | activePfFloor=" + activePfFloor + + ", wifiFloor=" + observedWifiFloor); + } else { + Log.d(TAG, + "Allowing WiFi position during lift with stable WiFi floor" + + " | activePfFloor=" + activePfFloor + + ", wifiFloor=" + observedWifiFloor); + } + } + + if (acceptWifi && latestFusedPose != null) { // If WiFi still looks okay, also check its distance from the current fused pose. + double dx = local[0] - latestFusedPose.getXMeters(); // Compute WiFi offset in x from the latest fused pose. + double dy = local[1] - latestFusedPose.getYMeters(); // Compute WiFi offset in y from the latest fused pose. + double dist = Math.hypot(dx, dy); // Convert x/y offset into Euclidean distance. + + if (dist > WIFI_GATE_METERS) { // Reject WiFi if it is too far away from the current fused pose. + acceptWifi = false; // Mark WiFi as rejected by the distance gate. + Log.d(TAG, "Rejecting WiFi update by gate | dist=" + dist + ", gate=" + WIFI_GATE_METERS); // Log the distance-gate rejection. + } + } + + if (acceptWifi) { // Only publish WiFi observation if all checks passed. + double[] smoothWifi = smoothWifiObservation(local[0], local[1]); // Smooth WiFi coordinates with EMA before using them. + wifiX = smoothWifi[0]; // Store the smoothed WiFi x coordinate. + wifiY = smoothWifi[1]; // Store the smoothed WiFi y coordinate. + wifiFloor = observedWifiFloor; // Store the accepted WiFi floor. + lastObservationSource = "wifi"; // Update debug state to show WiFi was accepted. + } + } + + Double gnssX = null; // Prepare GNSS local-x observation, initially absent. + Double gnssY = null; // Prepare GNSS local-y observation, initially absent. + float[] gnssLatLon = sensorFusion.getGNSSLatitude(false); // Read the latest live GNSS lat/lon pair. + if (isValidLatLon(gnssLatLon) && coordinateConverter != null) { // Continue only if GNSS is valid and local conversion is ready. + LatLng gnssLatLng = new LatLng(gnssLatLon[0], gnssLatLon[1]); // Convert raw GNSS floats into a LatLng object. + double[] local = coordinateConverter.latLngToLocal(gnssLatLng); // Convert GNSS LatLng into local x/y coordinates. + + boolean acceptGnss = true; // Start by assuming GNSS is usable. + + if (latestFusedPose != null) { // Gate GNSS against the latest fused pose if one exists. + double dx = local[0] - latestFusedPose.getXMeters(); // Compute GNSS offset in x from the fused pose. + double dy = local[1] - latestFusedPose.getYMeters(); // Compute GNSS offset in y from the fused pose. + double dist = Math.hypot(dx, dy); // Convert offset to Euclidean distance. + + if (dist > GNSS_GATE_METERS) { // Reject GNSS if it is too far away from the current fused pose. + acceptGnss = false; // Mark GNSS as rejected. + Log.d(TAG, "Rejecting GNSS update by gate | dist=" + dist + ", gate=" + GNSS_GATE_METERS); // Log the rejection reason. + } + } + + if (acceptGnss) { // Publish GNSS only if it passed the gate. + gnssX = local[0]; // Store accepted GNSS x coordinate. + gnssY = local[1]; // Store accepted GNSS y coordinate. + } + } + + return new ParticleFilterObservation(wifiX, wifiY, wifiFloor, gnssX, gnssY); // Return the complete observation bundle for the PF update. + } + + /** + * Builds a wall-constraint context for the PF engine. + */ + @Nullable + private ParticleFilterEngine.ConstraintContext buildConstraintContext() { + if (coordinateConverter == null) { + return null; + } + + FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloor(activePfFloor); + if (sourceFloorShapes == null) { + return null; + } + + return new ParticleFilterEngine.ConstraintContext( + coordinateConverter, + sourceFloorShapes, + WALL_CROSS_PENALTY + ); + } + + @Nullable + private FusedPose maybeRecoverStuckParticles(double stepDistanceMeters, + double currentHeadingRad, + @Nullable ParticleFilterObservation observation, + @Nullable ParticleFilterEngine.ConstraintContext constraintContext, + @Nullable FusedPose rawPose) { + + // Recovery cannot run unless PF, coordinate conversion, and a raw pose already exist. + if (particleFilterEngine == null || coordinateConverter == null || rawPose == null) { + lastRecoveryType = "NONE"; + lastRecoveryReason = "PF/coordinate converter/raw pose unavailable"; + return rawPose; + } + + // Give the filter a short warmup period before allowing recovery logic. + frameCount++; + if (frameCount < WARMUP_FRAMES) { + consecutiveStuckSteps = 0; + lastRecoveryType = "WARMUP"; + lastRecoveryReason = "Recovery warmup active"; + return rawPose; + } + // Ignore very small steps because they are too weak to judge stuck behaviour reliably. + if (stepDistanceMeters < MIN_STEP_FOR_RECOVERY_METERS) { + consecutiveStuckSteps = 0; + lastRecoveryType = "NONE"; + lastRecoveryReason = String.format(Locale.US, "Step too small for recovery (%.2fm)", stepDistanceMeters); + return rawPose; + } + + // Read PF health indicators from the latest update. + double wallInvalidRatio = particleFilterEngine.getLastWallInvalidRatio(); + double neffRatio = particleFilterEngine.getLastNeff() + / Math.max(1.0, particleFilterEngine.getParticleCount()); + + // Treat the filter as stuck only when many particles are wall-invalid + // and the effective sample size is also poor. + boolean stuck = (wallInvalidRatio > SOFT_STUCK_WALL_RATIO) + && (neffRatio < LOW_NEFF_RATIO); + + Log.d(TAG, "PF recovery check" + + " | wallInvalidRatio=" + wallInvalidRatio + + " | neffRatio=" + neffRatio + + " | stuck=" + stuck + + " | consecutiveStuckSteps=" + consecutiveStuckSteps); + + // If the filter does not look stuck, clear the stuck counter and keep the raw pose. + if (!stuck) { + consecutiveStuckSteps = 0; + lastRecoveryType = "NONE"; + lastRecoveryReason = String.format( + Locale.US, + "No recovery | wallRatio=%.2f neffRatio=%.2f", + wallInvalidRatio, + neffRatio + ); + return rawPose; + } + // Count consecutive stuck detections to decide between soft and hard recovery. + consecutiveStuckSteps++; + // Escalate to hard recovery only after repeated stuck frames. + boolean hardRecovery = consecutiveStuckSteps >= HARD_RECOVERY_AFTER_CONSECUTIVE_STEPS; + // Start from the last known valid recovery anchor. + double[] recoveryAnchor = resolveLastValidRecoveryAnchorXY(rawPose); + + // For hard recovery, optionally blend in a trusted WiFi anchor. + if (hardRecovery) { + double[] wifiAnchor = resolveAcceptedWifiRecoveryAnchorXY(observation); + if (wifiAnchor != null) { + // Blend raw PF position with WiFi anchor instead of jumping fully to WiFi. + recoveryAnchor[0] = 0.7 * rawPose.getXMeters() + 0.3 * wifiAnchor[0]; + recoveryAnchor[1] = 0.7 * rawPose.getYMeters() + 0.3 * wifiAnchor[1]; + Log.d(TAG, "Using WiFi anchor for recovery"); + } else { + // Fall back to the last valid anchor if WiFi is not trusted or unavailable. + Log.d(TAG, "WiFi anchor unavailable, falling back to last valid anchor"); + } + } + + // Choose respawn strength based on whether this is soft or hard recovery. + double respawnFraction = hardRecovery ? HARD_RECOVERY_RESPAWN_FRACTION : SOFT_RECOVERY_RESPAWN_FRACTION; + double positionStdMeters = hardRecovery ? HARD_RECOVERY_POSITION_STD_METERS : SOFT_RECOVERY_POSITION_STD_METERS; + + // Rejuvenate weak particles around the chosen recovery anchor. + boolean recovered = particleFilterEngine.rejuvenateParticles( + recoveryAnchor[0], + recoveryAnchor[1], + currentHeadingRad, + activePfFloor, + respawnFraction, + positionStdMeters, + RECOVERY_HEADING_STD_RAD, + constraintContext + ); + + // If rejuvenation failed, keep the raw pose and record the failure reason. + if (!recovered) { + lastRecoveryType = hardRecovery ? "HARD_FAILED" : "SOFT_FAILED"; + lastRecoveryReason = String.format( + Locale.US, + "anchor=(%.2f, %.2f) wallRatio=%.2f neffRatio=%.2f", + recoveryAnchor[0], + recoveryAnchor[1], + wallInvalidRatio, + neffRatio + ); + return rawPose; + } + + FusedPose recoveredPose = particleFilterEngine.estimate(coordinateConverter); + + lastRecoveryType = hardRecovery ? "HARD_APPLIED" : "SOFT_APPLIED"; + lastRecoveryReason = String.format( + Locale.US, + "anchor=(%.2f, %.2f) wallRatio=%.2f neffRatio=%.2f", + recoveryAnchor[0], + recoveryAnchor[1], + wallInvalidRatio, + neffRatio + ); + + Log.d(TAG, + "PF recovery applied" + + " | hardRecovery=" + hardRecovery + + " | consecutiveStuckSteps=" + consecutiveStuckSteps + + " | wallInvalidRatio=" + wallInvalidRatio + + " | neffRatio=" + neffRatio + + " | anchorX=" + recoveryAnchor[0] + + " | anchorY=" + recoveryAnchor[1]); + + return recoveredPose != null ? recoveredPose : rawPose; + } + + /** + * Uses the last known valid matched pose as the first recovery anchor. + */ + @NonNull + private double[] resolveLastValidRecoveryAnchorXY(@NonNull FusedPose fallbackPose) { + if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null && coordinateConverter != null) { + return coordinateConverter.latLngToLocal(lastMatchedPose.getLatLng()); + } + double sigmaMeters = 0.8; + Log.d("Rejuvenate", "Rejuvenate using last valid position"); + if (latestFusedPose != null) { + return new double[]{ + latestFusedPose.getXMeters() + rng.nextGaussian() * sigmaMeters, + latestFusedPose.getYMeters() + rng.nextGaussian() * sigmaMeters + }; + } + return new double[]{ + fallbackPose.getXMeters()+ rng.nextGaussian() * sigmaMeters, + fallbackPose.getYMeters()+ rng.nextGaussian() * sigmaMeters + }; + } + + /** + * Returns WiFi anchor for hard recovery only if it is floor-consistent and not too far. + */ + @Nullable + private double[] resolveAcceptedWifiRecoveryAnchorXY(@Nullable ParticleFilterObservation observation) { + if (observation == null + || observation.getWifiX() == null + || observation.getWifiY() == null) { + return null; + } + /* + * Only use WiFi as a hard relocalisation anchor if it agrees with the current PF floor. + * This stops cross-floor WiFi mistakes from blowing up recovery. + */ + int wifiFloor = sensorFusion.getWifiFloor(); + if (isFloorIndexAvailable(wifiFloor) && wifiFloor != activePfFloor) { + return null; + } + return new double[]{ + observation.getWifiX(), + observation.getWifiY() + }; + } + + /** + * Returns GNSS anchor for hard recovery only if it stays reasonably close. + */ + @Nullable + private double[] resolveAcceptedGnssRecoveryAnchorXY(@Nullable ParticleFilterObservation observation) { + if (observation == null || observation.getGnssX() == null || observation.getGnssY() == null) { + return null; + } + Double gnssX = observation.getGnssX(); + Double gnssY = observation.getGnssY(); + + double[] gnssAnchor = new double[]{gnssX, gnssY}; + + Log.d(TAG, "Recovery anchor selected from GNSS"); + return gnssAnchor; + } + + /** + * Applies one discrete map validity stage to the raw PF estimate. + * + * this stage is not allowed to become a second absolute-observation blender. + * It is only for wall/floor validity and limited correction. + */ + @Nullable + private FusedPose applyDiscreteMapMatching(@Nullable FusedPose rawPose, + double currentHeadingRad, + double stepDistanceMeters, + long timestampMs) { + // If there is no usable PF pose yet, keep the input as-is. + if (rawPose == null || coordinateConverter == null || rawPose.getLatLng() == null) { + return rawPose; + } + // Build the latest vertical-transition hint from elevation / lift evidence. + VerticalTransitionHint verticalHint = verticalMotionDetector.buildHint(); + // Ask live floor logic which floor is currently being requested. + int requestedFloor = autoFloorManager.resolveRequestedFloor(verticalHint, timestampMs); + lastRequestedFloor = requestedFloor; + + // Load source and target floor shapes for floor validation. + FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloor(activePfFloor); + FloorplanApiClient.FloorShapes targetFloorShapes = getFloorShapesForFloor(requestedFloor); + + // Build the current PF candidate pose on the requested floor. + CandidatePose currentCandidatePose = new CandidatePose( + rawPose.getLatLng(), + requestedFloor, + timestampMs, + "pf_raw", + currentHeadingRad + ); + + // Use the previous matched pose as the reference motion origin when available. + double previousX = rawPose.getXMeters(); + double previousY = rawPose.getYMeters(); + if (lastMatchedPose != null && lastMatchedPose.getLatLng() != null) { + double[] prevLocal = coordinateConverter.latLngToLocal(lastMatchedPose.getLatLng()); + previousX = prevLocal[0]; + previousY = prevLocal[1]; + } + + // Build motion delta from the previous validated pose to the current PF estimate. + MotionDelta motionDelta = new MotionDelta( + rawPose.getXMeters() - previousX, + rawPose.getYMeters() - previousY, + stepDistanceMeters, + Math.toDegrees(currentHeadingRad) + ); + + // Build the map-matching input used for live floor validation. + MapMatchingInput input = new MapMatchingInput( + lastMatchedPose, + currentCandidatePose, + motionDelta, + verticalHint, + sourceFloorShapes, + targetFloorShapes, + sensorFusion.getSelectedBuildingId() + ); + + // Run live map matching validation. + MapMatchingResult result = mapMatchingService.match(input); + + // Save debug information for UI / logs. + lastCorrectionType = result.getCorrectionType() != null ? result.getCorrectionType().name() : CorrectionType.NONE.name(); + lastCorrectionReason = result.getDebugReason() != null ? result.getDebugReason() : "No debug reason"; + lastCrossedWall = result.isCrossedWall(); + lastNearStairs = result.isNearStairs(); + lastNearLift = result.isNearLift(); + lastFloorChangeAllowed = result.isFloorChangeAllowed(); + + // Clamp the matched floor to the valid building floor range. + int matchedFloor = sanitiseFloorIndex(result.getCorrectedFloor()); + // Commit the floor change only if live validation explicitly allows it. + if (result.isFloorChangeAllowed() && matchedFloor != activePfFloor) { + int previousCommittedFloor = activePfFloor; + + // Commit the validated floor transition into the live floor owner. + autoFloorManager.onFloorCommitted(matchedFloor, timestampMs); + activePfFloor = autoFloorManager.getActiveFloor(); // Mirror the authoritative committed floor locally. + + if (activePfFloor != previousCommittedFloor) { + floorChangedSinceLastConsume = true; + } + + verticalMotionDetector.reset(); // Clear the consumed vertical transition evidence so it is not re-used next frame. + + if (particleFilterEngine != null) { + particleFilterEngine.setAllParticlesFloor(activePfFloor); // Push the committed floor into all PF particles. + } + } + + lastMatchedFloor = activePfFloor; + + // Keep XY exactly as the PF estimated it. + FusedPose correctedPose = new FusedPose( + rawPose.getXMeters(), + rawPose.getYMeters(), + rawPose.getHeadingRad(), + activePfFloor, + rawPose.getLatLng(), + rawPose.getConfidence() + ); + + // Keep a pose record for connector persistence / future floor validation, + // but do not apply XY snapping here. + lastMatchedPose = new CandidatePose( + rawPose.getLatLng(), + activePfFloor, + timestampMs, + "pf_floor_checked", + correctedPose.getHeadingRad() + ); + return correctedPose; + } + + public void evaluateFloorChangeWithoutStep() { + if (!enabled) { + return; + } + + initialiseIfNeeded(); + if (particleFilterEngine == null || coordinateConverter == null || latestFusedPose == null) { + return; + } + + long now = SystemClock.elapsedRealtime(); + + onVerticalContextSample( + now, + sensorFusion.getElevation(), + sensorFusion.getElevator() + ); + + VerticalTransitionHint verticalHint = verticalMotionDetector.buildHint(); + if (verticalHint == null || !verticalHint.isHeightChanged()) { + return; + } + + /* + * This no-step path is only for lift/elevator-like transitions. + * Stair transitions should be committed through the normal step() + * path where real deltaS is available. + */ + if (!sensorFusion.getElevator()) { + Log.d(TAG, + "Skipping no-step floor evaluation: not elevator-like." + + " | activePfFloor=" + activePfFloor + + ", wifiFloor=" + sensorFusion.getWifiFloor() + + ", deltaHeight=" + verticalHint.getDeltaHeight()); + return; + } + + int requestedFloor = autoFloorManager.resolveRequestedFloor(verticalHint, now); + + Log.d(TAG, + "FLOOR no-step check" + + " | activePfFloor=" + activePfFloor + + ", requestedFloor=" + requestedFloor + + ", wifiFloor=" + sensorFusion.getWifiFloor() + + ", deltaHeight=" + verticalHint.getDeltaHeight() + + ", heightChanged=" + verticalHint.isHeightChanged() + + ", elevator=" + sensorFusion.getElevator()); + + if (requestedFloor == activePfFloor) { + return; + } + + FusedPose correctedPose = applyDiscreteMapMatching( + latestFusedPose, + wrapAngle(sensorFusion.getSelectedHeadingRad()), + 0.0, + now + ); + + if (correctedPose != null) { + latestFusedPose = correctedPose; + } + } + + /** + * Final hard wall clamp for the live fused pose. + * + * Why this exists: + * - PF particle penalties are soft + * - map matching corrections can still miss some wall-cross cases + * - live rendering now shows the PF result directly + * + * So before publishing the final fused pose, enforce: + * previous matched pose -> candidate pose must not cross a wall. + */ + @NonNull + private LatLng clampFinalPoseAgainstWalls(@NonNull LatLng candidateLatLng, + @Nullable FloorplanApiClient.FloorShapes wallCheckFloorShapes) { + if (lastMatchedPose == null + || lastMatchedPose.getLatLng() == null + || wallCheckFloorShapes == null) { + return candidateLatLng; + } + + LatLng previousLatLng = lastMatchedPose.getLatLng(); + + if (!MapGeometryUtils.crossesWall(previousLatLng, candidateLatLng, wallCheckFloorShapes)) { + return candidateLatLng; + } + + LatLng lastValidPoint = MapGeometryUtils.findFarthestValidPointBeforeWall( + previousLatLng, + candidateLatLng, + wallCheckFloorShapes + ); + + if (lastValidPoint != null) { + lastCorrectionType = "FINAL_WALL_CLAMP"; + lastCorrectionReason = "Final candidate crossed a wall; projected to last valid point before wall."; + lastCrossedWall = true; + return lastValidPoint; + } + + lastCorrectionType = "FINAL_WALL_REJECT"; + lastCorrectionReason = "Final candidate crossed a wall; kept previous valid matched pose."; + lastCrossedWall = true; + return previousLatLng; + } + + /** + * Returns the active floor shapes for the selected building. + */ + @Nullable + private FloorplanApiClient.FloorShapes getFloorShapesForFloor(int floorIndex) { + FloorplanApiClient.BuildingInfo building = getSelectedBuildingInfo(); + if (building == null) { + return null; + } + + List floors = building.getFloorShapesList(); + if (floors == null || floors.isEmpty()) { + return null; + } + + if (floorIndex < 0 || floorIndex >= floors.size()) { + return null; + } + + return floors.get(floorIndex); + } + + /** + * Resolves the currently selected building object from SensorFusion cache. + */ + @Nullable + private FloorplanApiClient.BuildingInfo getSelectedBuildingInfo() { + String buildingId = sensorFusion.getSelectedBuildingId(); + if (buildingId == null || buildingId.isEmpty()) { + return null; + } + return sensorFusion.getFloorplanBuilding(buildingId); + } + + /** + * Checks whether a floor index is valid for the active building. + */ + private boolean isFloorIndexAvailable(int floorIndex) { + FloorplanApiClient.BuildingInfo building = getSelectedBuildingInfo(); + if (building == null || building.getFloorShapesList() == null) { + return floorIndex >= 0; + } + return floorIndex >= 0 && floorIndex < building.getFloorShapesList().size(); + } + + /** + * Clamps a floor index to the valid range for the active building. + */ + private int sanitiseFloorIndex(int floorIndex) { + FloorplanApiClient.BuildingInfo building = getSelectedBuildingInfo(); + if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) { + return Math.max(0, floorIndex); + } + return Math.max(0, Math.min(floorIndex, building.getFloorShapesList().size() - 1)); + } + + /** + * Applies a small EMA to accepted WiFi observations. + */ + @NonNull + private double[] smoothWifiObservation(double x, double y) { + if (!wifiObsEmaInitialised) { + wifiObsEmaInitialised = true; + wifiObsEmaX = x; + wifiObsEmaY = y; + } else { + wifiObsEmaX = ema(wifiObsEmaX, x, WIFI_OBS_EMA_ALPHA); + wifiObsEmaY = ema(wifiObsEmaY, y, WIFI_OBS_EMA_ALPHA); + } + + return new double[]{wifiObsEmaX, wifiObsEmaY}; + } + + /** + * Extracts step distance from the cumulative PDR state. + */ + private double extractPdrDeltaDistance() { + float[] pdrPosition = sensorFusion.getLatestPdrMovement(); + if (pdrPosition == null || pdrPosition.length < 2) { + return 0.0; + } + + double px = pdrPosition[0]; + double py = pdrPosition[1]; + + if (firstPdrSample) { + firstPdrSample = false; + lastPdrX = px; + lastPdrY = py; + return 0.0; + } + + double dx = px - lastPdrX; + double dy = py - lastPdrY; + + lastPdrX = px; + lastPdrY = py; + + return Math.hypot(dx, dy); + } + + /** + * Simple scalar EMA helper. + */ + private double ema(double previous, double current, double alpha) { + return previous + alpha * (current - previous); + } + + /** + * Basic LatLng validity check. + */ + private boolean isValidLatLng(@Nullable LatLng latLng) { + if (latLng == null) { + return false; + } + return !(Math.abs(latLng.latitude) < 1e-6 && Math.abs(latLng.longitude) < 1e-6); + } + + /** + * Basic float[] lat/lon validity check. + */ + private boolean isValidLatLon(@Nullable float[] latLon) { + if (latLon == null || latLon.length < 2) { + return false; + } + return !(Math.abs(latLon[0]) < 1e-6 && Math.abs(latLon[1]) < 1e-6); + } + + /** + * Indoor context is active when a selected building is present in cache. + */ + private boolean isIndoorContextActive() { + String buildingId = sensorFusion.getSelectedBuildingId(); + return buildingId != null + && !buildingId.isEmpty() + && sensorFusion.getFloorplanBuilding(buildingId) != null; + } + + /** + * Wraps angle to [-pi, pi]. + */ + private double wrapAngle(double angle) { + while (angle > Math.PI) angle -= 2.0 * Math.PI; + while (angle < -Math.PI) angle += 2.0 * Math.PI; + return angle; + } + + /** + * Approximates metric distance between two LatLng values. + */ + private double distanceMeters(@Nullable LatLng a, @Nullable LatLng b) { + if (a == null || b == null) { + return 0.0; + } + + double meanLatRad = Math.toRadians((a.latitude + b.latitude) * 0.5); + double metersPerDegLat = 111320.0; + double metersPerDegLon = 111320.0 * Math.cos(meanLatRad); + + double dx = (b.longitude - a.longitude) * metersPerDegLon; + double dy = (b.latitude - a.latitude) * metersPerDegLat; + return Math.hypot(dx, dy); + } + + /** + * Interpolates between two LatLng values. + */ + @NonNull + private LatLng interpolate(@NonNull LatLng from, @NonNull LatLng to, double alpha) { + double clampedAlpha = Math.max(0.0, Math.min(1.0, alpha)); + return new LatLng( + from.latitude + clampedAlpha * (to.latitude - from.latitude), + from.longitude + clampedAlpha * (to.longitude - from.longitude) + ); + } + + /** + * Returns a cleaner live debug summary for the on-screen debug box. + * + * Layout intent: + * 1. session / context + * 2. current fused pose + * 3. particle health + * 4. motion + observation state + * 5. auto-floor state + * 6. map-matching / recovery reasoning + * + * This version is designed for fast live reading during walking tests. + */ + @NonNull + public String getLiveDebugSummary() { + if (!enabled) { + return "LIVE PF\nstatus: disabled"; + } + + if (particleFilterEngine == null) { + return "LIVE PF\nstatus: waiting init"; + } + + FusedPose pose = getLatestFusedPose(); + + int total = particleFilterEngine.getParticleCount(); + int alive = particleFilterEngine.getAliveParticleCount(); + int dead = particleFilterEngine.getDeadParticleCount(); + double neff = particleFilterEngine.getLastNeff(); + + String buildingId = sensorFusion.getSelectedBuildingId(); + if (buildingId == null || buildingId.trim().isEmpty()) { + buildingId = "none"; + } + + double poseX = pose != null ? pose.getXMeters() : Double.NaN; + double poseY = pose != null ? pose.getYMeters() : Double.NaN; + double poseHeadingDeg = pose != null ? Math.toDegrees(pose.getHeadingRad()) : Double.NaN; + int poseFloor = pose != null ? pose.getFloor() : activePfFloor; + float poseConfidence = pose != null ? pose.getConfidence() : 0f; + + int wifiFloor = sensorFusion.getWifiFloor(); + double elevationMeters = sensorFusion.getElevation(); + boolean autoFloorEnabled = sensorFusion.isLiveAutoFloorEnabled(); + boolean elevatorLikely = sensorFusion.getElevator(); + boolean indoorContext = isIndoorContextActive(); + + return String.format( + Locale.US, + "LIVE PF\n" + + "building=%s | indoor=%s | autoFloor=%s\n" + + "pose: x=%.2f y=%.2f heading=%.1fΒ° floor=%d conf=%.2f\n" + + "particles: total=%d alive=%d dead=%d neff=%.1f wallRatio=%.2f\n" + + "motion: step=%.2fm stationary=%s obs=%s\n" + + "floor: wifi=%d requested=%d active=%d matched=%d elev=%.2fm elevator=%s\n" + + "map: correction=%s wall=%s stairs=%s lift=%s allowFloor=%s\n" + + "mapReason: %s\n" + + "recovery: %s\n" + + "recoveryReason: %s", + buildingId, + String.valueOf(indoorContext), + String.valueOf(autoFloorEnabled), + poseX, + poseY, + poseHeadingDeg, + poseFloor, + poseConfidence, + total, + alive, + dead, + neff, + lastWallInvalidRatio, + lastStepDistanceMeters, + String.valueOf(lastStationaryUpdate), + lastObservationSource, + wifiFloor, + lastRequestedFloor, + activePfFloor, + lastMatchedFloor, + elevationMeters, + String.valueOf(elevatorLikely), + lastCorrectionType, + String.valueOf(lastCrossedWall), + String.valueOf(lastNearStairs), + String.valueOf(lastNearLift), + String.valueOf(lastFloorChangeAllowed), + lastCorrectionReason, + lastRecoveryType, + lastRecoveryReason + ); + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java new file mode 100644 index 00000000..d4c01e27 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/fusion/ParticleFilterObservation.java @@ -0,0 +1,77 @@ +package com.openpositioning.PositionMe.fusion; + +/** class to store wifi and gnss observation data */ +public class ParticleFilterObservation { + + private final Double wifiX; + private final Double wifiY; + private final Integer wifiFloor; + private final Double gnssX; + private final Double gnssY; + + /** + * Creates a new observation container. + * + * @param wifiX Wi-Fi x coordinate in meters, or null if unavailable + * @param wifiY Wi-Fi y coordinate in meters, or null if unavailable + * @param wifiFloor Wi-Fi floor estimate, or null if unavailable + * @param gnssX GNSS x coordinate in meters, or null if unavailable + * @param gnssY GNSS y coordinate in meters, or null if unavailable + */ + public ParticleFilterObservation(Double wifiX, + Double wifiY, + Integer wifiFloor, + Double gnssX, + Double gnssY) { + this.wifiX = wifiX; + this.wifiY = wifiY; + this.wifiFloor = wifiFloor; + this.gnssX = gnssX; + this.gnssY = gnssY; + } + + /** + * Returns the Wi-Fi local x coordinate. + * + * @return Wi-Fi x coordinate, or null if unavailable + */ + public Double getWifiX() { + return wifiX; + } + + /** + * Returns the Wi-Fi local y coordinate. + * + * @return Wi-Fi y coordinate, or null if unavailable + */ + public Double getWifiY() { + return wifiY; + } + + /** + * Returns the Wi-Fi floor estimate. + * + * @return Wi-Fi floor, or null if unavailable + */ + public Integer getWifiFloor() { + return wifiFloor; + } + + /** + * Returns the GNSS local x coordinate. + * + * @return GNSS x coordinate, or null if unavailable + */ + public Double getGnssX() { + return gnssX; + } + + /** + * Returns the GNSS local y coordinate. + * + * @return GNSS y coordinate, or null if unavailable + */ + public Double getGnssY() { + return gnssY; + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java new file mode 100644 index 00000000..7f00b6a1 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CandidatePose.java @@ -0,0 +1,74 @@ +package com.openpositioning.PositionMe.mapmatching; + +import androidx.annotation.Nullable; +import com.google.android.gms.maps.model.LatLng; + +/** + * Candidate pose used by map matching and by PF observation fusion. + * + * Backward-compatible: + * - old callers can still use the 4-argument constructor + * - new callers can optionally provide heading + */ +public class CandidatePose { + + private final LatLng latLng; + private final int floor; + private final long timestampMs; + private final String sourceType; + + @Nullable + private final Double headingRad; + + public CandidatePose(LatLng latLng, + int floor, + long timestampMs, + String sourceType) { + this(latLng, floor, timestampMs, sourceType, null); + } + + public CandidatePose(LatLng latLng, + int floor, + long timestampMs, + String sourceType, + @Nullable Double headingRad) { + this.latLng = latLng; + this.floor = floor; + this.timestampMs = timestampMs; + this.sourceType = sourceType; + this.headingRad = headingRad; + } + + public LatLng getLatLng() { + return latLng; + } + + /** + * Current map stack is already using floor indices. + * Keep this as the canonical getter. + */ + public int getFloor() { + return floor; + } + + /** + * Compatibility alias for PF code that still says "logical floor". + * In your current app this is effectively the active floor index. + */ + public int getLogicalFloor() { + return floor; + } + + public long getTimestampMs() { + return timestampMs; + } + + public String getSourceType() { + return sourceType; + } + + @Nullable + public Double getHeadingRad() { + return headingRad; + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java new file mode 100644 index 00000000..a8fb3b85 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/CorrectionType.java @@ -0,0 +1,9 @@ +package com.openpositioning.PositionMe.mapmatching; + + +public enum CorrectionType { + NONE, + THROUGH_WALL, + INVALID_FLOOR_CHANGE, + SNAP_TO_VALID_AREA +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java new file mode 100644 index 00000000..5ce8ab13 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapGeometryUtils.java @@ -0,0 +1,818 @@ +package com.openpositioning.PositionMe.mapmatching; + +import com.google.android.gms.maps.model.LatLng; +import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; + +import java.util.List; + +/** + * Provides the core geometric checks required for Map Matching 3.2. + * + * In addition to basic wall-crossing and proximity checks, this version also adds: + * 1. Find the last valid point before hitting a wall along a motion segment + * 2. Find the nearest anchor point for an indoor feature type (stairs/lift) + * + * These utilities are used by the stage-four minimal patch to move map matching + * from "only rejecting errors" to "actively pulling the pose back to a more reasonable location." + */ +public class MapGeometryUtils { + + // Default proximity threshold (meters) + // Stairs can use a slightly larger threshold. + private static final double STAIRS_PROXIMITY_THRESHOLD_METERS = 2.2; + + // Lift uses a slightly tighter threshold. + private static final double LIFT_PROXIMITY_THRESHOLD_METERS = 1.8; + + private static final int WALL_PROJECTION_BINARY_SEARCH_ITERATIONS = 20; + private static final double WALL_PROJECTION_SAFETY_RATIO = 0.98; + // Keep the safe inset small; otherwise floor transitions may introduce obvious lateral jumps. + private static final double CONNECTOR_SAFE_INSET_METERS = 0.35; + private static final int CONNECTOR_SAFE_POINT_STEPS = 16; + private static final double LOCAL_DIRECTION_SEARCH_RADIUS_METERS = 4.0; + private static final double LOCAL_DIRECTION_MIN_SEGMENT_WEIGHT = 0.25; + + /** + * Estimate the dominant walkable heading around a point by inspecting nearby wall edges. + * The dominant travel direction in corridors is usually parallel to nearby wall edges. + */ + public static double estimateLocalWalkableHeadingRadians(LatLng point, + FloorplanApiClient.FloorShapes floorShapes, + double fallbackHeadingRad) { + if (point == null || floorShapes == null || floorShapes.getFeatures() == null) { + return fallbackHeadingRad; + } + + double sumCos2 = 0d; + double sumSin2 = 0d; + double totalWeight = 0d; + + for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) { + if (!"wall".equalsIgnoreCase(feature.getIndoorType())) { + continue; + } + List> parts = feature.getParts(); + if (parts == null) continue; + for (List part : parts) { + if (part == null || part.size() < 2) continue; + for (int i = 0; i < part.size(); i++) { + LatLng a = part.get(i); + LatLng b = part.get((i + 1) % part.size()); + if (a == null || b == null || samePoint(a, b)) continue; + double distance = distancePointToSegmentMeters(point, a, b); + if (distance > LOCAL_DIRECTION_SEARCH_RADIUS_METERS) continue; + double heading = headingBetween(a, b); + double closenessWeight = 1d / Math.max(distance, LOCAL_DIRECTION_MIN_SEGMENT_WEIGHT); + double lengthWeight = Math.max(0.30d, distanceMeters(a, b)); + double weight = closenessWeight * Math.min(lengthWeight, 6.0d); + sumCos2 += Math.cos(2d * heading) * weight; + sumSin2 += Math.sin(2d * heading) * weight; + totalWeight += weight; + } + } + } + + if (totalWeight <= 1e-6d) { + return fallbackHeadingRad; + } + + double axisHeading = 0.5d * Math.atan2(sumSin2, sumCos2); + double alternative = normalizeAngleRadians(axisHeading + Math.PI); + return angularDifference(axisHeading, fallbackHeadingRad) + <= angularDifference(alternative, fallbackHeadingRad) + ? axisHeading + : alternative; + } + + /** + * Checks whether the trajectory from start to end crosses a wall on the current floor. + */ + public static boolean crossesWall(LatLng start, + LatLng end, + FloorplanApiClient.FloorShapes floorShapes) { + if (start == null || end == null || floorShapes == null || floorShapes.getFeatures() == null) { + return false; + } + + for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) { + if (!"wall".equalsIgnoreCase(feature.getIndoorType())) { + continue; + } + + if (intersectsFeature(start, end, feature)) { + return true; + } + } + + return false; + } + + /** + * Checks whether the current position is near stairs. + * Stair areas are usually a bit larger, so the threshold is relaxed. + */ + public static boolean isNearStairs(LatLng point, + FloorplanApiClient.FloorShapes floorShapes) { + return isNearIndoorType( + point, + floorShapes, + "stairs", + STAIRS_PROXIMITY_THRESHOLD_METERS + ); + } + + /** + * Checks whether the current position is near a lift. + * Lift areas are usually more compact, so the threshold is slightly tighter. + */ + public static boolean isNearLift(LatLng point, + FloorplanApiClient.FloorShapes floorShapes) { + return isNearIndoorType( + point, + floorShapes, + "lift", + LIFT_PROXIMITY_THRESHOLD_METERS + ); + } + + + /** + * Checks whether a point is actually inside an indoor feature area. + * + * This is stricter than a near check and is used for floor transitions that need strong evidence. + */ + public static boolean isInsideIndoorType(LatLng point, + FloorplanApiClient.FloorShapes floorShapes, + String indoorType) { + if (point == null || floorShapes == null || floorShapes.getFeatures() == null) { + return false; + } + + for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) { + if (!indoorType.equalsIgnoreCase(feature.getIndoorType())) { + continue; + } + + List> parts = feature.getParts(); + if (parts == null) continue; + + for (List part : parts) { + if (part == null || part.size() < 3) continue; + if (isPointInPolygon(point, part)) { + return true; + } + } + } + + return false; + } + + /** + * A more general check for whether a point is near an indoor feature type. + */ + public static boolean isNearIndoorType(LatLng point, + FloorplanApiClient.FloorShapes floorShapes, + String indoorType, + double thresholdMeters) { + if (point == null || floorShapes == null || floorShapes.getFeatures() == null) { + return false; + } + + for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) { + if (!indoorType.equalsIgnoreCase(feature.getIndoorType())) { + continue; + } + + List> parts = feature.getParts(); + if (parts == null) continue; + + for (List part : parts) { + if (part == null || part.isEmpty()) continue; + + // If this is an area / closed region, being inside also counts as near. + if (part.size() >= 3 && isPointInPolygon(point, part)) { + return true; + } + + // Otherwise, check the minimum distance from the point to the edge / segment. + if (isPointNearPolyline(point, part, thresholdMeters)) { + return true; + } + } + } + + return false; + } + + + /** + * Returns true when the point falls inside a wall polygon/ring on the current floor. + */ + public static boolean isInsideWall(LatLng point, + FloorplanApiClient.FloorShapes floorShapes) { + if (point == null || floorShapes == null || floorShapes.getFeatures() == null) { + return false; + } + + for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) { + if (!"wall".equalsIgnoreCase(feature.getIndoorType())) { + continue; + } + + List> parts = feature.getParts(); + if (parts == null) continue; + + for (List part : parts) { + if (part == null || part.size() < 3) continue; + if (isPointInPolygon(point, part)) { + return true; + } + } + } + + return false; + } + + /** + * Distance from a point to the nearest wall boundary on the active floor. + * Returns Double.MAX_VALUE when no wall geometry is available. + */ + public static double distanceToNearestWallMeters(LatLng point, + FloorplanApiClient.FloorShapes floorShapes) { + if (point == null || floorShapes == null || floorShapes.getFeatures() == null) { + return Double.MAX_VALUE; + } + + double bestDistance = Double.MAX_VALUE; + for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) { + if (!"wall".equalsIgnoreCase(feature.getIndoorType())) { + continue; + } + + List> parts = feature.getParts(); + if (parts == null) continue; + + for (List part : parts) { + if (part == null || part.size() < 2) continue; + if (part.size() >= 3 && isPointInPolygon(point, part)) { + return 0.0; + } + double distance = distancePointToPolygonBoundaryMeters(point, part); + if (distance < bestDistance) { + bestDistance = distance; + } + } + } + + return bestDistance; + } + + /** + * When a trajectory crosses a wall, find the last valid point before collision along start->end. + * + * This is smoother than simply reverting to the previous pose and better matches the stage-four active-correction goal. + */ + public static LatLng findFarthestValidPointBeforeWall(LatLng start, + LatLng end, + FloorplanApiClient.FloorShapes floorShapes) { + if (start == null || end == null || floorShapes == null) { + return start; + } + if (!crossesWall(start, end, floorShapes)) { + return end; + } + + double low = 0.0; + double high = 1.0; + LatLng best = start; + + for (int i = 0; i < WALL_PROJECTION_BINARY_SEARCH_ITERATIONS; i++) { + double mid = (low + high) / 2.0; + LatLng midPoint = interpolate(start, end, mid); + if (crossesWall(start, midPoint, floorShapes)) { + high = mid; + } else { + best = midPoint; + low = mid; + } + } + + // Step slightly back toward start to avoid landing on the boundary and oscillating on the next frame. + double safeRatio = Math.max(0.0, low * WALL_PROJECTION_SAFETY_RATIO); + return interpolate(start, end, safeRatio); + } + + /** + * Find the nearest safe interior landing point from point to the specified indoorType. + * + * Unlike a simple centroid, this point stays as close as possible to the entrance side near the current candidate point, + * while still moving slightly inside the polygon to avoid landing on the boundary or next to a wall after a floor change. + */ + public static LatLng findNearestSafeInteriorPointOnIndoorType(LatLng point, + FloorplanApiClient.FloorShapes floorShapes, + String indoorType) { + if (point == null || floorShapes == null || floorShapes.getFeatures() == null) { + return null; + } + + double bestDistance = Double.MAX_VALUE; + LatLng bestPoint = null; + + for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) { + if (!indoorType.equalsIgnoreCase(feature.getIndoorType())) { + continue; + } + + List> parts = feature.getParts(); + if (parts == null) continue; + + for (List part : parts) { + if (part == null || part.size() < 3) continue; + + LatLng safePoint = findSafeInteriorPoint(point, part); + if (safePoint == null) continue; + + double distance = distanceMeters(point, safePoint); + if (distance < bestDistance) { + bestDistance = distance; + bestPoint = safePoint; + } + } + } + + return bestPoint; + } + + /** + * Find the nearest interior landing point from point to the specified indoorType. + * + * Unlike findNearestPointOnIndoorType, this prefers returning an interior centroid of the polygon, + * which is suitable for placing the landing point after a floor transition and avoids landing on the boundary or next to a wall. + */ + public static LatLng findNearestIndoorTypeCentroid(LatLng point, + FloorplanApiClient.FloorShapes floorShapes, + String indoorType) { + if (point == null || floorShapes == null || floorShapes.getFeatures() == null) { + return null; + } + + double bestDistance = Double.MAX_VALUE; + LatLng bestPoint = null; + + for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) { + if (!indoorType.equalsIgnoreCase(feature.getIndoorType())) { + continue; + } + + List> parts = feature.getParts(); + if (parts == null) continue; + + for (List part : parts) { + if (part == null || part.size() < 3) continue; + + LatLng centroid = polygonCentroid(part); + if (centroid == null) continue; + if (!isPointInPolygon(centroid, part)) { + centroid = averagePoint(part); + } + if (centroid == null || !isPointInPolygon(centroid, part)) { + continue; + } + + double distance = distanceMeters(point, centroid); + if (distance < bestDistance) { + bestDistance = distance; + bestPoint = centroid; + } + } + } + + return bestPoint; + } + + /** + * Find the nearest anchor point from point to the specified indoorType. + * + * For stairs/lift, this point acts as a more reasonable position during a floor transition. + */ + public static LatLng findNearestPointOnIndoorType(LatLng point, + FloorplanApiClient.FloorShapes floorShapes, + String indoorType) { + if (point == null || floorShapes == null || floorShapes.getFeatures() == null) { + return null; + } + + double bestDistance = Double.MAX_VALUE; + LatLng bestPoint = null; + + for (FloorplanApiClient.MapShapeFeature feature : floorShapes.getFeatures()) { + if (!indoorType.equalsIgnoreCase(feature.getIndoorType())) { + continue; + } + + List> parts = feature.getParts(); + if (parts == null) continue; + + for (List part : parts) { + if (part == null || part.isEmpty()) continue; + + if (part.size() >= 3 && isPointInPolygon(point, part)) { + LatLng safeInterior = findSafeInteriorPoint(point, part); + return safeInterior != null ? safeInterior : point; + } + + int limit = part.size() - 1; + for (int i = 0; i < limit; i++) { + LatLng nearest = projectPointToSegment(point, part.get(i), part.get(i + 1)); + double distance = distanceMeters(point, nearest); + if (distance < bestDistance) { + bestDistance = distance; + bestPoint = nearest; + } + } + + if (part.size() >= 3) { + LatLng nearest = projectPointToSegment(point, part.get(part.size() - 1), part.get(0)); + double distance = distanceMeters(point, nearest); + if (distance < bestDistance) { + bestDistance = distance; + bestPoint = nearest; + } + } + } + } + + return bestPoint; + } + + // ========================================================= + // Internal helper methods + // ========================================================= + + /** + * Checks whether a trajectory segment intersects the boundary / segment of a feature. + */ + private static boolean intersectsFeature(LatLng start, + LatLng end, + FloorplanApiClient.MapShapeFeature feature) { + List> parts = feature.getParts(); + if (parts == null) return false; + + for (List part : parts) { + if (part == null || part.size() < 2) continue; + + for (int i = 0; i < part.size() - 1; i++) { + LatLng a = part.get(i); + LatLng b = part.get(i + 1); + + if (segmentsIntersect(start, end, a, b)) { + return true; + } + } + + // For a polygon ring, also check the closing edge between the last and first points. + if (part.size() >= 3) { + LatLng last = part.get(part.size() - 1); + LatLng first = part.get(0); + if (segmentsIntersect(start, end, last, first)) { + return true; + } + } + } + + return false; + } + + /** + * Checks whether a point is near a polyline / polygon boundary. + */ + private static boolean isPointNearPolyline(LatLng point, + List polyline, + double thresholdMeters) { + if (polyline == null || polyline.size() < 2) return false; + + for (int i = 0; i < polyline.size() - 1; i++) { + LatLng a = polyline.get(i); + LatLng b = polyline.get(i + 1); + + double distance = distancePointToSegmentMeters(point, a, b); + if (distance <= thresholdMeters) { + return true; + } + } + + // If this behaves like a polygon ring, also check the closing edge. + if (polyline.size() >= 3) { + double distance = distancePointToSegmentMeters( + point, + polyline.get(polyline.size() - 1), + polyline.get(0) + ); + return distance <= thresholdMeters; + } + + return false; + } + + /** + * Checks whether a point is inside a polygon. + * Uses a simple ray-casting method. + */ + private static boolean isPointInPolygon(LatLng point, List polygon) { + if (point == null || polygon == null || polygon.size() < 3) return false; + + boolean inside = false; + double x = point.longitude; + double y = point.latitude; + + for (int i = 0, j = polygon.size() - 1; i < polygon.size(); j = i++) { + double xi = polygon.get(i).longitude; + double yi = polygon.get(i).latitude; + double xj = polygon.get(j).longitude; + double yj = polygon.get(j).latitude; + + boolean intersect = ((yi > y) != (yj > y)) + && (x < (xj - xi) * (y - yi) / ((yj - yi) + 1e-12) + xi); + + if (intersect) inside = !inside; + } + + return inside; + } + + /** + * Checks whether two segments intersect. + * A planar approximation is used here, which is sufficient for small indoor areas. + */ + private static boolean segmentsIntersect(LatLng p1, LatLng p2, LatLng q1, LatLng q2) { + int o1 = orientation(p1, p2, q1); + int o2 = orientation(p1, p2, q2); + int o3 = orientation(q1, q2, p1); + int o4 = orientation(q1, q2, p2); + + if (o1 != o2 && o3 != o4) return true; + + // Special case: collinear segments + if (o1 == 0 && onSegment(p1, q1, p2)) return true; + if (o2 == 0 && onSegment(p1, q2, p2)) return true; + if (o3 == 0 && onSegment(q1, p1, q2)) return true; + if (o4 == 0 && onSegment(q1, p2, q2)) return true; + + return false; + } + + private static int orientation(LatLng a, LatLng b, LatLng c) { + double value = (b.latitude - a.latitude) * (c.longitude - b.longitude) + - (b.longitude - a.longitude) * (c.latitude - b.latitude); + + if (Math.abs(value) < 1e-12) return 0; + return (value > 0) ? 1 : 2; + } + + private static boolean onSegment(LatLng a, LatLng b, LatLng c) { + return b.longitude <= Math.max(a.longitude, c.longitude) + && b.longitude >= Math.min(a.longitude, c.longitude) + && b.latitude <= Math.max(a.latitude, c.latitude) + && b.latitude >= Math.min(a.latitude, c.latitude); + } + + /** + * Computes the shortest distance from a point to a segment (meters). + * Uses a local planar approximation (lat/lng converted to meters), which is sufficient for small indoor areas. + */ + private static double distancePointToSegmentMeters(LatLng p, LatLng a, LatLng b) { + LatLng nearest = projectPointToSegment(p, a, b); + return distanceMeters(p, nearest); + } + + private static LatLng findSafeInteriorPoint(LatLng referencePoint, List polygon) { + if (referencePoint == null || polygon == null || polygon.size() < 3) { + return null; + } + + LatLng centroid = polygonCentroid(polygon); + if (centroid == null || !isPointInPolygon(centroid, polygon)) { + centroid = averagePoint(polygon); + } + if (centroid == null || !isPointInPolygon(centroid, polygon)) { + return null; + } + + LatLng startPoint = isPointInPolygon(referencePoint, polygon) + ? referencePoint + : findNearestPointOnPolygonBoundary(referencePoint, polygon); + if (startPoint == null) { + startPoint = centroid; + } + + double currentBoundaryDistance = distancePointToPolygonBoundaryMeters(startPoint, polygon); + if (isPointInPolygon(startPoint, polygon) && currentBoundaryDistance >= CONNECTOR_SAFE_INSET_METERS) { + return startPoint; + } + + LatLng bestPoint = centroid; + double bestBoundaryDistance = distancePointToPolygonBoundaryMeters(centroid, polygon); + + for (int i = 1; i <= CONNECTOR_SAFE_POINT_STEPS; i++) { + double ratio = i / (double) CONNECTOR_SAFE_POINT_STEPS; + LatLng candidate = interpolate(startPoint, centroid, ratio); + if (!isPointInPolygon(candidate, polygon)) { + continue; + } + + double boundaryDistance = distancePointToPolygonBoundaryMeters(candidate, polygon); + if (boundaryDistance > bestBoundaryDistance) { + bestBoundaryDistance = boundaryDistance; + bestPoint = candidate; + } + if (boundaryDistance >= CONNECTOR_SAFE_INSET_METERS) { + return candidate; + } + } + + return bestPoint; + } + + private static LatLng findNearestPointOnPolygonBoundary(LatLng point, List polygon) { + if (point == null || polygon == null || polygon.size() < 2) { + return null; + } + + double bestDistance = Double.MAX_VALUE; + LatLng bestPoint = null; + + for (int i = 0; i < polygon.size(); i++) { + LatLng a = polygon.get(i); + LatLng b = polygon.get((i + 1) % polygon.size()); + LatLng projected = projectPointToSegment(point, a, b); + double distance = distanceMeters(point, projected); + if (distance < bestDistance) { + bestDistance = distance; + bestPoint = projected; + } + } + + return bestPoint; + } + + private static double distancePointToPolygonBoundaryMeters(LatLng point, List polygon) { + if (point == null || polygon == null || polygon.size() < 2) { + return Double.MAX_VALUE; + } + + double bestDistance = Double.MAX_VALUE; + for (int i = 0; i < polygon.size(); i++) { + LatLng a = polygon.get(i); + LatLng b = polygon.get((i + 1) % polygon.size()); + double distance = distancePointToSegmentMeters(point, a, b); + if (distance < bestDistance) { + bestDistance = distance; + } + } + return bestDistance; + } + + private static LatLng projectPointToSegment(LatLng p, LatLng a, LatLng b) { + double[] axy = toLocalMeters(a, p); + double[] bxy = toLocalMeters(b, p); + + double ax = axy[0], ay = axy[1]; + double bx = bxy[0], by = bxy[1]; + double dx = bx - ax; + double dy = by - ay; + + if (dx == 0 && dy == 0) { + return a; + } + + double t = (-(ax * dx + ay * dy)) / (dx * dx + dy * dy); + t = Math.max(0, Math.min(1, t)); + + double closestX = ax + t * dx; + double closestY = ay + t * dy; + return fromLocalMeters(closestX, closestY, p); + } + + /** + * Euclidean distance in local tangent plane (meters). + */ + public static double distanceMetersPublic(LatLng a, LatLng b) { + return distanceMeters(a, b); + } + + /** + * Move a point by east/north offsets in meters using a local tangent plane approximation. + */ + public static LatLng offsetPointByMeters(LatLng reference, + double eastMeters, + double northMeters) { + if (reference == null) { + return null; + } + return fromLocalMeters(eastMeters, northMeters, reference); + } + + private static double distanceMeters(LatLng a, LatLng b) { + double[] bxy = toLocalMeters(b, a); + return Math.hypot(bxy[0], bxy[1]); + } + + private static LatLng polygonCentroid(List polygon) { + if (polygon == null || polygon.size() < 3) return null; + + double areaTwice = 0.0; + double cx = 0.0; + double cy = 0.0; + + for (int i = 0; i < polygon.size(); i++) { + LatLng a = polygon.get(i); + LatLng b = polygon.get((i + 1) % polygon.size()); + double cross = a.longitude * b.latitude - b.longitude * a.latitude; + areaTwice += cross; + cx += (a.longitude + b.longitude) * cross; + cy += (a.latitude + b.latitude) * cross; + } + + if (Math.abs(areaTwice) < 1e-12) { + return averagePoint(polygon); + } + + double scale = 1.0 / (3.0 * areaTwice); + return new LatLng(cy * scale, cx * scale); + } + + private static LatLng averagePoint(List polygon) { + if (polygon == null || polygon.isEmpty()) return null; + double lat = 0.0; + double lng = 0.0; + int count = 0; + for (LatLng point : polygon) { + if (point == null) continue; + lat += point.latitude; + lng += point.longitude; + count += 1; + } + if (count == 0) return null; + return new LatLng(lat / count, lng / count); + } + + private static LatLng interpolate(LatLng start, LatLng end, double ratio) { + double clamped = Math.max(0.0, Math.min(1.0, ratio)); + return new LatLng( + start.latitude + (end.latitude - start.latitude) * clamped, + start.longitude + (end.longitude - start.longitude) * clamped + ); + } + + private static double headingBetween(LatLng from, LatLng to) { + double[] xy = toLocalMeters(to, from); + if (Math.abs(xy[0]) < 1e-9 && Math.abs(xy[1]) < 1e-9) { + return 0d; + } + return Math.atan2(xy[0], xy[1]); + } + + private static boolean samePoint(LatLng a, LatLng b) { + if (a == b) return true; + if (a == null || b == null) return false; + return Math.abs(a.latitude - b.latitude) < 1e-12 + && Math.abs(a.longitude - b.longitude) < 1e-12; + } + + private static double normalizeAngleRadians(double angle) { + double value = angle; + while (value <= -Math.PI) value += 2d * Math.PI; + while (value > Math.PI) value -= 2d * Math.PI; + return value; + } + + private static double angularDifference(double a, double b) { + double diff = Math.abs(normalizeAngleRadians(a - b)); + return diff > Math.PI ? (2d * Math.PI - diff) : diff; + } + + /** + * Converts lat/lng to local meter coordinates with reference as the origin. + * Returns [xMeters, yMeters] + */ + private static double[] toLocalMeters(LatLng point, LatLng reference) { + double latRad = Math.toRadians(reference.latitude); + double metersPerDegLat = 111320.0; + double metersPerDegLon = 111320.0 * Math.cos(latRad); + + double x = (point.longitude - reference.longitude) * metersPerDegLon; + double y = (point.latitude - reference.latitude) * metersPerDegLat; + + return new double[]{x, y}; + } + + private static LatLng fromLocalMeters(double xMeters, double yMeters, LatLng reference) { + double latRad = Math.toRadians(reference.latitude); + double metersPerDegLat = 111320.0; + double metersPerDegLon = 111320.0 * Math.cos(latRad); + + double latitude = reference.latitude + (yMeters / metersPerDegLat); + double longitude = reference.longitude + (xMeters / Math.max(metersPerDegLon, 1e-9)); + return new LatLng(latitude, longitude); + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java new file mode 100644 index 00000000..f36d5b7c --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingInput.java @@ -0,0 +1,98 @@ +package com.openpositioning.PositionMe.mapmatching; + +import androidx.annotation.Nullable; + +import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; + +/** + * Represents the full input required for one map-matching pass. + * + * This explicitly distinguishes between: + * - sourceFloorShapes: the map of the actual current floor used for wall/stairs/lift constraints + * - targetFloorShapes: the candidate target-floor map (for example, a replay-predicted next floor) + * + * This prevents the code from mistakenly using the stairs on the target floor + * to approve a transition on the current floor. + */ +public class MapMatchingInput { + + private final CandidatePose previousPose; + private final CandidatePose currentCandidatePose; + private final MotionDelta motionDelta; + private final VerticalTransitionHint verticalHint; + private final FloorplanApiClient.FloorShapes sourceFloorShapes; + private final FloorplanApiClient.FloorShapes targetFloorShapes; + private final String activeBuildingId; + + public MapMatchingInput( + @Nullable CandidatePose previousPose, + CandidatePose currentCandidatePose, + @Nullable MotionDelta motionDelta, + @Nullable VerticalTransitionHint verticalHint, + @Nullable FloorplanApiClient.FloorShapes sourceFloorShapes, + @Nullable FloorplanApiClient.FloorShapes targetFloorShapes, + @Nullable String activeBuildingId + ) { + this.previousPose = previousPose; + this.currentCandidatePose = currentCandidatePose; + this.motionDelta = motionDelta; + this.verticalHint = verticalHint; + this.sourceFloorShapes = sourceFloorShapes; + this.targetFloorShapes = targetFloorShapes; + this.activeBuildingId = activeBuildingId; + } + + @Nullable + public CandidatePose getPreviousPose() { + return previousPose; + } + + public CandidatePose getCurrentCandidatePose() { + return currentCandidatePose; + } + + @Nullable + public MotionDelta getMotionDelta() { + return motionDelta; + } + + @Nullable + public VerticalTransitionHint getVerticalHint() { + return verticalHint; + } + + @Nullable + public FloorplanApiClient.FloorShapes getSourceFloorShapes() { + return sourceFloorShapes; + } + + @Nullable + public FloorplanApiClient.FloorShapes getTargetFloorShapes() { + return targetFloorShapes; + } + + /** + * Compatibility for old callers: active floor defaults to target floor. + */ + @Nullable + public FloorplanApiClient.FloorShapes getActiveFloorShapes() { + return targetFloorShapes; + } + + @Nullable + public String getActiveBuildingId() { + return activeBuildingId; + } + + public boolean hasActiveFloorMap() { + return targetFloorShapes != null + && targetFloorShapes.getFeatures() != null + && !targetFloorShapes.getFeatures().isEmpty(); + } + + public boolean hasSourceFloorMap() { + return sourceFloorShapes != null + && sourceFloorShapes.getFeatures() != null + && !sourceFloorShapes.getFeatures().isEmpty(); + } +} diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java new file mode 100644 index 00000000..25288c70 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingResult.java @@ -0,0 +1,77 @@ +package com.openpositioning.PositionMe.mapmatching; + +import com.google.android.gms.maps.model.LatLng; + +/** + * Represents the output of one map-matching pass. + */ +public class MapMatchingResult { + + private final boolean validPosition; + private final boolean crossedWall; + private final boolean nearStairs; + private final boolean nearLift; + private final boolean floorChangeAllowed; + private final LatLng correctedLatLng; + private final int correctedFloor; + private final CorrectionType correctionType; + private final String debugReason; + + public MapMatchingResult( + boolean validPosition, + boolean crossedWall, + boolean nearStairs, + boolean nearLift, + boolean floorChangeAllowed, + LatLng correctedLatLng, + int correctedFloor, + CorrectionType correctionType, + String debugReason + ) { + this.validPosition = validPosition; + this.crossedWall = crossedWall; + this.nearStairs = nearStairs; + this.nearLift = nearLift; + this.floorChangeAllowed = floorChangeAllowed; + this.correctedLatLng = correctedLatLng; + this.correctedFloor = correctedFloor; + this.correctionType = correctionType; + this.debugReason = debugReason; + } + + public boolean isValidPosition() { + return validPosition; + } + + public boolean isCrossedWall() { + return crossedWall; + } + + public boolean isNearStairs() { + return nearStairs; + } + + public boolean isNearLift() { + return nearLift; + } + + public boolean isFloorChangeAllowed() { + return floorChangeAllowed; + } + + public LatLng getCorrectedLatLng() { + return correctedLatLng; + } + + public int getCorrectedFloor() { + return correctedFloor; + } + + public CorrectionType getCorrectionType() { + return correctionType; + } + + public String getDebugReason() { + return debugReason; + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java new file mode 100644 index 00000000..f8ffb56a --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MapMatchingService.java @@ -0,0 +1,939 @@ +package com.openpositioning.PositionMe.mapmatching; + +import androidx.annotation.NonNull; +import androidx.annotation.Nullable; + +import com.google.android.gms.maps.model.LatLng; +import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; + +/** + * Core service class for Map Matching 3.2. + * + * Goals of the stage-four minimal patch: + * 1. Keep the existing error-rejection behavior (wall crossing / invalid floor changes) + * 2. Add more active geometric correction so results look more like positions improved by the map + * + * Specifically: + * - When crossing a wall, do not only fall back to the previous pose; prefer projecting to the last valid point before the wall + * - When a floor transition is valid, lightly anchor the transition point to nearby stairs/lift so it looks like it happened at a real connector + */ +public class MapMatchingService { + // Smaller horizontal displacement looks more like a lift. + private static final double MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS = 1.2; + // Stair transitions can include some horizontal displacement, but not too much; otherwise it is likely drift or a large jump. + private static final double MAX_STAIRS_HORIZONTAL_DISPLACEMENT_METERS = 3.0; + // Skip wall-crossing checks for very small displacement to avoid false positives from sensor jitter. + private static final double MIN_DISPLACEMENT_FOR_WALL_CHECK_METERS = 0.3; + // For obvious idle / micro-motion, freeze at the previous matched position before using small-step pass-through. + private static final double MAX_IDLE_FREEZE_STEP_METERS = 0.08; + // Maximum one-frame reattachment distance after wall recovery to avoid teleport-like jumps. + private static final double MAX_RECOVERY_STEP_METERS = 0.3; + // Allow slightly more freedom near connector areas, but still limit large jumps. + private static final double MAX_RECOVERY_STEP_NEAR_CONNECTOR_METERS = 0.45; + // Maximum allowed snap distance when anchoring to stairs / lift during a valid floor transition. + private static final double MAX_STAIRS_ANCHOR_METERS = 0.5; + private static final double MAX_LIFT_ANCHOR_METERS = 0.4; + // After a successful floor transition, place XY directly inside the connector on the target floor to avoid landing next to a wall and being axis-slid again. + private static final double MAX_STAIRS_LANDING_METERS = 0.7; + private static final double MAX_LIFT_LANDING_METERS = 0.6; + // For a few frames after a successful floor transition, do not immediately hand the trajectory back to the normal wall solver; + // use a short smooth-release window to transition naturally from the landing point to the following trajectory. + private static final int POST_TRANSITION_RELEASE_FRAMES = 1; + private static final double POST_TRANSITION_RELEASE_BLEND_MIN = 0.10; + private static final double POST_TRANSITION_RELEASE_BLEND_MAX = 0.25; + private static final double POST_TRANSITION_RELEASE_MAX_STEP_METERS = 0.25; + private static final double POST_TRANSITION_RELEASE_COMPLETE_METERS = 0.20; + private static final double POST_TRANSITION_RELEASE_CANCEL_METERS = 6.0; + private int consecutiveFreezeCount = 0; + private static final int MAX_FREEZE_FRAMES = 5; + + private static final double[] ANGLE_OFFSETS = { + 0, + 15, -15, + 30, -30, + 45, -45, + 60, -60, + 90, -90 + }; + + @Nullable + private PostTransitionReleaseState postTransitionReleaseState; + + public void resetTransientState() { + postTransitionReleaseState = null; + } + + @NonNull + public MapMatchingResult match(@NonNull MapMatchingInput input) { + CandidatePose currentPose = input.getCurrentCandidatePose(); + CandidatePose previousPose = input.getPreviousPose(); + + boolean floorTransitionAttempt = previousPose != null + && currentPose.getFloor() != previousPose.getFloor(); + boolean floorChangeAllowed = isFloorChangeAllowed(input); + + FloorplanApiClient.FloorShapes connectorFloorShapes = chooseConnectorFloorShapes(input, floorTransitionAttempt); + FloorplanApiClient.FloorShapes wallCheckFloorShapes = chooseWallCheckFloorShapes(input, floorTransitionAttempt); + + LatLng candidateLatLng = currentPose.getLatLng(); + LatLng correctedLatLng = candidateLatLng; + int correctedFloor = currentPose.getFloor(); + + boolean nearStairs = false; + boolean nearLift = false; + boolean crossedWall = false; + + CorrectionType correctionType = CorrectionType.NONE; + String debugReason = "Candidate pose accepted."; + boolean validPosition = true; + + if (connectorFloorShapes != null) { + nearStairs = MapGeometryUtils.isNearStairs(candidateLatLng, connectorFloorShapes); + nearLift = MapGeometryUtils.isNearLift(candidateLatLng, connectorFloorShapes); + } + + MotionDelta motionDelta = input.getMotionDelta(); + TransitionLanding transitionLanding = floorTransitionAttempt && floorChangeAllowed + ? buildTransitionLanding(input, candidateLatLng, motionDelta, nearStairs, nearLift) + : null; + String transitionDescription = describeVerticalTransition(nearStairs, nearLift, motionDelta); + if (input.getVerticalHint() != null && input.getVerticalHint().isHeightChanged()) { + debugReason = "Height changed; " + transitionDescription + "."; + } else { + debugReason = "Candidate pose accepted; " + transitionDescription + "."; + } + + boolean frozen = shouldFreezeIdleMotion( + previousPose, + currentPose, + motionDelta, + nearStairs, + nearLift, + floorTransitionAttempt, + input.getVerticalHint() + ); + + if (frozen && previousPose != null && consecutiveFreezeCount < MAX_FREEZE_FRAMES){ + consecutiveFreezeCount++; + LatLng blendedLatLng = interpolate( + previousPose.getLatLng(), + currentPose.getLatLng(), + 0.2 + ); + + return new MapMatchingResult( + true, + false, + nearStairs, + nearLift, + false, + blendedLatLng, + previousPose.getFloor(), + CorrectionType.NONE, + "Micro-motion frozen (count=" + consecutiveFreezeCount + ")" + ); + } else { + + + + + consecutiveFreezeCount = 0; + } + + + + + + + + + + + + + + + + if (transitionLanding != null) { + startPostTransitionRelease(transitionLanding.landingLatLng, currentPose.getFloor()); + return new MapMatchingResult( + true, + false, + nearStairs, + nearLift, + true, + transitionLanding.landingLatLng, + currentPose.getFloor(), + CorrectionType.SNAP_TO_VALID_AREA, + transitionLanding.debugReason + ); + } + + PostTransitionReleaseResult releaseResult = maybeApplyPostTransitionRelease( + previousPose, + currentPose, + wallCheckFloorShapes, + nearStairs, + nearLift + ); + if (releaseResult != null) { + return new MapMatchingResult( + true, + releaseResult.crossedWall, + nearStairs, + nearLift, + false, + releaseResult.correctedLatLng, + currentPose.getFloor(), + releaseResult.crossedWall ? CorrectionType.SNAP_TO_VALID_AREA : CorrectionType.NONE, + releaseResult.debugReason + ); + } + + // If no floor map is available, skip wall constraints. + if (wallCheckFloorShapes == null) { + return new MapMatchingResult( + true, + false, + nearStairs, + nearLift, + floorChangeAllowed, + candidateLatLng, + currentPose.getFloor(), + CorrectionType.NONE, + "No usable wall map. Pass through candidate pose." + ); + } + + // Wall-crossing check: during a floor-transition attempt, prefer the source floor to avoid being misled by target-floor geometry. + if (previousPose != null && previousPose.getLatLng() != null) { + boolean shouldCheckWall = true; + if (motionDelta != null) { + shouldCheckWall = motionDelta.getStepDistance() >= MIN_DISPLACEMENT_FOR_WALL_CHECK_METERS; + } + + if (shouldCheckWall) { + crossedWall = MapGeometryUtils.crossesWall( + previousPose.getLatLng(), + candidateLatLng, + wallCheckFloorShapes + ); + + if (crossedWall) { + WallRecovery recovery = recoverFromWallCrossing( + previousPose.getLatLng(), + candidateLatLng, + wallCheckFloorShapes, + nearStairs || nearLift || postTransitionReleaseState != null + ); + correctedLatLng = recovery.correctedLatLng; + correctionType = recovery.correctionType; + debugReason = recovery.debugReason; + validPosition = recovery.validPosition; + } + } else { + debugReason = "Step distance too small for wall check. Candidate pose accepted."; + } + } + + if (floorTransitionAttempt && !floorChangeAllowed && previousPose != null) { + correctedFloor = previousPose.getFloor(); + if (correctionType == CorrectionType.NONE) { + correctionType = CorrectionType.INVALID_FLOOR_CHANGE; + debugReason = "Floor change rejected: connector evidence is too weak or horizontal jump is too large."; + } + validPosition = false; + } + + if (floorTransitionAttempt && floorChangeAllowed && connectorFloorShapes != null) { + LatLng anchoredTransition = anchorFloorTransition( + correctedLatLng, + connectorFloorShapes, + motionDelta, + nearStairs, + nearLift + ); + if (anchoredTransition != null && !samePoint(anchoredTransition, correctedLatLng)) { + correctedLatLng = anchoredTransition; + correctionType = CorrectionType.SNAP_TO_VALID_AREA; + debugReason = nearLift && !nearStairs + ? "Floor transition anchored to nearby lift." + : nearStairs && !nearLift + ? "Floor transition anchored to nearby stairs." + : "Floor transition anchored to nearby connector."; + } + } + + if (!crossedWall && previousPose != null && previousPose.getLatLng() != null && motionDelta != null) { + LatLng clampedRecovery = clampRecoveryJump( + previousPose.getLatLng(), + correctedLatLng, + motionDelta, + nearStairs || nearLift, + floorTransitionAttempt, + floorChangeAllowed + ); + if (!samePoint(clampedRecovery, correctedLatLng)) { + correctedLatLng = clampedRecovery; + + // This is a soft step limiter, not a hard valid-area snap. + // Leave the correction type as-is unless a stronger reason already exists. + if (correctionType == CorrectionType.NONE) { + correctionType = CorrectionType.NONE; + } + + debugReason = "Large correction step limited to avoid jumping ahead of the user."; + } + } + + return new MapMatchingResult( + validPosition, + crossedWall, + nearStairs, + nearLift, + floorChangeAllowed, + correctedLatLng, + correctedFloor, + correctionType, + debugReason + ); + } + + public boolean isFloorChangeAllowed(@NonNull MapMatchingInput input) { + VerticalTransitionHint verticalHint = input.getVerticalHint(); + CandidatePose previousPose = input.getPreviousPose(); + CandidatePose currentPose = input.getCurrentCandidatePose(); + + if (verticalHint == null || !verticalHint.isHeightChanged()) { + return false; + } + + if (previousPose == null || currentPose.getFloor() == previousPose.getFloor()) { + return false; + } + + FloorplanApiClient.FloorShapes connectorFloorShapes = chooseConnectorFloorShapes(input, true); + if (connectorFloorShapes == null) { + return true; + } + + LatLng previousPoint = previousPose.getLatLng(); + LatLng currentPoint = currentPose.getLatLng(); + LatLng midpoint = midpoint(previousPoint, currentPoint); + + boolean currentNearStairs = MapGeometryUtils.isNearStairs(currentPoint, connectorFloorShapes); + boolean currentNearLift = MapGeometryUtils.isNearLift(currentPoint, connectorFloorShapes); + boolean previousNearStairs = previousPoint != null + && MapGeometryUtils.isNearStairs(previousPoint, connectorFloorShapes); + boolean previousNearLift = previousPoint != null + && MapGeometryUtils.isNearLift(previousPoint, connectorFloorShapes); + boolean midpointNearStairs = midpoint != null + && MapGeometryUtils.isNearStairs(midpoint, connectorFloorShapes); + boolean midpointNearLift = midpoint != null + && MapGeometryUtils.isNearLift(midpoint, connectorFloorShapes); + + boolean currentInsideStairs = MapGeometryUtils.isInsideIndoorType(currentPoint, connectorFloorShapes, "stairs"); + boolean previousInsideStairs = previousPoint != null + && MapGeometryUtils.isInsideIndoorType(previousPoint, connectorFloorShapes, "stairs"); + boolean midpointInsideStairs = midpoint != null + && MapGeometryUtils.isInsideIndoorType(midpoint, connectorFloorShapes, "stairs"); + + boolean currentInsideLift = MapGeometryUtils.isInsideIndoorType(currentPoint, connectorFloorShapes, "lift"); + boolean previousInsideLift = previousPoint != null + && MapGeometryUtils.isInsideIndoorType(previousPoint, connectorFloorShapes, "lift"); + boolean midpointInsideLift = midpoint != null + && MapGeometryUtils.isInsideIndoorType(midpoint, connectorFloorShapes, "lift"); + + boolean stairsPersistence = currentNearStairs && (previousNearStairs || midpointNearStairs); + boolean liftPersistence = currentNearLift && (previousNearLift || midpointNearLift); + boolean strongStairsEvidence = currentInsideStairs && (previousInsideStairs || midpointInsideStairs); + boolean strongLiftEvidence = currentInsideLift && (previousInsideLift || midpointInsideLift); + + if (!stairsPersistence && !liftPersistence && !strongStairsEvidence && !strongLiftEvidence) { + return false; + } + + MotionDelta motionDelta = input.getMotionDelta(); + if (motionDelta == null) { + return strongStairsEvidence || strongLiftEvidence || stairsPersistence || liftPersistence; + } + + double stepDistance = motionDelta.getStepDistance(); + if (stepDistance > MAX_STAIRS_HORIZONTAL_DISPLACEMENT_METERS) { + return false; + } + + boolean likelyLiftMotion = stepDistance <= MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS; + + if (strongLiftEvidence && !strongStairsEvidence) { + return likelyLiftMotion; + } + if (strongStairsEvidence) { + return true; + } + if (liftPersistence && !stairsPersistence) { + return likelyLiftMotion; + } + if (stairsPersistence && !liftPersistence) { + return !likelyLiftMotion; + } + return stairsPersistence || liftPersistence; + } + + @Nullable + private FloorplanApiClient.FloorShapes chooseConnectorFloorShapes(@NonNull MapMatchingInput input, + boolean floorTransitionAttempt) { + if (floorTransitionAttempt && input.getSourceFloorShapes() != null) { + return input.getSourceFloorShapes(); + } + if (input.getActiveFloorShapes() != null) { + return input.getActiveFloorShapes(); + } + return input.getSourceFloorShapes(); + } + + @Nullable + private FloorplanApiClient.FloorShapes chooseWallCheckFloorShapes(@NonNull MapMatchingInput input, + boolean floorTransitionAttempt) { + if (floorTransitionAttempt && input.getSourceFloorShapes() != null) { + return input.getSourceFloorShapes(); + } + if (input.getActiveFloorShapes() != null) { + return input.getActiveFloorShapes(); + } + return input.getSourceFloorShapes(); + } + + @NonNull + private WallRecovery recoverFromWallCrossing(@NonNull LatLng previousLatLng, + @NonNull LatLng candidateLatLng, + @NonNull FloorplanApiClient.FloorShapes wallCheckFloorShapes, + boolean preferProjection) { + LatLng lastValidPoint = MapGeometryUtils.findFarthestValidPointBeforeWall( + previousLatLng, + candidateLatLng, + wallCheckFloorShapes + ); + + /* + * Near connectors or transition areas, prefer projecting to the last valid + * point before the wall. This is conservative and avoids aggressive XY shaping. + */ +// if (preferProjection && lastValidPoint != null && !samePoint(lastValidPoint, previousLatLng)) { +// return new WallRecovery( +// lastValidPoint, +// CorrectionType.SNAP_TO_VALID_AREA, +// "Crossed wall near connector. Projected to the last valid point before wall.", +// true +// ); +// } + + /* + * Optional axis-only fallback: + * try preserving one axis from the previous valid point if that segment does + * not cross a wall. This is less aggressive than full snapping to a remote point. + */ + LatLng latOnlyPoint = new LatLng(candidateLatLng.latitude, previousLatLng.longitude); + LatLng lngOnlyPoint = new LatLng(previousLatLng.latitude, candidateLatLng.longitude); + + boolean canMoveLat = !MapGeometryUtils.crossesWall(previousLatLng, latOnlyPoint, wallCheckFloorShapes); + boolean canMoveLng = !MapGeometryUtils.crossesWall(previousLatLng, lngOnlyPoint, wallCheckFloorShapes); + + if (canMoveLat && canMoveLng) { + double latOnlyResidual = distanceMeters(latOnlyPoint, candidateLatLng); + double lngOnlyResidual = distanceMeters(lngOnlyPoint, candidateLatLng); + + LatLng chosen = latOnlyResidual <= lngOnlyResidual ? latOnlyPoint : lngOnlyPoint; + String reason = latOnlyResidual <= lngOnlyResidual + ? "Crossed wall. Sliding along Latitude (N/S)." + : "Crossed wall. Sliding along Longitude (E/W)."; + + return new WallRecovery( + chosen, + CorrectionType.THROUGH_WALL, + reason, + true + ); + } + + if (canMoveLat) { + return new WallRecovery( + latOnlyPoint, + CorrectionType.THROUGH_WALL, + "Crossed wall. Sliding along Latitude (N/S).", + true + ); + } + + if (canMoveLng) { + return new WallRecovery( + lngOnlyPoint, + CorrectionType.THROUGH_WALL, + "Crossed wall. Sliding along Longitude (E/W).", + true + ); + } + + /* + * If axis sliding is not possible, use the last valid point before the wall. + */ + if (lastValidPoint != null && !samePoint(lastValidPoint, previousLatLng)) { + return new WallRecovery( + lastValidPoint, + CorrectionType.SNAP_TO_VALID_AREA, + "Crossed wall. Projected to the last valid point before wall.", + true + ); + } + + /* + * Final conservative fallback: + * do not invent a blended corner-escape point. Just stay at the previous valid pose. + */ + return new WallRecovery( + previousLatLng, + CorrectionType.THROUGH_WALL, + "Crossed wall. Reverted to previous valid point.", + false + ); + } + private LatLng findValidDirectionMove( + LatLng previous, + LatLng candidate, + FloorplanApiClient.FloorShapes shapes) { + + double baseAngle = Math.atan2( + candidate.latitude - previous.latitude, + candidate.longitude - previous.longitude + ); + + double step = 0.00001; // Small normalized step size. + + for (double offsetDeg : ANGLE_OFFSETS) { + double angle = baseAngle + Math.toRadians(offsetDeg); + + double newLat = previous.latitude + step * Math.sin(angle); + double newLng = previous.longitude + step * Math.cos(angle); + + LatLng testPoint = new LatLng(newLat, newLng); + + if (!MapGeometryUtils.crossesWall(previous, testPoint, shapes)) { + return testPoint; + } + } + + return previous; // Fallback if all directions are blocked. + } + @Nullable + private LatLng anchorFloorTransition(@NonNull LatLng point, + @NonNull FloorplanApiClient.FloorShapes connectorFloorShapes, + @Nullable MotionDelta motionDelta, + boolean nearStairs, + boolean nearLift) { + boolean insideStairs = MapGeometryUtils.isInsideIndoorType(point, connectorFloorShapes, "stairs"); + boolean insideLift = MapGeometryUtils.isInsideIndoorType(point, connectorFloorShapes, "lift"); + if (!nearStairs && !nearLift && !insideStairs && !insideLift) { + return null; + } + + boolean likelyLiftMotion = motionDelta != null + && motionDelta.getStepDistance() <= MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS; + + boolean preferLift = (insideLift || nearLift) && (!insideStairs && (!nearStairs || likelyLiftMotion)); + boolean preferStairs = insideStairs || (nearStairs && (!nearLift || !likelyLiftMotion)); + + LatLng anchor = null; + double maxAnchorMeters = MAX_STAIRS_ANCHOR_METERS; + + if (preferLift) { + anchor = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(point, connectorFloorShapes, "lift"); + if (anchor == null) { + anchor = MapGeometryUtils.findNearestPointOnIndoorType(point, connectorFloorShapes, "lift"); + } + maxAnchorMeters = MAX_LIFT_ANCHOR_METERS; + } else if (preferStairs) { + anchor = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(point, connectorFloorShapes, "stairs"); + if (anchor == null) { + anchor = MapGeometryUtils.findNearestPointOnIndoorType(point, connectorFloorShapes, "stairs"); + } + maxAnchorMeters = MAX_STAIRS_ANCHOR_METERS; + } + + if (anchor == null && nearLift) { + anchor = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(point, connectorFloorShapes, "lift"); + if (anchor == null) { + anchor = MapGeometryUtils.findNearestPointOnIndoorType(point, connectorFloorShapes, "lift"); + } + maxAnchorMeters = MAX_LIFT_ANCHOR_METERS; + } + if (anchor == null && nearStairs) { + anchor = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType(point, connectorFloorShapes, "stairs"); + if (anchor == null) { + anchor = MapGeometryUtils.findNearestPointOnIndoorType(point, connectorFloorShapes, "stairs"); + } + maxAnchorMeters = MAX_STAIRS_ANCHOR_METERS; + } + + if (anchor == null) { + return null; + } + + return distanceMeters(point, anchor) <= maxAnchorMeters ? anchor : null; + } + + @Nullable + private TransitionLanding buildTransitionLanding(@NonNull MapMatchingInput input, + @NonNull LatLng candidateLatLng, + @Nullable MotionDelta motionDelta, + boolean nearStairs, + boolean nearLift) { + FloorplanApiClient.FloorShapes targetFloorShapes = input.getTargetFloorShapes(); + if (targetFloorShapes == null) { + return null; + } + + boolean likelyLiftMotion = motionDelta != null + && motionDelta.getStepDistance() <= MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS; + + String preferredIndoorType; + double maxLandingMeters; + if (nearLift && !nearStairs) { + preferredIndoorType = "lift"; + maxLandingMeters = MAX_LIFT_LANDING_METERS; + } else if (nearStairs && !nearLift) { + preferredIndoorType = "stairs"; + maxLandingMeters = MAX_STAIRS_LANDING_METERS; + } else if (nearLift && likelyLiftMotion) { + preferredIndoorType = "lift"; + maxLandingMeters = MAX_LIFT_LANDING_METERS; + } else { + preferredIndoorType = "stairs"; + maxLandingMeters = MAX_STAIRS_LANDING_METERS; + } + + LatLng safeInteriorLanding = MapGeometryUtils.findNearestSafeInteriorPointOnIndoorType( + candidateLatLng, + targetFloorShapes, + preferredIndoorType + ); + if (safeInteriorLanding != null && distanceMeters(candidateLatLng, safeInteriorLanding) <= maxLandingMeters) { + String debugReason = "lift".equals(preferredIndoorType) + ? "Floor transition landed on a safe target-floor lift point." + : "Floor transition landed on a safe target-floor stairs point."; + return new TransitionLanding(safeInteriorLanding, debugReason); + } + + LatLng centroidLanding = MapGeometryUtils.findNearestIndoorTypeCentroid( + candidateLatLng, + targetFloorShapes, + preferredIndoorType + ); + if (centroidLanding != null && distanceMeters(candidateLatLng, centroidLanding) <= maxLandingMeters) { + String debugReason = "lift".equals(preferredIndoorType) + ? "Floor transition landed inside target lift." + : "Floor transition landed inside target stairs."; + return new TransitionLanding(centroidLanding, debugReason); + } + + LatLng fallbackAnchor = anchorFloorTransition( + candidateLatLng, + targetFloorShapes, + motionDelta, + nearStairs, + nearLift + ); + if (fallbackAnchor != null) { + String debugReason = "lift".equals(preferredIndoorType) + ? "Floor transition anchored on target-floor lift." + : "Floor transition anchored on target-floor stairs."; + return new TransitionLanding(fallbackAnchor, debugReason); + } + + return null; + } + + @NonNull + private LatLng clampRecoveryJump(@NonNull LatLng previousLatLng, + @NonNull LatLng candidateLatLng, + @NonNull MotionDelta motionDelta, + boolean nearConnector, + boolean floorTransitionAttempt, + boolean floorChangeAllowed) { + if (floorTransitionAttempt && floorChangeAllowed) { + return candidateLatLng; + } + + double actualCorrectionDistance = distanceMeters(previousLatLng, candidateLatLng); + + double maxAllowedStep = nearConnector + ? MAX_RECOVERY_STEP_NEAR_CONNECTOR_METERS + : MAX_RECOVERY_STEP_METERS; + + if (actualCorrectionDistance <= maxAllowedStep) { + return candidateLatLng; + } + + double ratio = maxAllowedStep / Math.max(actualCorrectionDistance, 1e-6); + double latitude = previousLatLng.latitude + + (candidateLatLng.latitude - previousLatLng.latitude) * ratio; + double longitude = previousLatLng.longitude + + (candidateLatLng.longitude - previousLatLng.longitude) * ratio; + return new LatLng(latitude, longitude); + } + + private void startPostTransitionRelease(@NonNull LatLng landingLatLng, int floor) { + postTransitionReleaseState = new PostTransitionReleaseState( + landingLatLng, + floor, + POST_TRANSITION_RELEASE_FRAMES + ); + } + + @Nullable + private PostTransitionReleaseResult maybeApplyPostTransitionRelease(@Nullable CandidatePose previousPose, + @NonNull CandidatePose currentPose, + @Nullable FloorplanApiClient.FloorShapes wallCheckFloorShapes, + boolean nearStairs, + boolean nearLift) { + PostTransitionReleaseState state = postTransitionReleaseState; + if (state == null) { + return null; + } + if (previousPose == null || previousPose.getLatLng() == null) { + postTransitionReleaseState = null; + return null; + } + if (currentPose.getFloor() != state.floor || previousPose.getFloor() != state.floor) { + postTransitionReleaseState = null; + return null; + } + + LatLng candidateLatLng = currentPose.getLatLng(); + LatLng previousLatLng = previousPose.getLatLng(); + double anchorToCandidateMeters = distanceMeters(state.anchorLatLng, candidateLatLng); + if (anchorToCandidateMeters >= POST_TRANSITION_RELEASE_CANCEL_METERS) { + postTransitionReleaseState = null; + return null; + } + + double progress = 1.0 - (state.framesRemaining / (double) POST_TRANSITION_RELEASE_FRAMES); + double eased = smoothStep(progress); + double blendRatio = POST_TRANSITION_RELEASE_BLEND_MIN + + (POST_TRANSITION_RELEASE_BLEND_MAX - POST_TRANSITION_RELEASE_BLEND_MIN) * eased; + + LatLng blended = interpolate(state.anchorLatLng, candidateLatLng, blendRatio); + blended = clampStepFromPrevious(previousLatLng, blended, POST_TRANSITION_RELEASE_MAX_STEP_METERS); + + boolean crossedWall = false; + if (wallCheckFloorShapes != null && MapGeometryUtils.crossesWall(previousLatLng, blended, wallCheckFloorShapes)) { + crossedWall = true; + LatLng lastValid = MapGeometryUtils.findFarthestValidPointBeforeWall(previousLatLng, blended, wallCheckFloorShapes); + if (lastValid != null && !samePoint(lastValid, previousLatLng)) { + blended = clampStepFromPrevious(previousLatLng, lastValid, POST_TRANSITION_RELEASE_MAX_STEP_METERS); + } else { + blended = previousLatLng; + } + postTransitionReleaseState = null; + return new PostTransitionReleaseResult( + blended, + true, + "Post-transition wall guard ended release smoothing at the last valid point." + ); + } + + state.framesRemaining = Math.max(0, state.framesRemaining - 1); + double blendedToCandidateMeters = distanceMeters(blended, candidateLatLng); + if (state.framesRemaining == 0 || blendedToCandidateMeters <= POST_TRANSITION_RELEASE_COMPLETE_METERS) { + postTransitionReleaseState = null; + } else { + state.anchorLatLng = blended; + postTransitionReleaseState = state; + } + + String debugReason = (nearStairs || nearLift) + ? "Post-transition release smoothing applied near connector." + : "Post-transition release smoothing applied."; + return new PostTransitionReleaseResult(blended, crossedWall, debugReason); + } + + @NonNull + private LatLng clampStepFromPrevious(@NonNull LatLng previousLatLng, + @NonNull LatLng desiredLatLng, + double maxStepMeters) { + double stepMeters = distanceMeters(previousLatLng, desiredLatLng); + if (stepMeters <= maxStepMeters) { + return desiredLatLng; + } + double ratio = maxStepMeters / Math.max(stepMeters, 1e-6d); + return interpolate(previousLatLng, desiredLatLng, ratio); + } + + @NonNull + private LatLng interpolate(@NonNull LatLng start, + @NonNull LatLng end, + double ratio) { + double clamped = Math.max(0d, Math.min(1d, ratio)); + double latitude = start.latitude + (end.latitude - start.latitude) * clamped; + double longitude = start.longitude + (end.longitude - start.longitude) * clamped; + return new LatLng(latitude, longitude); + } + + private double smoothStep(double progress) { + double clamped = Math.max(0d, Math.min(1d, progress)); + return clamped * clamped * (3d - 2d * clamped); + } + + @Nullable + private LatLng midpoint(@Nullable LatLng a, @Nullable LatLng b) { + if (a == null || b == null) { + return null; + } + return new LatLng( + (a.latitude + b.latitude) / 2.0, + (a.longitude + b.longitude) / 2.0 + ); + } + + private boolean samePoint(@Nullable LatLng a, @Nullable LatLng b) { + if (a == b) { + return true; + } + if (a == null || b == null) { + return false; + } + return Math.abs(a.latitude - b.latitude) < 1e-12 + && Math.abs(a.longitude - b.longitude) < 1e-12; + } + + private boolean shouldFreezeIdleMotion(@Nullable CandidatePose previousPose, + @NonNull CandidatePose currentPose, + @Nullable MotionDelta motionDelta, + boolean nearStairs, + boolean nearLift, + boolean floorTransitionAttempt, + @Nullable VerticalTransitionHint verticalHint) { + if (previousPose == null || motionDelta == null) { + return false; + } + if (floorTransitionAttempt || nearStairs || nearLift) { + return false; + } + if (verticalHint != null && verticalHint.isHeightChanged()) { + return false; + } + if (motionDelta.getStepDistance() > MAX_IDLE_FREEZE_STEP_METERS) { + return false; + } + + LatLng previousLatLng = previousPose.getLatLng(); + LatLng currentLatLng = currentPose.getLatLng(); + if (previousLatLng == null || currentLatLng == null) { + return false; + } + + return !samePoint(previousLatLng, currentLatLng) || previousPose.getFloor() == currentPose.getFloor(); + } + + private String describeVerticalTransition(boolean nearStairs, + boolean nearLift, + @Nullable MotionDelta motionDelta) { + if (!nearStairs && !nearLift) { + return "not near stairs or lift"; + } + + if (motionDelta == null) { + if (nearStairs && nearLift) return "near both stairs and lift"; + if (nearStairs) return "near stairs"; + return "near lift"; + } + + double stepDistance = motionDelta.getStepDistance(); + boolean likelyLiftMotion = stepDistance <= MAX_LIFT_HORIZONTAL_DISPLACEMENT_METERS; + + if (nearLift && !nearStairs) { + return likelyLiftMotion + ? "likely lift transition" + : "lift nearby but horizontal movement looks too large"; + } + + if (nearStairs && !nearLift) { + return likelyLiftMotion + ? "stairs nearby but horizontal movement looks too small" + : "likely stairs transition"; + } + + return likelyLiftMotion + ? "near both stairs and lift, motion slightly favors lift" + : "near both stairs and lift, motion slightly favors stairs"; + } + + private double distanceMeters(@NonNull LatLng from, @NonNull LatLng to) { + double latRad = Math.toRadians(from.latitude); + double metersPerDegLat = 111320.0; + double metersPerDegLon = 111320.0 * Math.cos(latRad); + double dx = (to.longitude - from.longitude) * metersPerDegLon; + double dy = (to.latitude - from.latitude) * metersPerDegLat; + return Math.hypot(dx, dy); + } + + private static final class TransitionLanding { + final LatLng landingLatLng; + final String debugReason; + + TransitionLanding(@NonNull LatLng landingLatLng, @NonNull String debugReason) { + this.landingLatLng = landingLatLng; + this.debugReason = debugReason; + } + } + + private static final class PostTransitionReleaseState { + @NonNull + private LatLng anchorLatLng; + private final int floor; + private int framesRemaining; + + private PostTransitionReleaseState(@NonNull LatLng anchorLatLng, + int floor, + int framesRemaining) { + this.anchorLatLng = anchorLatLng; + this.floor = floor; + this.framesRemaining = framesRemaining; + } + } + + private static final class PostTransitionReleaseResult { + @NonNull + private final LatLng correctedLatLng; + private final boolean crossedWall; + @NonNull + private final String debugReason; + + private PostTransitionReleaseResult(@NonNull LatLng correctedLatLng, + boolean crossedWall, + @NonNull String debugReason) { + this.correctedLatLng = correctedLatLng; + this.crossedWall = crossedWall; + this.debugReason = debugReason; + } + } + + private static final class WallRecovery { + @NonNull + private final LatLng correctedLatLng; + @NonNull + private final CorrectionType correctionType; + @NonNull + private final String debugReason; + private final boolean validPosition; + + private WallRecovery(@NonNull LatLng correctedLatLng, + @NonNull CorrectionType correctionType, + @NonNull String debugReason, + boolean validPosition) { + this.correctedLatLng = correctedLatLng; + this.correctionType = correctionType; + this.debugReason = debugReason; + this.validPosition = validPosition; + } + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java new file mode 100644 index 00000000..f12763c4 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/MotionDelta.java @@ -0,0 +1,35 @@ +package com.openpositioning.PositionMe.mapmatching; + +/** + * Represents the motion delta between two consecutive position updates. + */ +public class MotionDelta { + + private final double deltaX; + private final double deltaY; + private final double stepDistance; + private final double headingDeg; + + public MotionDelta(double deltaX, double deltaY, double stepDistance, double headingDeg) { + this.deltaX = deltaX; + this.deltaY = deltaY; + this.stepDistance = stepDistance; + this.headingDeg = headingDeg; + } + + public double getDeltaX() { + return deltaX; + } + + public double getDeltaY() { + return deltaY; + } + + public double getStepDistance() { + return stepDistance; + } + + public double getHeadingDeg() { + return headingDeg; + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalMotionDetector.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalMotionDetector.java new file mode 100644 index 00000000..0e5d4c67 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalMotionDetector.java @@ -0,0 +1,119 @@ +package com.openpositioning.PositionMe.mapmatching; + +import androidx.annotation.Nullable; + +import java.util.ArrayDeque; +import java.util.Iterator; + +/** + * Builds a live vertical-transition hint from recent elevation samples. + * + * The detector is deliberately conservative: + * - small barometer drift on a static phone should not trigger a floor change; + * - sustained elevation changes should be surfaced to map matching; + * - elevator flag slightly lowers the required threshold. + */ +public final class VerticalMotionDetector { + + private static final long WINDOW_MS = 4000L; + private static final long MIN_PERSIST_MS = 800L; + private static final double HEIGHT_CHANGE_THRESHOLD_METERS = 1.2d; + private static final double ELEVATOR_HEIGHT_CHANGE_THRESHOLD_METERS = 0.8d; + private static final double RESET_THRESHOLD_METERS = 0.4d; + + private final ArrayDeque samples = new ArrayDeque<>(); + private boolean latchedHeightChanged = false; + + public void reset() { + samples.clear(); + latchedHeightChanged = false; + } + + public void addSample(long timestampMs, double elevationMeters, boolean elevatorFlag) { + if (Double.isNaN(elevationMeters) || Double.isInfinite(elevationMeters)) { + return; + } + + samples.addLast(new Sample(timestampMs, elevationMeters, elevatorFlag)); + pruneOldSamples(timestampMs); + updateLatchState(); + } + + @Nullable + public VerticalTransitionHint buildHint() { + if (samples.isEmpty()) { + return null; + } + + Sample first = samples.peekFirst(); + Sample last = samples.peekLast(); + if (first == null || last == null) { + return null; + } + + double deltaHeight = last.elevationMeters - first.elevationMeters; + return new VerticalTransitionHint(last.elevationMeters, deltaHeight, latchedHeightChanged); + } + + private void pruneOldSamples(long latestTimestampMs) { + long cutoff = latestTimestampMs - WINDOW_MS; + while (!samples.isEmpty() && samples.peekFirst() != null && samples.peekFirst().timestampMs < cutoff) { + samples.removeFirst(); + } + } + + private void updateLatchState() { + if (samples.size() < 2) { + latchedHeightChanged = false; + return; + } + + Sample first = samples.peekFirst(); + Sample last = samples.peekLast(); + if (first == null || last == null) { + latchedHeightChanged = false; + return; + } + + double deltaHeight = last.elevationMeters - first.elevationMeters; + double absDeltaHeight = Math.abs(deltaHeight); + long elapsedMs = Math.max(0L, last.timestampMs - first.timestampMs); + boolean elevatorLikely = containsElevatorFlag(); + double threshold = elevatorLikely + ? ELEVATOR_HEIGHT_CHANGE_THRESHOLD_METERS + : HEIGHT_CHANGE_THRESHOLD_METERS; + + if (latchedHeightChanged) { + if (absDeltaHeight <= RESET_THRESHOLD_METERS) { + latchedHeightChanged = false; + } + return; + } + + if (elapsedMs >= MIN_PERSIST_MS && absDeltaHeight >= threshold) { + latchedHeightChanged = true; + } + } + + private boolean containsElevatorFlag() { + Iterator iterator = samples.iterator(); + while (iterator.hasNext()) { + if (iterator.next().elevatorFlag) { + return true; + } + } + return false; + } + + private static final class Sample { + final long timestampMs; + final double elevationMeters; + final boolean elevatorFlag; + + Sample(long timestampMs, double elevationMeters, boolean elevatorFlag) { + this.timestampMs = timestampMs; + this.elevationMeters = elevationMeters; + this.elevatorFlag = elevatorFlag; + } + } +} diff --git a/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java new file mode 100644 index 00000000..71eb1108 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/mapmatching/VerticalTransitionHint.java @@ -0,0 +1,29 @@ +package com.openpositioning.PositionMe.mapmatching; + +/** + * Represents a floor-change hint estimated from height / barometer data. + */ +public class VerticalTransitionHint { + + private final double currentElevation; + private final double deltaHeight; + private final boolean heightChanged; + + public VerticalTransitionHint(double currentElevation, double deltaHeight, boolean heightChanged) { + this.currentElevation = currentElevation; + this.deltaHeight = deltaHeight; + this.heightChanged = heightChanged; + } + + public double getCurrentElevation() { + return currentElevation; + } + + public double getDeltaHeight() { + return deltaHeight; + } + + public boolean isHeightChanged() { + return heightChanged; + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java index 9497848e..212b97f8 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/RecordingActivity.java @@ -2,20 +2,38 @@ import android.os.Bundle; import android.text.InputType; +import android.view.ViewGroup; import android.view.WindowManager; -import android.widget.EditText; +import android.widget.LinearLayout; +import android.widget.ScrollView; +import android.widget.TextView; +import androidx.annotation.NonNull; import androidx.annotation.Nullable; import androidx.appcompat.app.AlertDialog; import androidx.appcompat.app.AppCompatActivity; import androidx.fragment.app.FragmentTransaction; +import com.google.android.material.switchmaterial.SwitchMaterial; +import com.google.android.material.textfield.TextInputEditText; +import com.google.android.material.textfield.TextInputLayout; import com.openpositioning.PositionMe.R; +import com.openpositioning.PositionMe.presentation.fragment.CorrectionFragment; +import com.openpositioning.PositionMe.presentation.fragment.RecordingFragment; +import com.openpositioning.PositionMe.presentation.fragment.StartLocationFragment; import com.openpositioning.PositionMe.sensors.SensorFusion; import com.openpositioning.PositionMe.service.SensorCollectionService; -import com.openpositioning.PositionMe.presentation.fragment.StartLocationFragment; -import com.openpositioning.PositionMe.presentation.fragment.RecordingFragment; -import com.openpositioning.PositionMe.presentation.fragment.CorrectionFragment; + +import java.text.SimpleDateFormat; +import java.util.Date; +import java.util.Locale; +import android.util.Log; + +import android.graphics.Typeface; +import android.os.Build; +import android.text.Layout; +import android.util.TypedValue; +import android.graphics.text.LineBreaker; /** @@ -52,7 +70,7 @@ protected void onCreate(@Nullable Bundle savedInstanceState) { if (savedInstanceState == null) { // Show trajectory name input dialog before proceeding to start location - showTrajectoryNameDialog(); + showTrajectorySetupDialog(); } // Keep screen on @@ -86,42 +104,235 @@ protected void onPause() { } /** - * Shows an AlertDialog prompting the user to enter a trajectory name. - * The name is stored in SensorFusion as trajectory_id and later written to the protobuf. - * After input, proceeds to StartLocationFragment. + * Shows the per-session recording setup dialog. + * + * This dialog now configures: + * 1. the trajectory name to be stored in the recording payload + * 2. whether the adaptive heading calibrator is enabled for this session + * + * Important UI clarification: + * - the user does NOT choose between PDR and particle fusion here + * - the recording screen can still display the standard PDR path for reference + * - if particle fusion is enabled elsewhere in the app, it will still be used + * by the live fusion pipeline automatically + * + * Design intent: + * keep this dialog simple and focused on what the user must set per session, + * while explaining clearly what particle fusion does without presenting it as + * a confusing mode switch at the start of every recording. */ - private void showTrajectoryNameDialog() { - EditText input = new EditText(this); - input.setInputType(InputType.TYPE_CLASS_TEXT); - input.setHint("e.g. Nucleus_Walk_01"); - input.setPadding(48, 24, 48, 24); - - new AlertDialog.Builder(this) - .setTitle("Trajectory Name") - .setMessage("Enter a name for this recording session:") - .setView(input) + private void showTrajectorySetupDialog() { + final int outerPadding = dp(24); + final int sectionSpacing = dp(16); + + ScrollView scrollView = new ScrollView(this); + LinearLayout container = new LinearLayout(this); + container.setOrientation(LinearLayout.VERTICAL); + container.setPadding(outerPadding, outerPadding, outerPadding, outerPadding / 2); + scrollView.addView(container, + new ScrollView.LayoutParams( + ViewGroup.LayoutParams.MATCH_PARENT, + ViewGroup.LayoutParams.WRAP_CONTENT)); + + TextView intro = new TextView(this); + intro.setText("Set up this recording before starting."); + styleDialogParagraph(intro, 15f); + container.addView(intro); + + TextInputLayout nameLayout = new TextInputLayout(this); + nameLayout.setHint("Trajectory name"); + + LinearLayout.LayoutParams nameLayoutParams = new LinearLayout.LayoutParams( + ViewGroup.LayoutParams.MATCH_PARENT, + ViewGroup.LayoutParams.WRAP_CONTENT + ); + nameLayoutParams.topMargin = sectionSpacing; + container.addView(nameLayout, nameLayoutParams); + + TextInputEditText nameInput = new TextInputEditText(this); + nameInput.setInputType(InputType.TYPE_CLASS_TEXT | InputType.TYPE_TEXT_FLAG_CAP_WORDS); + nameInput.setHint("e.g. Nucleus_Walk_01"); + nameInput.setSingleLine(true); + nameInput.setText(generateDefaultTrajectoryName()); + + LinearLayout.LayoutParams editTextParams = new LinearLayout.LayoutParams( + ViewGroup.LayoutParams.MATCH_PARENT, + ViewGroup.LayoutParams.WRAP_CONTENT + ); + nameLayout.addView(nameInput, editTextParams); + + TextView fusionTitle = new TextView(this); + fusionTitle.setText("Trajectory display and fusion"); + styleDialogHeading(fusionTitle); + LinearLayout.LayoutParams fusionTitleParams = new LinearLayout.LayoutParams( + ViewGroup.LayoutParams.MATCH_PARENT, + ViewGroup.LayoutParams.WRAP_CONTENT + ); + fusionTitleParams.topMargin = sectionSpacing; + container.addView(fusionTitle, fusionTitleParams); + + TextView fusionDescription = new TextView(this); + fusionDescription.setPadding(0, dp(4), 0, 0); + styleDialogParagraph(fusionDescription, 14f); + + boolean particleFusionEnabled = SensorFusion.getInstance().isParticleFilterTrajectoryMode(); + if (particleFusionEnabled) { + fusionDescription.setText( + "Particle fusion is currently enabled. During recording, the app may use fused positioning " + + "(for example PDR combined with WiFi/GNSS and map constraints) to improve the main estimated position. " + + "The recording screen can still show the standard PDR trajectory for reference." + ); + } else { + fusionDescription.setText( + "The recording screen can show the standard PDR trajectory for reference. " + + "The app uses a particle-filter-based fusion framework integrated with map matching and map constraints to improve indoor trajectory estimation." + ); + } + container.addView(fusionDescription); + + TextView noteText = new TextView(this); + noteText.setPadding(0, dp(8), 0, 0); + styleDialogParagraph(noteText, 13f); + noteText.setText( + "You do not need to choose the positioning engine here. " + + "This setup only names the recording and configures session-specific heading behaviour." + ); + container.addView(noteText); + + TextView adaptiveHeadingTitle = new TextView(this); + adaptiveHeadingTitle.setText("Heading option"); + styleDialogHeading(adaptiveHeadingTitle); + LinearLayout.LayoutParams adaptiveHeadingTitleParams = new LinearLayout.LayoutParams( + ViewGroup.LayoutParams.MATCH_PARENT, + ViewGroup.LayoutParams.WRAP_CONTENT + ); + adaptiveHeadingTitleParams.topMargin = sectionSpacing; + container.addView(adaptiveHeadingTitle, adaptiveHeadingTitleParams); + + SwitchMaterial adaptiveHeadingSwitch = new SwitchMaterial(this); + adaptiveHeadingSwitch.setText("Use adaptive heading calibrator (QSMFI-style)"); + adaptiveHeadingSwitch.setChecked(SensorFusion.getInstance().isAdaptiveHeadingEnabled()); + LinearLayout.LayoutParams adaptiveHeadingParams = new LinearLayout.LayoutParams( + ViewGroup.LayoutParams.MATCH_PARENT, + ViewGroup.LayoutParams.WRAP_CONTENT + ); + adaptiveHeadingParams.topMargin = dp(8); + container.addView(adaptiveHeadingSwitch, adaptiveHeadingParams); + + TextView adaptiveHeadingDescription = new TextView(this); + adaptiveHeadingDescription.setPadding(0, dp(4), 0, 0); + styleDialogParagraph(adaptiveHeadingDescription, 13f); + container.addView(adaptiveHeadingDescription); + + Runnable updateAdaptiveHeadingDescription = () -> { + if (adaptiveHeadingSwitch.isChecked()) { + adaptiveHeadingDescription.setText( + "Adaptive heading is applied for this session before motion updates. " + + "This usually gives a more stable heading reference for both live positioning and the saved trajectory." + ); + } else { + adaptiveHeadingDescription.setText( + "Raw heading mode uses the current rotation-vector heading directly, " + + "with no adaptive absolute-yaw correction." + ); + } + }; + updateAdaptiveHeadingDescription.run(); + adaptiveHeadingSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> updateAdaptiveHeadingDescription.run()); + + AlertDialog dialog = new AlertDialog.Builder(this) + .setTitle("New Recording") + .setView(scrollView) .setCancelable(false) - .setPositiveButton("Save", (dialog, which) -> { - String name = input.getText().toString().trim(); - if (name.isEmpty()) { - // Default name based on timestamp - name = "traj_" + System.currentTimeMillis(); - } - SensorFusion.getInstance().setTrajectoryId(name); - showStartLocationScreen(); - }) - .setNegativeButton("Skip", (dialog, which) -> { - // Use default name - SensorFusion.getInstance().setTrajectoryId( - "traj_" + System.currentTimeMillis()); - showStartLocationScreen(); - }) - .show(); + .setPositiveButton("Continue", null) + .setNegativeButton("Use Auto Name", null) + .create(); + + dialog.setOnShowListener(dialogInterface -> { + dialog.getButton(AlertDialog.BUTTON_POSITIVE).setOnClickListener(v -> { + String name = nameInput.getText() == null ? "" : nameInput.getText().toString().trim(); + if (name.isEmpty()) { + name = generateDefaultTrajectoryName(); + } + + applyTrajectorySetupAndContinue( + name, + SensorFusion.getInstance().isParticleFilterTrajectoryMode(), + adaptiveHeadingSwitch.isChecked() + ); + dialog.dismiss(); + }); + + dialog.getButton(AlertDialog.BUTTON_NEGATIVE).setOnClickListener(v -> { + applyTrajectorySetupAndContinue( + generateDefaultTrajectoryName(), + SensorFusion.getInstance().isParticleFilterTrajectoryMode(), + adaptiveHeadingSwitch.isChecked() + ); + dialog.dismiss(); + }); + }); + + dialog.show(); + } + + private void styleDialogHeading(@NonNull TextView textView) { + textView.setTextSize(TypedValue.COMPLEX_UNIT_SP, 16f); + textView.setTypeface(Typeface.DEFAULT_BOLD); + } + + private void styleDialogParagraph(@NonNull TextView textView, float textSizeSp) { + textView.setTextSize(TypedValue.COMPLEX_UNIT_SP, textSizeSp); + textView.setTypeface(Typeface.SANS_SERIF, Typeface.NORMAL); + + if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) { + textView.setJustificationMode(LineBreaker.JUSTIFICATION_MODE_INTER_WORD); + } } /** - * Show the StartLocationFragment (beginning of flow). + * Commits the session choices from the setup dialog into SensorFusion, + * then continues into the normal start-location flow. + * + * This is the bridge between the UI choice and the downstream runtime behaviour: + * - RecordingFragment will render the selected trajectory mode + * - SensorEventHandler will save the selected trajectory mode */ + private static final String TAG = "RecordingActivity"; + private void applyTrajectorySetupAndContinue(String trajectoryName, + boolean useParticleFilter, + boolean useAdaptiveHeading) { + SensorFusion sensorFusion = SensorFusion.getInstance(); + sensorFusion.setTrajectoryId(trajectoryName); + sensorFusion.setRecordingTrajectoryMode( + useParticleFilter + ? SensorFusion.TRAJECTORY_MODE_PARTICLE_FILTER + : SensorFusion.TRAJECTORY_MODE_PDR + ); + sensorFusion.setUseAdaptiveQsmfiHeading(useAdaptiveHeading); + + Log.d(TAG, "New recording setup:" + + " name=" + trajectoryName + + ", mode=" + (useParticleFilter ? "PARTICLE_FILTER" : "STANDARD_PDR") + + ", adaptiveHeading=" + useAdaptiveHeading); + + showStartLocationScreen(); + } + + /** + * Generates a simple timestamp-based fallback name for the recording. + * + * Using a deterministic auto-name avoids empty trajectory IDs and makes quick + * field testing easier when the user does not want to type a custom name. + */ + private String generateDefaultTrajectoryName() { + return "traj_" + new SimpleDateFormat("yyyyMMdd_HHmmss", Locale.UK).format(new Date()); + } + + private int dp(int value) { + return Math.round(value * getResources().getDisplayMetrics().density); + } + public void showStartLocationScreen() { FragmentTransaction ft = getSupportFragmentManager().beginTransaction(); ft.replace(R.id.mainFragmentContainer, new StartLocationFragment()); diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java index c6a30472..f722082c 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java @@ -3,6 +3,9 @@ import android.os.Bundle; import android.util.Log; import java.io.File; +import java.io.FileOutputStream; +import java.io.IOException; +import java.io.InputStream; import androidx.annotation.Nullable; import androidx.appcompat.app.AppCompatActivity; @@ -11,34 +14,15 @@ import com.openpositioning.PositionMe.presentation.fragment.ReplayFragment; import com.openpositioning.PositionMe.presentation.fragment.StartLocationFragment; - /** - * The ReplayActivity is responsible for managing the replay session of a user's trajectory. - * It handles the process of retrieving the trajectory data, displaying relevant fragments, and - * facilitating the interaction with the user to choose the starting location before displaying the - * replay of the trajectory. - *

- * The activity starts by extracting the trajectory file path from the intent that launched it. If - * the file path is not provided or is empty, it uses a default file path. It ensures that the trajectory - * file exists before proceeding. Once the file is verified, it shows the StartLocationFragment, which allows - * the user to select their starting location (latitude and longitude). After the user has selected the - * starting point, the activity switches to the ReplayFragment to display the replay of the user's trajectory. - *

- * The activity also provides functionality to finish the replay session and exit the activity once the replay - * process has completed. - *

- * This activity makes use of a few key constants for passing data between fragments, including the trajectory file - * path and the initial latitude and longitude. These constants are defined at the beginning of the class. - *

- * The ReplayActivity manages the interaction between fragments by facilitating communication from the - * StartLocationFragment to the ReplayFragment, where the replay of the trajectory is displayed. + * Replay activity with optional forced asset replay mode. * - * @see StartLocationFragment The fragment where the user selects their start location for the trajectory replay. - * @see ReplayFragment The fragment responsible for showing the trajectory replay. + * When FORCE_REPLAY_ASSET is true, this activity will ignore any file path passed from History + * and instead copy an asset trajectory file into cache, then replay that file. * - * @author Shu Gu + * This is useful for validating replay/map-matching logic with a known test trajectory without + * touching the existing History/download_records flow. */ - public class ReplayActivity extends AppCompatActivity { public static final String TAG = "ReplayActivity"; @@ -46,41 +30,66 @@ public class ReplayActivity extends AppCompatActivity { public static final String EXTRA_INITIAL_LON = "extra_initial_lon"; public static final String EXTRA_TRAJECTORY_FILE_PATH = "extra_trajectory_file_path"; + /** + * Set to true to force replay from app assets instead of History/download file paths. + */ + private static final boolean FORCE_REPLAY_ASSET = true; +// After verification, change this back to false to restore the normal logic. + /** + * Asset file to replay. Put this file under app/src/main/assets/replay/. + */ + // Asset JSON files used for verification. + // 1. Verify that the system does not switch floors incorrectly and that the map display remains stable on a flat corridor without stairs or lift interference. + // private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_same_floor_turns.json"; + // 2. One core feature: wall-crossing must be rejected. + //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_cross_wall_long_recover.json"; + // 3. false-floor-change rejection. + //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_false_floor_change_reject.json"; + // 4.1 Test 4 - stairs-up verification. + //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_stairs_up.json"; + // 4.2 Test 4 - straight new path; currently unusable because the trajectory data is invalid. + private static final String FORCED_ASSET_PATH = "replay/traj_2.json"; + // 5. Lift test. + //private static final String FORCED_ASSET_PATH = "replay/trajectory_reasonable_lift_up.json"; + private String filePath; @Override protected void onCreate(@Nullable Bundle savedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.activity_replay); - // Get the trajectory file path from the Intent - filePath = getIntent().getStringExtra(EXTRA_TRAJECTORY_FILE_PATH); - // Debug log: Received file path - Log.i(TAG, "Received trajectory file path: " + filePath); + if (FORCE_REPLAY_ASSET) { + filePath = copyAssetToCache(FORCED_ASSET_PATH, "forced_replay_trajectory.txt"); + Log.i(TAG, "FORCE_REPLAY_ASSET enabled, using asset: " + FORCED_ASSET_PATH); + Log.i(TAG, "Resolved replay file path: " + filePath); + } else { + filePath = getIntent().getStringExtra(EXTRA_TRAJECTORY_FILE_PATH); + Log.i(TAG, "Received trajectory file path: " + filePath); + + if (filePath == null || filePath.isEmpty()) { + filePath = "/storage/emulated/0/Download/trajectory_default.txt"; + Log.w(TAG, "No trajectory file path provided, using default: " + filePath); + } + } if (filePath == null || filePath.isEmpty()) { - // If not provided, set a default path (or show an error message) - filePath = "/storage/emulated/0/Download/trajectory_default.txt"; - Log.e(TAG, "No trajectory file path provided, using default: " + filePath); + Log.e(TAG, "Replay file path is empty; replay cannot start."); + finish(); + return; } - // Check if file exists before proceeding if (!new File(filePath).exists()) { Log.e(TAG, "Trajectory file does NOT exist: " + filePath); } else { Log.i(TAG, "Trajectory file exists: " + filePath); } - // Show StartLocationFragment first to let user pick location if (savedInstanceState == null) { showStartLocationFragment(); } } - /** - * Display a StartLocationFragment to let user set their start location. - * Displays the ReplayFragment and passes the trajectory file path as an argument. - */ private void showStartLocationFragment() { Log.d(TAG, "Showing StartLocationFragment..."); StartLocationFragment startLocationFragment = new StartLocationFragment(); @@ -90,23 +99,16 @@ private void showStartLocationFragment() { .commit(); } - /** - * Called by StartLocationFragment when user picks their start location. - */ public void onStartLocationChosen(float lat, float lon) { Log.i(TAG, "User selected start location: Lat=" + lat + ", Lon=" + lon); showReplayFragment(filePath, lat, lon); } - /** - * Display ReplayFragment, passing file path and starting lat/lon as arguments. - */ public void showReplayFragment(String filePath, float initialLat, float initialLon) { Log.d(TAG, "Switching to ReplayFragment with file: " + filePath + ", Initial Lat: " + initialLat + ", Initial Lon: " + initialLon); ReplayFragment replayFragment = new ReplayFragment(); - // Pass the file path through a Bundle Bundle args = new Bundle(); args.putString(EXTRA_TRAJECTORY_FILE_PATH, filePath); args.putFloat(EXTRA_INITIAL_LAT, initialLat); @@ -119,12 +121,25 @@ public void showReplayFragment(String filePath, float initialLat, float initialL .commit(); } - /** - * Finish replay session - * Called when the replay process is completed. - */ public void finishFlow() { Log.d(TAG, "Replay session finished."); finish(); } -} \ No newline at end of file + + private String copyAssetToCache(String assetPath, String outFileName) { + File outFile = new File(getCacheDir(), outFileName); + try (InputStream inputStream = getAssets().open(assetPath); + FileOutputStream outputStream = new FileOutputStream(outFile, false)) { + byte[] buffer = new byte[8192]; + int length; + while ((length = inputStream.read(buffer)) > 0) { + outputStream.write(buffer, 0, length); + } + outputStream.flush(); + return outFile.getAbsolutePath(); + } catch (IOException e) { + Log.e(TAG, "Failed to copy replay asset to cache: " + assetPath, e); + return null; + } + } +} diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java new file mode 100644 index 00000000..a99827db --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/FloorController.java @@ -0,0 +1,619 @@ +package com.openpositioning.PositionMe.presentation.fragment; + +import android.os.Handler; +import android.os.Looper; +import android.os.SystemClock; +import android.util.Log; +import android.view.View; +import android.widget.TextView; + +import androidx.annotation.NonNull; +import androidx.annotation.Nullable; + +import com.google.android.material.switchmaterial.SwitchMaterial; +import com.google.android.material.floatingactionbutton.FloatingActionButton; +import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; +import com.openpositioning.PositionMe.sensors.SensorFusion; +import com.openpositioning.PositionMe.utils.IndoorMapManager; + +import java.util.ArrayList; +import java.util.List; + +/** + * Encapsulates floor selection and AutoFloor behaviour so TrajectoryMapFragment + * does not need to carry all floor-related state and listeners directly. + */ +public class FloorController { + + private static final String TAG = "FloorController"; + private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000L; + private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000L; + private static final float AUTO_FLOOR_MIN_VERTICAL_DELTA_METERS = 1.2f; + private static final float AUTO_FLOOR_VERTICAL_FRACTION_PER_FLOOR = 0.55f; + private static final long INITIAL_FLOOR_WIFI_STABLE_MS = 1500L; + private static final int INITIAL_FLOOR_WIFI_REQUIRED_SAMPLES = 3; + private static final long INITIAL_FLOOR_BOOTSTRAP_TIMEOUT_MS = 5000L; + private long autoFloorStartMs = 0L; + + public interface Host { + @Nullable FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding(); + @Nullable IndoorMapManager getIndoorMapManager(); + @Nullable SensorFusion getSensorFusion(); + boolean isReplayModeEnabled(); + int getCurrentFloorIndex(); + void setCurrentFloorIndex(int floorIndex); + boolean isIndoorMapVisible(); + boolean isActualMapVisible(); + void refreshSelectedPolygonAppearance(); + void resetMapOverlays(); + void updateRealMapOverlay(String buildingName, int floorIndex, boolean show); + void updateCalibrationUi(); + } + + private final Host host; + private Handler autoFloorHandler; + private Runnable autoFloorTask; + private int lastCandidateFloor = Integer.MIN_VALUE; + private long lastCandidateTime = 0L; + private float lastCommittedElevationMeters = Float.NaN; + private boolean initialFloorResolved = false; + private int pendingInitialWifiFloor = Integer.MIN_VALUE; + private long pendingInitialWifiSinceMs = 0L; + private int pendingInitialWifiSamples = 0; + + private SwitchMaterial autoFloorSwitch; + private FloatingActionButton floorUpButton; + private FloatingActionButton floorDownButton; + private TextView floorLabel; + + public FloorController(Host host) { + this.host = host; + } + + public void bindViews(@Nullable SwitchMaterial autoFloorSwitch, + @Nullable FloatingActionButton floorUpButton, + @Nullable FloatingActionButton floorDownButton, + @Nullable TextView floorLabel) { + this.autoFloorSwitch = autoFloorSwitch; + this.floorUpButton = floorUpButton; + this.floorDownButton = floorDownButton; + this.floorLabel = floorLabel; + attachListeners(); + } + + private void attachListeners() { + if (autoFloorSwitch != null) { + autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> { + syncLiveAutoFloorFlag(isChecked); + if (isChecked) { + startAutoFloor(); + } else { + stopAutoFloor(); + } + }); + } + + if (floorUpButton != null) { + floorUpButton.setOnClickListener(v -> { + if (isAutoFloorEnabled()) { + Log.d(TAG, "Ignored manual floor-up because AutoFloor is enabled."); + return; + } + FloorplanApiClient.BuildingInfo building = host.getSelectedFloorplanBuilding(); + if (building != null) { + int currentFloorIndex = host.getCurrentFloorIndex(); + int nextFloorIndex = getAdjacentFloorIndex(building, currentFloorIndex, true); + if (nextFloorIndex != currentFloorIndex) { + setFloor(nextFloorIndex); + } + } + }); + } + + if (floorDownButton != null) { + floorDownButton.setOnClickListener(v -> { + if (isAutoFloorEnabled()) { + Log.d(TAG, "Ignored manual floor-down because AutoFloor is enabled."); + return; + } + FloorplanApiClient.BuildingInfo building = host.getSelectedFloorplanBuilding(); + if (building != null) { + int currentFloorIndex = host.getCurrentFloorIndex(); + int nextFloorIndex = getAdjacentFloorIndex(building, currentFloorIndex, false); + if (nextFloorIndex != currentFloorIndex) { + setFloor(nextFloorIndex); + } + } + }); + } + } + + /** + * Mirrors the Auto Floor UI state into SensorFusion so the live PF pipeline + * knows whether floor transitions are allowed. + */ + private void syncLiveAutoFloorFlag(boolean enabled) { + SensorFusion sensorFusion = host.getSensorFusion(); + if (sensorFusion != null) { + sensorFusion.setLiveAutoFloorEnabled(enabled); + } + } + + public void setFloor(int newFloorIndex) { + applyFloorInternal(newFloorIndex, true); + } + + public void displayPfOwnedFloor (int newFloorIndex){ + applyFloorInternal(newFloorIndex,false); + } + + public void refreshCurrentFloorUi() { + applyFloorInternal(host.getCurrentFloorIndex(), false); + } + + /** + * Applies a floor to the UI. + * + * Ownership split: + * - confirmFloor=true -> manual/bootstrap override path, allowed to push into PF + * - confirmFloor=false -> PF-owned display path, must NOT push into PF + */ + private void applyFloorInternal(int newFloorIndex, boolean confirmFloor) { + FloorplanApiClient.BuildingInfo selectedFloorplanBuilding = host.getSelectedFloorplanBuilding(); + IndoorMapManager indoorMapManager = host.getIndoorMapManager(); + if (selectedFloorplanBuilding == null || indoorMapManager == null) { + return; + } + + int maxFloor = selectedFloorplanBuilding.getFloorShapesList().size() - 1; + int clampedFloor = Math.max(0, Math.min(newFloorIndex, maxFloor)); + + // Always update the displayed/UI floor. + host.setCurrentFloorIndex(clampedFloor); + + if (confirmFloor) { + initialFloorResolved = true; + resetInitialFloorBootstrapState(); + syncAutoFloorAnchor(); + + // Only manual/bootstrap floor changes are allowed to push back into PF. + if (!host.isReplayModeEnabled()) { + SensorFusion sensorFusion = host.getSensorFusion(); + if (sensorFusion != null) { + sensorFusion.setParticleFilterFloorOverride(clampedFloor); + } + } + } + + host.refreshSelectedPolygonAppearance(); + + if (!host.isIndoorMapVisible() && !host.isActualMapVisible()) { + indoorMapManager.clearIndoorMap(); + host.resetMapOverlays(); + updateFloorLabel(); + return; + } + + host.resetMapOverlays(); + indoorMapManager.setVectorBaseplateEnabled(false); + + if (host.isActualMapVisible()) { + host.updateRealMapOverlay(selectedFloorplanBuilding.getName(), clampedFloor, true); + } + + if (host.isIndoorMapVisible()) { + indoorMapManager.setCurrentFloor(clampedFloor, false); + } else { + indoorMapManager.clearIndoorMap(); + } + + setFloorControlsVisibility(View.VISIBLE); + updateFloorLabel(); + host.updateCalibrationUi(); + } + + public int getDefaultFloorIndex(@Nullable FloorplanApiClient.BuildingInfo building) { + if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) { + return 0; + } + + for (int i = 0; i < building.getFloorShapesList().size(); i++) { + String displayName = building.getFloorShapesList().get(i).getDisplayName(); + if ("G".equals(canonicalFloorLabel(displayName))) { + return i; + } + } + + List orderedFloorIndices = getOrderedFloorIndices(building); + return orderedFloorIndices.isEmpty() ? 0 : orderedFloorIndices.get(0); + } + + public String getFloorDisplayName(@Nullable FloorplanApiClient.BuildingInfo building, int floorIndex) { + if (building == null || building.getFloorShapesList() == null + || floorIndex < 0 || floorIndex >= building.getFloorShapesList().size()) { + return ""; + } + String displayName = building.getFloorShapesList().get(floorIndex).getDisplayName(); + return displayName == null ? "" : displayName.trim().toUpperCase(); + } + + public int getAdjacentFloorIndex(@Nullable FloorplanApiClient.BuildingInfo building, int currentIndex, boolean moveUp) { + List orderedFloorIndices = getOrderedFloorIndices(building); + if (orderedFloorIndices.isEmpty()) { + return currentIndex; + } + + int currentOrderedPosition = orderedFloorIndices.indexOf(currentIndex); + if (currentOrderedPosition < 0) { + currentOrderedPosition = 0; + for (int i = 0; i < orderedFloorIndices.size(); i++) { + if (orderedFloorIndices.get(i) >= currentIndex) { + currentOrderedPosition = i; + break; + } + } + } + + int nextOrderedPosition = moveUp ? currentOrderedPosition + 1 : currentOrderedPosition - 1; + if (nextOrderedPosition < 0 || nextOrderedPosition >= orderedFloorIndices.size()) { + return currentIndex; + } + return orderedFloorIndices.get(nextOrderedPosition); + } + + public List getOrderedFloorIndices(@Nullable FloorplanApiClient.BuildingInfo building) { + List ordered = new ArrayList<>(); + if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) { + return ordered; + } + + List fallback = new ArrayList<>(); + for (int i = 0; i < building.getFloorShapesList().size(); i++) { + fallback.add(i); + } + + String[] desiredOrder = new String[]{"LG", "G", "1", "2", "3"}; + for (String desiredFloor : desiredOrder) { + for (int i = 0; i < building.getFloorShapesList().size(); i++) { + if (ordered.contains(i)) { + continue; + } + + String displayName = building.getFloorShapesList().get(i).getDisplayName(); + if (desiredFloor.equals(canonicalFloorLabel(displayName))) { + ordered.add(i); + } + } + } + + for (Integer index : fallback) { + if (!ordered.contains(index)) { + ordered.add(index); + } + } + return ordered; + } + + public void setFloorControlsVisibility(int visibility) { + if (floorUpButton != null) { + floorUpButton.setVisibility(visibility); + } + if (floorDownButton != null) { + floorDownButton.setVisibility(visibility); + } + if (floorLabel != null) { + floorLabel.setVisibility(visibility); + } + if (visibility == View.VISIBLE) { + updateFloorLabel(); + } + } + + // Auto-floor is bootstrap-only here. + // After startup, authoritative live floor comes from validated map matching / PF. + public void updateFloorLabel() { + IndoorMapManager indoorMapManager = host.getIndoorMapManager(); + if (floorLabel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) { + floorLabel.setText(formatFloorLabelForUi(indoorMapManager.getCurrentFloorDisplayName())); + } + host.updateCalibrationUi(); + } + + /** + * Starts initial floor bootstrap and enables live PF floor transitions. + * + * Behaviour: + * - bootstrap loop runs only until an initial floor is resolved or timeout hits + * - the Auto Floor switch still remains the authoritative permission for + * later live PF floor changes + */ + public void startAutoFloor() { + if (host.isReplayModeEnabled()) { + if (autoFloorSwitch != null) { + autoFloorSwitch.setChecked(false); + } + return; + } + + syncLiveAutoFloorFlag(true); + + if (autoFloorHandler == null) { + autoFloorHandler = new Handler(Looper.getMainLooper()); + } + + stopAutoFloorBootstrap(); + resetInitialFloorBootstrapState(); + autoFloorStartMs = SystemClock.elapsedRealtime(); + syncAutoFloorAnchor(); + + autoFloorTask = new Runnable() { + @Override + public void run() { + applyImmediateFloor(); + + if (!initialFloorResolved + && !shouldForceBootstrapFallback() + && autoFloorHandler != null) { + autoFloorHandler.postDelayed(this, 500L); + } + } + }; + + autoFloorHandler.post(autoFloorTask); + } + + /** + * Stops only the temporary bootstrap polling task. + * + * This does NOT disable the user's Auto Floor preference. + */ + private void stopAutoFloorBootstrap() { + if (autoFloorHandler != null && autoFloorTask != null) { + autoFloorHandler.removeCallbacks(autoFloorTask); + } + lastCandidateFloor = Integer.MIN_VALUE; + lastCandidateTime = 0L; + resetInitialFloorBootstrapState(); + } + + private boolean shouldForceBootstrapFallback() { + if (initialFloorResolved || autoFloorStartMs <= 0L) { + return false; + } + return SystemClock.elapsedRealtime() - autoFloorStartMs >= INITIAL_FLOOR_BOOTSTRAP_TIMEOUT_MS; + } + + public void applyImmediateFloor() { + if (host.isReplayModeEnabled()) { + return; + } + + SensorFusion sensorFusion = host.getSensorFusion(); + IndoorMapManager indoorMapManager = host.getIndoorMapManager(); + if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) { + return; + } + + if (initialFloorResolved) { + return; + } + + Integer bootstrapFloorIndex = resolveInitialWifiBootstrapFloorIndex(sensorFusion, indoorMapManager); + if (bootstrapFloorIndex != null) { + setFloor(bootstrapFloorIndex); + stopAutoFloorBootstrap(); + return; + } + + if (shouldForceBootstrapFallback()) { + initialFloorResolved = true; + syncAutoFloorAnchor(); + stopAutoFloorBootstrap(); + } + } + + /** + * Fully disables auto-floor behaviour for the current session. + * + * Use this when: + * - the user turns the switch off + * - replay mode is entered + * - the map is reset + */ + public void stopAutoFloor() { + stopAutoFloorBootstrap(); + syncLiveAutoFloorFlag(false); + } + + public boolean isAutoFloorEnabled() { + return autoFloorSwitch != null && autoFloorSwitch.isChecked(); + } + + public boolean hasReliableInitialFloorFix() { + return initialFloorResolved; + } + + public void evaluateAutoFloor() { + applyImmediateFloor(); + } + + @Nullable + private Integer resolveAutoFloorCandidateIndex(@Nullable SensorFusion sensorFusion, + @Nullable IndoorMapManager indoorMapManager) { + if (sensorFusion == null || indoorMapManager == null) { + return null; + } + + int candidateLogicalFloor; + if (sensorFusion.getLatLngWifiPositioning() != null) { + if (!initialFloorResolved) { + return null; + } + candidateLogicalFloor = sensorFusion.getWifiFloor(); + } else { + float floorHeight = indoorMapManager.getFloorHeight(); + if (floorHeight <= 0f) { + return null; + } + candidateLogicalFloor = Math.round(sensorFusion.getElevation() / floorHeight); + } + + return indoorMapManager.logicalFloorToIndex(candidateLogicalFloor); + } + + /** + * Returns a floor candidate for positioning logic without forcing the UI to switch floors. + * + * Strategy: + * - If WiFi positioning is available, expose its floor immediately as an algorithm candidate. + * - Otherwise only expose a barometer/elevator-derived floor when the same evidence would be + * strong enough to justify an AutoFloor transition. + * - If the evidence is weak, return null so the caller can keep the previous matched floor. + */ + @Nullable + public Integer peekTrackingFloorCandidateIndex() { + if (host.isReplayModeEnabled() || initialFloorResolved) { + return null; + } + + SensorFusion sensorFusion = host.getSensorFusion(); + IndoorMapManager indoorMapManager = host.getIndoorMapManager(); + if (sensorFusion == null || indoorMapManager == null || !indoorMapManager.getIsIndoorMapSet()) { + return null; + } + + return resolveInitialWifiBootstrapFloorIndex(sensorFusion, indoorMapManager); + } + + private void resetInitialFloorBootstrapState() { + pendingInitialWifiFloor = Integer.MIN_VALUE; + pendingInitialWifiSinceMs = 0L; + pendingInitialWifiSamples = 0; + } + + /** + * Debug string for floor-control state. + */ + @NonNull + public String getAutoFloorDebugSummary() { + SensorFusion sensorFusion = host.getSensorFusion(); + return "autoFloorUi=" + isAutoFloorEnabled() + + " livePfAutoFloor=" + (sensorFusion != null && sensorFusion.isLiveAutoFloorEnabled()) + + " initResolved=" + initialFloorResolved + + " currentFloorIndex=" + host.getCurrentFloorIndex() + + " candidateFloor=" + lastCandidateFloor + + " elev=" + (sensorFusion == null ? "na" : sensorFusion.getElevation()) + + " anchorElev=" + lastCommittedElevationMeters + + " elevator=" + (sensorFusion == null ? "na" : sensorFusion.getElevator()); + } + + @Nullable + private Integer resolveInitialWifiBootstrapFloorIndex(@NonNull SensorFusion sensorFusion, + @NonNull IndoorMapManager indoorMapManager) { + if (sensorFusion.getLatLngWifiPositioning() == null) { + resetInitialFloorBootstrapState(); + return null; + } + + int candidateFloorIndex = indoorMapManager.logicalFloorToIndex(sensorFusion.getWifiFloor()); + long now = SystemClock.elapsedRealtime(); + if (candidateFloorIndex != pendingInitialWifiFloor) { + pendingInitialWifiFloor = candidateFloorIndex; + pendingInitialWifiSinceMs = now; + pendingInitialWifiSamples = 1; + return null; + } + + pendingInitialWifiSamples++; + long stableDurationMs = now - pendingInitialWifiSinceMs; + if (pendingInitialWifiSamples >= INITIAL_FLOOR_WIFI_REQUIRED_SAMPLES + && stableDurationMs >= INITIAL_FLOOR_WIFI_STABLE_MS) { + return candidateFloorIndex; + } + return null; + } + + private boolean shouldAllowAutoFloorChange(int candidateFloorIndex, + @NonNull SensorFusion sensorFusion, + @NonNull IndoorMapManager indoorMapManager) { + if (candidateFloorIndex == host.getCurrentFloorIndex()) { + return false; + } + + if (sensorFusion.getElevator()) { + return true; + } + + float floorHeight = indoorMapManager.getFloorHeight(); + if (floorHeight <= 0f || Float.isNaN(lastCommittedElevationMeters)) { + return false; + } + + int floorSteps = Math.max(1, Math.abs(candidateFloorIndex - host.getCurrentFloorIndex())); + float requiredDelta = Math.max( + AUTO_FLOOR_MIN_VERTICAL_DELTA_METERS, + floorHeight * AUTO_FLOOR_VERTICAL_FRACTION_PER_FLOOR * floorSteps + ); + float measuredDelta = Math.abs(sensorFusion.getElevation() - lastCommittedElevationMeters); + return measuredDelta >= requiredDelta; + } + + private void syncAutoFloorAnchor() { + SensorFusion sensorFusion = host.getSensorFusion(); + if (sensorFusion != null) { + lastCommittedElevationMeters = sensorFusion.getElevation(); + } + } + + private String formatFloorLabelForUi(@Nullable String rawFloorLabel) { + String canonicalFloor = canonicalFloorLabel(rawFloorLabel); + switch (canonicalFloor) { + case "LG": + return "LG"; + case "G": + return "G"; + case "1": + return "F1"; + case "2": + return "F2"; + case "3": + return "F3"; + default: + return rawFloorLabel == null ? "" : rawFloorLabel; + } + } + + private String canonicalFloorLabel(@Nullable String floorLabel) { + if (floorLabel == null) { + return ""; + } + String normalized = floorLabel.trim().toUpperCase(); + if (normalized.startsWith("FLOOR ")) { + normalized = normalized.substring(6).trim(); + } + if (normalized.startsWith("LEVEL ")) { + normalized = normalized.substring(6).trim(); + } + switch (normalized) { + case "GROUND": + case "GF": + case "0": + return "G"; + case "UG": + case "LOWER GROUND": + case "LOWERGROUND": + case "L/G": + case "B1": + case "-1": + return "LG"; + case "F1": + return "1"; + case "F2": + return "2"; + case "F3": + return "3"; + default: + return normalized; + } + } +} diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java new file mode 100644 index 00000000..29e00ef3 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MapMatchingCoordinator.java @@ -0,0 +1,670 @@ +package com.openpositioning.PositionMe.presentation.fragment; + +import android.content.Context; +import android.location.Location; +import android.os.SystemClock; +import android.util.Log; + +import androidx.annotation.NonNull; +import androidx.annotation.Nullable; + +import com.google.android.gms.maps.GoogleMap; +import com.google.android.gms.maps.model.LatLng; +import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; +import com.openpositioning.PositionMe.mapmatching.CandidatePose; +import com.openpositioning.PositionMe.mapmatching.CorrectionType; +import com.openpositioning.PositionMe.mapmatching.MapMatchingInput; +import com.openpositioning.PositionMe.mapmatching.MapMatchingResult; +import com.openpositioning.PositionMe.mapmatching.MapMatchingService; +import com.openpositioning.PositionMe.mapmatching.MotionDelta; +import com.openpositioning.PositionMe.mapmatching.VerticalTransitionHint; +import com.openpositioning.PositionMe.sensors.SensorFusion; +import com.openpositioning.PositionMe.utils.IndoorMapManager; + +import java.util.List; +import java.util.Locale; + +/** + * MapMatchingCoordinator + * + * Cleaned responsibility: + * - REPLAY ONLY + * - owns replay map matching state + * - owns replay floor replay-context interpretation + * - does NOT own live WiFi/GNSS correction + * - does NOT own live fused trajectory generation + * + * Live fused pose is now owned by ParticleFilterManager. + */ +final class MapMatchingCoordinator { + + interface Host { + @Nullable GoogleMap getGoogleMap(); + @NonNull Context requireContext(); + @NonNull TrajectoryRenderer getTrajectoryRenderer(); + @Nullable FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding(); + @Nullable IndoorMapManager getIndoorMapManager(); + boolean isReplayModeEnabled(); + @Nullable SensorFusion getSensorFusion(); + @Nullable Integer getTrackingCandidateFloorIndex(); + int getCurrentFloorIndex(); + void setFloor(int floorIndex); + boolean isAutoFloorEnabled(); + boolean hasReliableInitialFloorFix(); + @Nullable LatLng getCurrentLocation(); + void setCurrentLocation(@NonNull LatLng location); + @NonNull String resolveKnownBuildingKey(@NonNull FloorplanApiClient.BuildingInfo building, + @Nullable String buildingName); + @NonNull String canonicalFloorLabel(@Nullable String floorLabel); + @NonNull List getOrderedFloorIndices(@NonNull FloorplanApiClient.BuildingInfo building); + void maybeFetchNearbyBuildingsOnFirstLocation(); + boolean hasAutoSelectedIndoorMap(); + @NonNull List getLastFetchedBuildings(); + void maybeAutoSelectIndoorMap(@NonNull List buildings); + @NonNull String getTag(); + @NonNull String getTestLogTag(); + } + + private final Host host; + private final MapMatchingService mapMatchingService = new MapMatchingService(); + + @Nullable + private CandidatePose previousMatchedPose; + + @Nullable + private Integer replaySyntheticFloor; + @Nullable + private Double replayCurrentElevation; + @Nullable + private Double replayDeltaHeight; + private boolean replayHeightChanged = false; + @Nullable + private Integer replayInitialFloor; + @Nullable + private Integer replayBaseFloorIndex; + private boolean replayDisplayFloorInitialized = false; + + @NonNull + private String latestDebugStatus = defaultDebugStatus(); + + MapMatchingCoordinator(@NonNull Host host) { + this.host = host; + } + + /** + * Returns the latest replay debug text. + */ + @NonNull + String getLatestDebugStatus() { + return latestDebugStatus; + } + + /** + * Called when replay mode toggles. + */ + void onReplayModeChanged(boolean enabled) { + previousMatchedPose = null; + mapMatchingService.resetTransientState(); + host.getTrajectoryRenderer().clearRawReplayPath(); + clearReplayContext(true); + latestDebugStatus = defaultDebugStatus(); + + if (enabled) { + replayDisplayFloorInitialized = false; + } + } + + /** + * Called when the selected building changes. + * + * Replay state is per-building, so this must reset it. + */ + void onSelectedBuildingChanged() { + previousMatchedPose = null; + mapMatchingService.resetTransientState(); + host.getTrajectoryRenderer().clearRawReplayPath(); + clearReplayContext(true); + latestDebugStatus = defaultDebugStatus(); + } + + /** + * Supplies replay frame context without initial-floor override. + */ + void setReplayFrameContext(@Nullable Integer syntheticFloor, + @Nullable Double currentElevation, + @Nullable Double deltaHeight, + boolean heightChanged) { + setReplayFrameContext(syntheticFloor, currentElevation, deltaHeight, heightChanged, null); + } + + /** + * Supplies replay frame context including optional initial-floor override. + */ + void setReplayFrameContext(@Nullable Integer syntheticFloor, + @Nullable Double currentElevation, + @Nullable Double deltaHeight, + boolean heightChanged, + @Nullable Integer initialFloor) { + replaySyntheticFloor = syntheticFloor; + replayCurrentElevation = currentElevation; + replayDeltaHeight = deltaHeight; + replayHeightChanged = heightChanged; + + if (initialFloor != null && (replayInitialFloor == null || !initialFloor.equals(replayInitialFloor))) { + replayBaseFloorIndex = null; + replayDisplayFloorInitialized = false; + } + + replayInitialFloor = initialFloor; + maybeInitializeReplayDisplayFloor(); + + Log.d(host.getTag(), String.format(Locale.US, + "Replay frame context initialFloor=%s syntheticFloor=%s elevation=%s deltaHeight=%s heightChanged=%s", + String.valueOf(initialFloor), + String.valueOf(syntheticFloor), + String.valueOf(currentElevation), + String.valueOf(deltaHeight), + String.valueOf(heightChanged))); + } + + /** + * Updates the replay location. + * + * Important: + * - in live mode this coordinator does nothing meaningful anymore + * - in replay mode it performs replay map matching only + */ + void updateUserLocation(@NonNull LatLng newLocation, float orientationDeg) { + if (host.getGoogleMap() == null) { + return; + } + + if (!host.isReplayModeEnabled()) { + latestDebugStatus = "Replay map matching only\nLive path bypasses coordinator"; + return; + } + + long timestampMs = SystemClock.elapsedRealtime(); + LatLng rawLocation = newLocation; + + int candidateFloorIndex = resolveReplayCandidateFloorIndex(); + int sourceFloorIndex = previousMatchedPose != null + ? previousMatchedPose.getFloor() + : candidateFloorIndex; + + FloorplanApiClient.FloorShapes sourceFloorShapes = getFloorShapesForFloorIndex(sourceFloorIndex); + FloorplanApiClient.FloorShapes targetFloorShapes = getFloorShapesForFloorIndex(candidateFloorIndex); + + CandidatePose currentCandidatePose = new CandidatePose( + rawLocation, + candidateFloorIndex, + timestampMs, + "replay_pdr" + ); + + MotionDelta motionDelta = buildMotionDelta(previousMatchedPose, rawLocation, orientationDeg); + VerticalTransitionHint verticalHint = buildReplayVerticalHint(); + + FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding(); + String activeBuildingId = selectedBuilding != null + ? host.resolveKnownBuildingKey(selectedBuilding, selectedBuilding.getName()) + : null; + + MapMatchingInput matchingInput = new MapMatchingInput( + previousMatchedPose, + currentCandidatePose, + motionDelta, + verticalHint, + sourceFloorShapes, + targetFloorShapes, + activeBuildingId + ); + + MapMatchingResult matchingResult = mapMatchingService.match(matchingInput); + + LatLng matchedLocation = matchingResult.getCorrectedLatLng() != null + ? matchingResult.getCorrectedLatLng() + : rawLocation; + + int matchedFloor = matchingResult.getCorrectedFloor(); + int displayFloor = resolveReplayDisplayFloor(matchedFloor); + + logFeatureValidation(rawLocation, matchingResult); + + latestDebugStatus = buildDebugStatus( + displayFloor, + candidateFloorIndex, + matchedFloor, + verticalHint, + matchingResult + ); + + LatLng oldLocation = host.getCurrentLocation(); + host.setCurrentLocation(matchedLocation); + + previousMatchedPose = new CandidatePose( + matchedLocation, + displayFloor, + timestampMs, + "replay_map_state" + ); + + applyReplayDisplayFloorIfNeeded(displayFloor); + + float savedZoom = host.requireContext() + .getSharedPreferences("MapCameraState", Context.MODE_PRIVATE) + .getFloat("user_selected_zoom", 19f); + + host.getTrajectoryRenderer().updateCurrentPosition( + host.requireContext(), + matchedLocation, + orientationDeg, + true, + savedZoom + ); + + host.getTrajectoryRenderer().appendMatchedLocation(oldLocation, matchedLocation); + + IndoorMapManager indoorMapManager = host.getIndoorMapManager(); + if (indoorMapManager != null) { + indoorMapManager.setCurrentLocation(matchedLocation); + } + + host.maybeFetchNearbyBuildingsOnFirstLocation(); + if (!host.hasAutoSelectedIndoorMap() && !host.getLastFetchedBuildings().isEmpty()) { + host.maybeAutoSelectIndoorMap(host.getLastFetchedBuildings()); + } + } + + /** + * Fully resets replay-side map matching state. + */ + void resetMapMatchingState() { + previousMatchedPose = null; + mapMatchingService.resetTransientState(); + host.getTrajectoryRenderer().clearRawReplayPath(); + clearReplayContext(true); + latestDebugStatus = defaultDebugStatus(); + } + + /** + * Clears replay frame context. + */ + private void clearReplayContext(boolean clearBaseFloorState) { + replaySyntheticFloor = null; + replayCurrentElevation = null; + replayDeltaHeight = null; + replayHeightChanged = false; + replayInitialFloor = null; + + if (clearBaseFloorState) { + replayBaseFloorIndex = null; + replayDisplayFloorInitialized = false; + } + } + + /** + * Returns floor shapes for a given floor index. + */ + @Nullable + private FloorplanApiClient.FloorShapes getFloorShapesForFloorIndex(int floorIndexForMatching) { + FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding(); + if (selectedBuilding == null + || selectedBuilding.getFloorShapesList() == null + || selectedBuilding.getFloorShapesList().isEmpty()) { + return null; + } + + if (host.isReplayModeEnabled()) { + maybeInitializeReplayDisplayFloor(); + } + + int safeFloorIndex = Math.max( + 0, + Math.min(floorIndexForMatching, selectedBuilding.getFloorShapesList().size() - 1) + ); + + return selectedBuilding.getFloorShapesList().get(safeFloorIndex); + } + + /** + * Builds motion delta between replay frames. + */ + @Nullable + private MotionDelta buildMotionDelta(@Nullable CandidatePose previousPose, + @NonNull LatLng rawLocation, + float orientationDeg) { + if (previousPose == null || previousPose.getLatLng() == null) { + return null; + } + + float[] results = new float[1]; + Location.distanceBetween( + previousPose.getLatLng().latitude, + previousPose.getLatLng().longitude, + rawLocation.latitude, + rawLocation.longitude, + results + ); + + double deltaX = rawLocation.longitude - previousPose.getLatLng().longitude; + double deltaY = rawLocation.latitude - previousPose.getLatLng().latitude; + + return new MotionDelta(deltaX, deltaY, results[0], orientationDeg); + } + + /** + * Builds replay vertical hint directly from replay frame context. + */ + @Nullable + private VerticalTransitionHint buildReplayVerticalHint() { + if (!host.isReplayModeEnabled()) { + return null; + } + + if (replayCurrentElevation == null && replayDeltaHeight == null && !replayHeightChanged) { + return null; + } + + double currentElevation = replayCurrentElevation != null ? replayCurrentElevation : 0d; + double deltaHeight = replayDeltaHeight != null ? replayDeltaHeight : 0d; + + return new VerticalTransitionHint(currentElevation, deltaHeight, replayHeightChanged); + } + + /** + * Resolves candidate replay floor from base floor + relative replay floor movement. + */ + private int resolveReplayCandidateFloorIndex() { + Integer baseFloorIndex = resolveReplayBaseFloorIndex(); + if (!host.isReplayModeEnabled() || baseFloorIndex == null || host.getSelectedFloorplanBuilding() == null) { + return host.getCurrentFloorIndex(); + } + + List orderedFloorIndices = host.getOrderedFloorIndices(host.getSelectedFloorplanBuilding()); + if (orderedFloorIndices.isEmpty()) { + return baseFloorIndex; + } + + int basePosition = orderedFloorIndices.indexOf(baseFloorIndex); + if (basePosition < 0) { + return baseFloorIndex; + } + + int relativeFloorOffset = 0; + if (replaySyntheticFloor != null && hasReplayVerticalEvidence()) { + relativeFloorOffset = replaySyntheticFloor; + } + + int targetPosition = Math.max( + 0, + Math.min(basePosition + relativeFloorOffset, orderedFloorIndices.size() - 1) + ); + + return orderedFloorIndices.get(targetPosition); + } + + /** + * Resolves the replay base floor from initial replay metadata. + */ + @Nullable + private Integer resolveReplayBaseFloorIndex() { + FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding(); + if (!host.isReplayModeEnabled() || selectedBuilding == null) { + return null; + } + + if (replayBaseFloorIndex != null) { + int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1); + return Math.max(0, Math.min(replayBaseFloorIndex, maxFloor)); + } + + if (replayInitialFloor == null) { + replayBaseFloorIndex = host.getCurrentFloorIndex(); + return replayBaseFloorIndex; + } + + String desiredFloorLabel; + if (replayInitialFloor < 0) { + desiredFloorLabel = "LG"; + } else if (replayInitialFloor == 0) { + desiredFloorLabel = "G"; + } else { + desiredFloorLabel = String.valueOf(replayInitialFloor); + } + + for (int i = 0; i < selectedBuilding.getFloorShapesList().size(); i++) { + String candidateLabel = host.canonicalFloorLabel( + selectedBuilding.getFloorShapesList().get(i).getDisplayName() + ); + if (desiredFloorLabel.equals(candidateLabel)) { + replayBaseFloorIndex = i; + return replayBaseFloorIndex; + } + } + + replayBaseFloorIndex = host.getCurrentFloorIndex(); + return replayBaseFloorIndex; + } + + /** + * True when replay frame context contains usable vertical evidence. + */ + private boolean hasReplayVerticalEvidence() { + if (!host.isReplayModeEnabled()) { + return false; + } + + if (replaySyntheticFloor != null && replaySyntheticFloor != 0) { + return true; + } + + if (replayHeightChanged) { + return true; + } + + if (replayDeltaHeight != null && Math.abs(replayDeltaHeight) >= 1.0d) { + return true; + } + + return replayCurrentElevation != null && Math.abs(replayCurrentElevation) >= 1.0d; + } + + /** + * Initialises the replay display floor the first time replay context becomes available. + */ + private void maybeInitializeReplayDisplayFloor() { + FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding(); + IndoorMapManager indoorMapManager = host.getIndoorMapManager(); + + if (!host.isReplayModeEnabled() + || replayDisplayFloorInitialized + || selectedBuilding == null + || indoorMapManager == null) { + return; + } + + Integer baseFloorIndex = resolveReplayBaseFloorIndex(); + if (baseFloorIndex == null) { + return; + } + + indoorMapManager.setSelectedBuilding(selectedBuilding); + host.setFloor(baseFloorIndex); + replayDisplayFloorInitialized = true; + + Log.d(host.getTag(), "Initialized replay display floor index=" + baseFloorIndex); + + if (previousMatchedPose != null && previousMatchedPose.getFloor() != baseFloorIndex) { + previousMatchedPose = new CandidatePose( + previousMatchedPose.getLatLng(), + baseFloorIndex, + previousMatchedPose.getTimestampMs(), + "replay_map_state" + ); + } + } + + /** + * Resolves the displayed replay floor. + */ + private int resolveReplayDisplayFloor(int replayCandidateFloorIndex) { + FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding(); + if (selectedBuilding == null + || selectedBuilding.getFloorShapesList() == null + || selectedBuilding.getFloorShapesList().isEmpty()) { + return replayCandidateFloorIndex; + } + + int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1); + int clampedFloor = Math.max(0, Math.min(replayCandidateFloorIndex, maxFloor)); + + if (hasReplayVerticalEvidence()) { + return clampedFloor; + } + + if (previousMatchedPose != null) { + return Math.max(0, Math.min(previousMatchedPose.getFloor(), maxFloor)); + } + + Integer baseFloorIndex = resolveReplayBaseFloorIndex(); + if (baseFloorIndex != null) { + return Math.max(0, Math.min(baseFloorIndex, maxFloor)); + } + + return clampedFloor; + } + + /** + * Applies replay display floor to the map UI if needed. + */ + private void applyReplayDisplayFloorIfNeeded(int targetFloorIndex) { + FloorplanApiClient.BuildingInfo selectedBuilding = host.getSelectedFloorplanBuilding(); + IndoorMapManager indoorMapManager = host.getIndoorMapManager(); + + if (!host.isReplayModeEnabled() || selectedBuilding == null || indoorMapManager == null) { + return; + } + + int maxFloor = Math.max(0, selectedBuilding.getFloorShapesList().size() - 1); + int clampedFloor = Math.max(0, Math.min(targetFloorIndex, maxFloor)); + + if (clampedFloor == host.getCurrentFloorIndex()) { + return; + } + + indoorMapManager.setSelectedBuilding(selectedBuilding); + host.setFloor(clampedFloor); + } + + /** + * Classifies replay map matching scenario for logs. + */ + @NonNull + private String classifyMapMatchingScenario(@Nullable MapMatchingResult result) { + if (result == null) { + return "UNKNOWN"; + } + + String reason = result.getDebugReason() == null + ? "" + : result.getDebugReason().toLowerCase(Locale.US); + + CorrectionType correctionType = result.getCorrectionType(); + + if (correctionType == CorrectionType.THROUGH_WALL || result.isCrossedWall()) { + return "03_cross_wall_reject"; + } + if (correctionType == CorrectionType.INVALID_FLOOR_CHANGE) { + return "04_false_floor_change_reject"; + } + if (result.isFloorChangeAllowed() && result.isNearStairs() && !result.isNearLift()) { + return "05_stairs_floor_change_allow"; + } + if (result.isFloorChangeAllowed() && result.isNearLift() && !result.isNearStairs()) { + return "06_lift_floor_change_allow"; + } + if (reason.contains("step distance too small")) { + return "02_small_step_skip_wall_check"; + } + return "01_same_floor_accept"; + } + + /** + * Logs replay feature validation details. + */ + private void logFeatureValidation(@NonNull LatLng rawLocation, @Nullable MapMatchingResult result) { + if (result == null) { + return; + } + + LatLng matched = result.getCorrectedLatLng() != null + ? result.getCorrectedLatLng() + : rawLocation; + + String scenario = classifyMapMatchingScenario(result); + + Log.d(host.getTestLogTag(), String.format(Locale.US, + "SCENARIO=%s raw=(%.6f, %.6f) matched=(%.6f, %.6f) matchedFloor=%d crossedWall=%s nearStairs=%s nearLift=%s floorAllowed=%s correction=%s reason=%s", + scenario, + rawLocation.latitude, + rawLocation.longitude, + matched.latitude, + matched.longitude, + result.getCorrectedFloor(), + String.valueOf(result.isCrossedWall()), + String.valueOf(result.isNearStairs()), + String.valueOf(result.isNearLift()), + String.valueOf(result.isFloorChangeAllowed()), + result.getCorrectionType() != null ? result.getCorrectionType().name() : CorrectionType.NONE.name(), + result.getDebugReason())); + } + + /** + * Default replay debug state. + */ + @NonNull + private static String defaultDebugStatus() { + return "Replay MM: idle\n" + + "floor d/c/m: -/-/-\n" + + "vertical: steady\n" + + "correction: NONE"; + } + + /** + * Builds replay debug text for the fragment debug box. + */ + @NonNull + private String buildDebugStatus(int displayFloorIndex, + int candidateFloorIndex, + int matchedFloor, + @Nullable VerticalTransitionHint verticalHint, + @NonNull MapMatchingResult result) { + String correctionName = result.getCorrectionType() != null + ? result.getCorrectionType().name() + : CorrectionType.NONE.name(); + + String verticalSummary = verticalHint == null + ? "steady" + : String.format(Locale.US, "Ξ”h=%.2f changed=%s", + verticalHint.getDeltaHeight(), + String.valueOf(verticalHint.isHeightChanged())); + + return String.format( + Locale.US, + "Replay MM: %s\n" + + "wall=%s stairs=%s lift=%s allow=%s\n" + + "floor d/c/m: %d/%d/%d\n" + + "vertical: %s", + correctionName, + String.valueOf(result.isCrossedWall()), + String.valueOf(result.isNearStairs()), + String.valueOf(result.isNearLift()), + String.valueOf(result.isFloorChangeAllowed()), + displayFloorIndex, + candidateFloorIndex, + matchedFloor, + verticalSummary + ); + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MeasurementsFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MeasurementsFragment.java index 20c43987..e57d63a8 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MeasurementsFragment.java +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/MeasurementsFragment.java @@ -87,10 +87,8 @@ public void onCreate(Bundle savedInstanceState) { @Override public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) { - // Inflate the layout for this fragment View rootView = inflater.inflate(R.layout.fragment_measurements, container, false); - getActivity().setTitle("Sensor Measurements"); - this.refreshDataHandler.post(refreshTableTask); + requireActivity().setTitle("Sensor Measurements"); return rootView; } @@ -110,8 +108,9 @@ public void onPause() { */ @Override public void onResume() { - refreshDataHandler.postDelayed(refreshTableTask, REFRESH_TIME); super.onResume(); + refreshDataHandler.removeCallbacks(refreshTableTask); + refreshDataHandler.postDelayed(refreshTableTask, REFRESH_TIME); } /** @@ -122,9 +121,12 @@ public void onResume() { @Override public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) { super.onViewCreated(view, savedInstanceState); - sensorMeasurementList = (ConstraintLayout) getView().findViewById(R.id.sensorMeasurementList); - wifiListView = (RecyclerView) getView().findViewById(R.id.wifiList); - wifiListView.setLayoutManager(new LinearLayoutManager(getActivity())); + sensorMeasurementList = view.findViewById(R.id.sensorMeasurementList); + wifiListView = view.findViewById(R.id.wifiList); + wifiListView.setLayoutManager(new LinearLayoutManager(requireContext())); + + refreshDataHandler.removeCallbacks(refreshTableTask); + refreshDataHandler.post(refreshTableTask); } /** @@ -139,39 +141,65 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat private final Runnable refreshTableTask = new Runnable() { @Override public void run() { - // Get all the values from SensorFusion + if (!isAdded() || sensorMeasurementList == null || wifiListView == null) { + return; + } + Map sensorValueMap = sensorFusion.getSensorValueMap(); - // Loop through UI elements and update the values - for(SensorTypes st : SensorTypes.values()) { - CardView cardView = (CardView) sensorMeasurementList.getChildAt(st.ordinal()); - ConstraintLayout currentRow = (ConstraintLayout) cardView.getChildAt(0); + if (sensorValueMap == null) { + refreshDataHandler.postDelayed(this, REFRESH_TIME); + return; + } + + for (SensorTypes st : SensorTypes.values()) { + View child = sensorMeasurementList.getChildAt(st.ordinal()); + if (!(child instanceof CardView)) { + continue; + } + + CardView cardView = (CardView) child; + View row = cardView.getChildAt(0); + if (!(row instanceof ConstraintLayout)) { + continue; + } + + ConstraintLayout currentRow = (ConstraintLayout) row; float[] values = sensorValueMap.get(st); + if (values == null) { + continue; + } + for (int i = 0; i < values.length; i++) { + if (i + 1 >= currentRow.getChildCount()) { + continue; + } + String valueString; - // Set string wrapper based on data type. - if(values.length == 1) { + if (values.length == 1) { valueString = getString(R.string.level, String.format("%.2f", values[0])); - } - else if(values.length == 2){ - if(st == SensorTypes.GNSSLATLONG) + } else if (values.length == 2) { + if (st == SensorTypes.GNSSLATLONG) { valueString = getString(gnssPrefaces[i], String.format("%.2f", values[i])); - else + } else { valueString = getString(prefaces[i], String.format("%.2f", values[i])); - } - else{ + } + } else { valueString = getString(prefaces[i], String.format("%.2f", values[i])); } - ((TextView) currentRow.getChildAt(i + 1)).setText(valueString); + + View valueView = currentRow.getChildAt(i + 1); + if (valueView instanceof TextView) { + ((TextView) valueView).setText(valueString); + } } } - // Get all WiFi values - convert to list of strings + List wifiObjects = sensorFusion.getWifiList(); - // If there are WiFi networks visible, update the recycler view with the data. - if(wifiObjects != null) { - wifiListView.setAdapter(new WifiListAdapter(getActivity(), wifiObjects)); + if (wifiObjects != null) { + wifiListView.setAdapter(new WifiListAdapter(requireContext(), wifiObjects)); } - // Restart the data updater task in REFRESH_TIME milliseconds. - refreshDataHandler.postDelayed(refreshTableTask, REFRESH_TIME); + + refreshDataHandler.postDelayed(this, REFRESH_TIME); } }; } \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java index 340843ca..46fa8fd8 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java @@ -7,10 +7,12 @@ import android.os.Bundle; import android.os.CountDownTimer; import android.os.Handler; +import android.os.Looper; +import android.os.SystemClock; +import android.util.Log; import android.view.LayoutInflater; import android.view.View; import android.view.ViewGroup; - import android.view.animation.AlphaAnimation; import android.view.animation.Animation; import android.view.animation.LinearInterpolator; @@ -18,81 +20,123 @@ import android.widget.ImageView; import android.widget.ProgressBar; import android.widget.TextView; -import com.google.android.material.button.MaterialButton; +import android.widget.Toast; import androidx.annotation.NonNull; import androidx.annotation.Nullable; import androidx.fragment.app.Fragment; import androidx.preference.PreferenceManager; +import com.google.android.gms.maps.model.LatLng; +import com.google.android.material.button.MaterialButton; import com.openpositioning.PositionMe.R; +import com.openpositioning.PositionMe.fusion.FusedPose; import com.openpositioning.PositionMe.presentation.activity.RecordingActivity; import com.openpositioning.PositionMe.sensors.SensorFusion; import com.openpositioning.PositionMe.sensors.SensorTypes; +import com.openpositioning.PositionMe.utils.TcpClient; +import com.openpositioning.PositionMe.utils.TcpPacketSender; import com.openpositioning.PositionMe.utils.UtilFunctions; -import com.google.android.gms.maps.model.LatLng; +import java.io.File; +import java.text.SimpleDateFormat; import java.util.ArrayList; +import java.util.Date; import java.util.List; - -import android.widget.Toast; - - - +import java.util.Locale; /** - * Fragment responsible for managing the recording process of trajectory data. - *

- * The RecordingFragment serves as the interface for users to initiate, monitor, and - * complete trajectory recording. It integrates sensor fusion data to track user movement - * and updates a map view in real time. Additionally, it provides UI controls to cancel, - * stop, and monitor recording progress. - *

- * Features: - * - Starts and stops trajectory recording. - * - Displays real-time sensor data such as elevation and distance traveled. - * - Provides UI controls to cancel or complete recording. - * - Uses {@link TrajectoryMapFragment} to visualize recorded paths. - * - Manages GNSS tracking and error display. + * RecordingFragment * - * @see TrajectoryMapFragment The map fragment displaying the recorded trajectory. - * @see RecordingActivity The activity managing the recording workflow. - * @see SensorFusion Handles sensor data collection. - * @see SensorTypes Enumeration of available sensor types. + * Live-trajectory policy in this cleaned version: + * - RED trajectory = PF fused pose only + * - BLUE trajectory = raw PDR only + * - No fallback from PF red trajectory to standard PDR * - * @author Shu Gu + * Important: + * - raw PDR is still updated every refresh cycle for reference + * - PF fused pose is the only pose passed into TrajectoryMapFragment.updateUserLocation(...) + * - therefore map matching / map constraints / wall-stairs-lift debug are tied to the red trajectory */ - public class RecordingFragment extends Fragment { + private static final String TAG = "RecordingFragment"; + // UI elements - private MaterialButton completeButton, cancelButton; + private MaterialButton completeButton; + private MaterialButton cancelButton; private ImageView recIcon; private ProgressBar timeRemaining; - private TextView elevation, distanceTravelled, gnssError; + private TextView elevation; + private TextView distanceTravelled; + private TextView gnssError; // App settings private SharedPreferences settings; - // Sensor & data logic + // Sensor and data logic private SensorFusion sensorFusion; private Handler refreshDataHandler; private CountDownTimer autoStop; - // Distance tracking + // Distance tracking from raw PDR only private float distance = 0f; private float previousPosX = 0f; private float previousPosY = 0f; - // References to the child map fragment + // Child map fragment private TrajectoryMapFragment trajectoryMapFragment; + // TCP streaming to desktop GUI + private TcpClient tcpClient; + private TcpPacketSender tcpPacketSender; + private final Handler tcpHandler = new Handler(Looper.getMainLooper()); + private boolean tcpStreamingEnabled = false; + + // Autonomous initial map anchoring for raw PDR reference path + private static final long INITIAL_ANCHOR_STABLE_DURATION_MS = 1000L; + private static final int INITIAL_ANCHOR_REQUIRED_SAMPLES = 3; + private static final double INITIAL_ANCHOR_MAX_JUMP_METRES = 8.0; + private static final float LIVE_DRAW_MIN_PDR_DELTA_METERS = 0.03f; + private static final long LIVE_DRAW_STATIONARY_HOLD_MS = 800L; + private long lastLiveMovementUptimeMs = 0L; + + private static final long PF_UI_STEP_INTERVAL_MS = 120L; + private static final float PF_UI_MIN_PDR_DELTA_METERS = 0.05f; + private static final double PF_UI_MIN_HEADING_DELTA_RAD = Math.toRadians(4.0); + + private long lastPfUiStepElapsedMs = 0L; + private float lastPfUiStepPdrX = 0f; + private float lastPfUiStepPdrY = 0f; + private double lastPfUiStepHeadingRad = 0.0; + private boolean pfUiStepInitialised = false; + private static final long NO_STEP_FLOOR_EVAL_INTERVAL_MS = 800L; + private long lastNoStepFloorEvalElapsedMs = 0L; + + private enum InitialAnchorSource { + WIFI, + GNSS + } + + private LatLng autonomousInitialLocation = null; + private boolean initialMapLocationSeeded = false; + private LatLng pendingInitialAnchorCandidate = null; + private InitialAnchorSource pendingInitialAnchorSource = null; + private long pendingInitialAnchorSinceMs = 0L; + private int pendingInitialAnchorSamples = 0; + + // Test point handling + private int testPointIndex = 0; + private final List testPoints = new ArrayList<>(); + + /** + * Runnable used to periodically refresh UI and live map data. + */ private final Runnable refreshDataTask = new Runnable() { @Override public void run() { updateUIandPosition(); - // Loop again - refreshDataHandler.postDelayed(refreshDataTask, 200); + refreshDataHandler.postDelayed(this, 200); } }; @@ -103,10 +147,10 @@ public RecordingFragment() { @Override public void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); - this.sensorFusion = SensorFusion.getInstance(); + sensorFusion = SensorFusion.getInstance(); Context context = requireActivity(); - this.settings = PreferenceManager.getDefaultSharedPreferences(context); - this.refreshDataHandler = new Handler(); + settings = PreferenceManager.getDefaultSharedPreferences(context); + refreshDataHandler = new Handler(); } @Nullable @@ -114,7 +158,6 @@ public void onCreate(Bundle savedInstanceState) { public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) { - // Inflate only the "recording" UI parts (no map) return inflater.inflate(R.layout.fragment_recording, container, false); } @@ -123,21 +166,21 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) { super.onViewCreated(view, savedInstanceState); - // Child Fragment: the container in fragment_recording.xml - // where TrajectoryMapFragment is placed trajectoryMapFragment = (TrajectoryMapFragment) getChildFragmentManager().findFragmentById(R.id.trajectoryMapFragmentContainer); - // If not present, create it if (trajectoryMapFragment == null) { trajectoryMapFragment = new TrajectoryMapFragment(); getChildFragmentManager() .beginTransaction() .replace(R.id.trajectoryMapFragmentContainer, trajectoryMapFragment) - .commit(); + .commitNow(); } - // Initialize UI references + // Try to seed the initial raw-PDR anchor immediately. + seedInitialMapLocation(); + + // UI references elevation = view.findViewById(R.id.currentElevation); distanceTravelled = view.findViewById(R.id.currentDistanceTraveled); gnssError = view.findViewById(R.id.gnssError); @@ -146,57 +189,105 @@ public void onViewCreated(@NonNull View view, cancelButton = view.findViewById(R.id.cancelButton); recIcon = view.findViewById(R.id.redDot); timeRemaining = view.findViewById(R.id.timeRemainingBar); - view.findViewById(R.id.btn_test_point).setOnClickListener(v -> onAddTestPoint()); + View testPointButton = view.findViewById(R.id.btn_test_point); + if (testPointButton != null) { + testPointButton.setOnClickListener(v -> onAddTestPoint()); + } - // Hide or initialize default values gnssError.setVisibility(View.GONE); elevation.setText(getString(R.string.elevation, "0")); distanceTravelled.setText(getString(R.string.meter, "0")); - // Buttons completeButton.setOnClickListener(v -> { - // Stop recording & go to correction - if (autoStop != null) autoStop.cancel(); + if (autoStop != null) { + autoStop.cancel(); + } + refreshDataHandler.removeCallbacks(refreshDataTask); + stopTcpStreaming(); sensorFusion.stopRecording(); - // Show Correction screen - ((RecordingActivity) requireActivity()).showCorrectionScreen(); - }); + new AlertDialog.Builder(requireActivity()) + .setTitle("Save trajectory?") + .setMessage("Do you want to save trajectory into JSON locally?") + .setPositiveButton("Save", (dialog, which) -> { + try { + File dir = new File(requireContext().getExternalFilesDir(null), "trajectories"); + if (!dir.exists()) { + dir.mkdirs(); + } + + String timestamp = new SimpleDateFormat( + "yyyyMMdd_HHmmss", Locale.UK).format(new Date()); + + String trajName = sensorFusion.getTrajectoryId(); + if (trajName == null || trajName.trim().isEmpty()) { + trajName = "traj"; + } + + trajName = trajName.replaceAll("[^a-zA-Z0-9_\\-]", "_"); + String baseName = trajName + "_" + timestamp; + + File jsonFile = new File(dir, baseName + ".json"); + File csvFile = new File(dir, baseName + ".csv"); + + sensorFusion.saveTestPointToCSV(csvFile); + sensorFusion.saveRecordingToJSON(jsonFile); + + Toast.makeText( + requireContext(), + "Saved to /trajectories folder", + Toast.LENGTH_SHORT + ).show(); + + } catch (Exception e) { + e.printStackTrace(); + Toast.makeText( + requireContext(), + "Save failed: " + e.getMessage(), + Toast.LENGTH_LONG + ).show(); + } + + ((RecordingActivity) requireActivity()).showCorrectionScreen(); + }) + .setNegativeButton("Don't save", (dialog, which) -> + ((RecordingActivity) requireActivity()).showCorrectionScreen()) + .setCancelable(false) + .show(); + }); - // Cancel button with confirmation dialog cancelButton.setOnClickListener(v -> { AlertDialog dialog = new AlertDialog.Builder(requireActivity()) .setTitle("Confirm Cancel") .setMessage("Are you sure you want to cancel the recording? Your progress will be lost permanently!") .setNegativeButton("Yes", (dialogInterface, which) -> { - // User confirmed cancellation + stopTcpStreaming(); sensorFusion.stopRecording(); - if (autoStop != null) autoStop.cancel(); + if (autoStop != null) { + autoStop.cancel(); + } requireActivity().onBackPressed(); }) - .setPositiveButton("No", (dialogInterface, which) -> { - // User cancelled the dialog. Do nothing. - dialogInterface.dismiss(); - }) - .create(); // Create the dialog but do not show it yet + .setPositiveButton("No", (dialogInterface, which) -> dialogInterface.dismiss()) + .create(); - // Show the dialog and change the button color dialog.setOnShowListener(dialogInterface -> { Button negativeButton = dialog.getButton(AlertDialog.BUTTON_NEGATIVE); - negativeButton.setTextColor(Color.RED); // Set "Yes" button color to red + negativeButton.setTextColor(Color.RED); }); - dialog.show(); // Finally, show the dialog + dialog.show(); }); - // The blinking effect for recIcon blinkingRecordingIcon(); + startTcpStreaming(); - // Start the timed or indefinite UI refresh - if (this.settings.getBoolean("split_trajectory", false)) { - // A maximum recording time is set - long limit = this.settings.getInt("split_duration", 30) * 60000L; + pfUiStepInitialised = false; + lastPfUiStepElapsedMs = 0L; + + if (settings.getBoolean("split_trajectory", false)) { + long limit = settings.getInt("split_duration", 30) * 60000L; timeRemaining.setMax((int) (limit / 1000)); timeRemaining.setProgress(0); timeRemaining.setScaleY(3f); @@ -210,103 +301,261 @@ public void onTick(long millisUntilFinished) { @Override public void onFinish() { + stopTcpStreaming(); sensorFusion.stopRecording(); ((RecordingActivity) requireActivity()).showCorrectionScreen(); } }.start(); } else { - // No set time limit, just keep refreshing refreshDataHandler.post(refreshDataTask); } } + /** + * Add a numbered test point marker at the current displayed trajectory position. + * This uses the current displayed location (red PF trajectory), not raw PDR. + */ private void onAddTestPoint() { - // 1) Ensure the map fragment is ready - if (trajectoryMapFragment == null) return; + if (trajectoryMapFragment == null) { + return; + } - // 2) Read current track position (must lie on the current path) LatLng cur = trajectoryMapFragment.getCurrentLocation(); if (cur == null) { - Toast.makeText(requireContext(), "" + + Toast.makeText( + requireContext(), "I haven't gotten my current location yet, let me take a couple of steps/wait for the map to load.", - Toast.LENGTH_SHORT).show(); + Toast.LENGTH_SHORT + ).show(); return; } - // 3) Generate index + timestamp (satisfies "save timestamp") + if (!testPoints.isEmpty()) { + TestPoint last = testPoints.get(testPoints.size() - 1); + LatLng lastLatLng = new LatLng(last.lat, last.lng); + double dist = UtilFunctions.distanceBetweenPoints(lastLatLng, cur); + + if (dist < 0.5) { + Toast.makeText( + requireContext(), + "Test point not added because the location has not changed enough.", + Toast.LENGTH_SHORT + ).show(); + return; + } + } + int idx = ++testPointIndex; long ts = System.currentTimeMillis(); - // 4) Keep a local copy for in-session tracking testPoints.add(new TestPoint(idx, ts, cur.latitude, cur.longitude)); - - // Write test point into protobuf payload sensorFusion.addTestPointToProto(ts, cur.latitude, cur.longitude); - // 5) Draw numbered marker on map (satisfies "leave numbered marker") trajectoryMapFragment.addTestPointMarker(idx, ts, cur); - } + Log.d(TAG, String.format( + Locale.UK, + "TEST_POINT added idx=%d ts=%d lat=%.6f lon=%.6f", + idx, + ts, + cur.latitude, + cur.longitude + )); + } /** - * Update the UI with sensor data and pass map updates to TrajectoryMapFragment. + * Refreshes UI and updates: + * - blue raw-PDR reference path + * - red PF fused trajectory only + * - WiFi/GNSS overlays */ private void updateUIandPosition() { + if (!initialMapLocationSeeded) { + seedInitialMapLocation(); + } + float[] pdrValues = sensorFusion.getSensorValueMap().get(SensorTypes.PDR); - if (pdrValues == null) return; + if (pdrValues == null || trajectoryMapFragment == null) { + return; + } + + maybeStepParticleFilterForLiveUi(); - // Distance - distance += Math.sqrt(Math.pow(pdrValues[0] - previousPosX, 2) - + Math.pow(pdrValues[1] - previousPosY, 2)); - distanceTravelled.setText(getString(R.string.meter, String.format("%.2f", distance))); +// boolean shouldAdvanceLiveTrajectory = shouldUpdateLiveTrajectory(pdrValues); - // Elevation + float prevX = previousPosX; + float prevY = previousPosY; + + // Distance uses raw PDR increments only. + distance += Math.sqrt( + Math.pow(pdrValues[0] - prevX, 2) + + Math.pow(pdrValues[1] - prevY, 2) + ); + distanceTravelled.setText( + getString(R.string.meter, String.format(Locale.UK, "%.2f", distance)) + ); + + // Blue raw-PDR path + if (autonomousInitialLocation != null) { + LatLng rawPdrLocation = UtilFunctions.calculateNewPos(autonomousInitialLocation, pdrValues); + trajectoryMapFragment.updateRawPdrObservation(rawPdrLocation); + } + + // Elevation display float elevationVal = sensorFusion.getElevation(); - elevation.setText(getString(R.string.elevation, String.format("%.1f", elevationVal))); - - // Current location - // Convert PDR coordinates to actual LatLng if you have a known starting lat/lon - // Or simply pass relative data for the TrajectoryMapFragment to handle - // For example: - float[] latLngArray = sensorFusion.getGNSSLatitude(true); - if (latLngArray != null) { - LatLng oldLocation = trajectoryMapFragment.getCurrentLocation(); // or store locally - LatLng newLocation = UtilFunctions.calculateNewPos( - oldLocation == null ? new LatLng(latLngArray[0], latLngArray[1]) : oldLocation, - new float[]{ pdrValues[0] - previousPosX, pdrValues[1] - previousPosY } - ); - - // Pass the location + orientation to the map - if (trajectoryMapFragment != null) { - trajectoryMapFragment.updateUserLocation(newLocation, - (float) Math.toDegrees(sensorFusion.passOrientation())); - } + elevation.setText( + getString(R.string.elevation, String.format(Locale.UK, "%.1f", elevationVal)) + ); + + //Let PF evaluate lift/floor transitions even if user is not moving + maybeEvaluateNoStepFloorChange(); + + // Red main trajectory = PF fused only + trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF fused"); + updateLiveMapWithParticleFilterOnly(); + + // WiFi overlay + LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning(); + if (wifiLatLng != null && trajectoryMapFragment.isWifiEnabled()) { + trajectoryMapFragment.updateWifi(wifiLatLng); + } else { + trajectoryMapFragment.clearWifi(); } - // GNSS logic if you want to show GNSS error, etc. + // GNSS overlay + error against current displayed red trajectory float[] gnss = sensorFusion.getSensorValueMap().get(SensorTypes.GNSSLATLONG); - if (gnss != null && trajectoryMapFragment != null) { - // If user toggles showing GNSS in the map, call e.g. - if (trajectoryMapFragment.isGnssEnabled()) { - LatLng gnssLocation = new LatLng(gnss[0], gnss[1]); - LatLng currentLoc = trajectoryMapFragment.getCurrentLocation(); - if (currentLoc != null) { - double errorDist = UtilFunctions.distanceBetweenPoints(currentLoc, gnssLocation); - gnssError.setVisibility(View.VISIBLE); - gnssError.setText(String.format(getString(R.string.gnss_error) + "%.2fm", errorDist)); - } - trajectoryMapFragment.updateGNSS(gnssLocation); + if (gnss != null && trajectoryMapFragment.isGnssEnabled()) { + LatLng gnssLocation = new LatLng(gnss[0], gnss[1]); + LatLng currentLoc = trajectoryMapFragment.getCurrentLocation(); + + if (currentLoc != null) { + double errorDist = UtilFunctions.distanceBetweenPoints(currentLoc, gnssLocation); + gnssError.setVisibility(View.VISIBLE); + gnssError.setText(String.format( + Locale.UK, + getString(R.string.gnss_error) + "%.2fm", + errorDist + )); } else { gnssError.setVisibility(View.GONE); - trajectoryMapFragment.clearGNSS(); } + + trajectoryMapFragment.updateGNSS(gnssLocation); + } else { + gnssError.setVisibility(View.GONE); + trajectoryMapFragment.clearGNSS(); } - // Update previous + trajectoryMapFragment.refreshLiveDebugBox(); + previousPosX = pdrValues[0]; previousPosY = pdrValues[1]; } + private void maybeEvaluateNoStepFloorChange() { + long now = SystemClock.elapsedRealtime(); + if (now - lastNoStepFloorEvalElapsedMs < NO_STEP_FLOOR_EVAL_INTERVAL_MS) { + return; + } + + lastNoStepFloorEvalElapsedMs = now; + sensorFusion.evaluateParticleFilterFloorChangeWithoutStep(); + } + + private void maybeStepParticleFilterForLiveUi() { + if (sensorFusion == null || !sensorFusion.isParticleFilterTrajectoryMode()) { + return; + } + + long now = SystemClock.elapsedRealtime(); + if (now - lastPfUiStepElapsedMs < PF_UI_STEP_INTERVAL_MS) { + return; + } + + float[] pdr = sensorFusion.getLatestPdrMovement(); + if (pdr == null || pdr.length < 2) { + return; + } + + double headingRad = sensorFusion.getSelectedHeadingRad(); + + if (!pfUiStepInitialised) { + pfUiStepInitialised = true; + lastPfUiStepElapsedMs = now; + lastPfUiStepPdrX = pdr[0]; + lastPfUiStepPdrY = pdr[1]; + lastPfUiStepHeadingRad = headingRad; + return; + } + + float dx = pdr[0] - lastPfUiStepPdrX; + float dy = pdr[1] - lastPfUiStepPdrY; + double deltaPdrMeters = Math.hypot(dx, dy); + double deltaHeadingRad = Math.abs(wrapAngle(headingRad - lastPfUiStepHeadingRad)); + + if (deltaPdrMeters < PF_UI_MIN_PDR_DELTA_METERS + && deltaHeadingRad < PF_UI_MIN_HEADING_DELTA_RAD) { + return; + } + + lastPfUiStepElapsedMs = now; + lastPfUiStepPdrX = pdr[0]; + lastPfUiStepPdrY = pdr[1]; + lastPfUiStepHeadingRad = headingRad; + +// sensorFusion.stepParticleFilter(); + } + + private double wrapAngle(double angle) { + while (angle > Math.PI) angle -= 2.0 * Math.PI; + while (angle < -Math.PI) angle += 2.0 * Math.PI; + return angle; + } + + /** + * Updates the map using PF fused pose only. + * + * Important: + * - no fallback to standard PDR + * - always publishes the latest fused pose to the map fragment + * - duplicate fused points are naturally suppressed by the renderer + * - this allows floor changes / wall recovery / stationary corrections + * to still appear in live UI when needed + */ + private void updateLiveMapWithParticleFilterOnly() { + if (trajectoryMapFragment == null) { + return; + } + + FusedPose fusedPose = sensorFusion.getLatestFusedPose(); + + if (fusedPose == null || fusedPose.getLatLng() == null) { + trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF waiting"); + Log.d(TAG, "PF fused pose not ready yet; skip red trajectory update until PF is ready."); + return; + } + + if (!sensorFusion.shouldDrawLatestParticleFilterPose()) { + trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF waiting"); + Log.d(TAG, "PF draw skipped: no meaningful PF pose available"); + return; + } + + trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF fused"); + + Log.d(TAG, + "PF branch using fused pose: " + fusedPose.getLatLng() + + ", floor=" + fusedPose.getFloor() + + ", confidence=" + fusedPose.getConfidence()); + + trajectoryMapFragment.updateUserLocation( + fusedPose.getLatLng(), + (float) Math.toDegrees(fusedPose.getHeadingRad()) + ); + + trajectoryMapFragment.updateDebugInfo((float) fusedPose.getHeadingRad()); + } + /** * Start the blinking effect for the recording icon. */ @@ -319,6 +568,245 @@ private void blinkingRecordingIcon() { recIcon.startAnimation(blinking); } + /** + * Starts TCP streaming of live JSON packets to the desktop GUI. + */ + private void startTcpStreaming() { + if (tcpStreamingEnabled) { + return; + } + + String serverIp = "172.20.10.3"; + int serverPort = 6000; + + tcpClient = new TcpClient(serverIp, serverPort); + tcpPacketSender = new TcpPacketSender(sensorFusion, tcpClient); + tcpStreamingEnabled = true; + + tcpHandler.postDelayed(tcpStreamRunnable, 1000); + } + + /** + * Stops TCP streaming and closes the client socket. + */ + private void stopTcpStreaming() { + tcpStreamingEnabled = false; + tcpHandler.removeCallbacks(tcpStreamRunnable); + + if (tcpClient != null) { + tcpClient.stopClient(); + tcpClient = null; + } + + tcpPacketSender = null; + } + + /** + * Seeds the raw-PDR anchor for live display. + * + * Priority: + * 1. user-confirmed manual start anchor + * 2. stored session start anchor + * 3. WiFi + * 4. GNSS + * + * Important: + * this anchor is for the blue raw-PDR reference path only. + * The red fused trajectory is still owned by the PF pipeline. + */ + private void seedInitialMapLocation() { + if (trajectoryMapFragment == null || initialMapLocationSeeded) { + return; + } + + LatLng initialFix = sensorFusion.resolvePreferredStartAnchor(); + + if (initialFix == null) { + Log.d(TAG, "Waiting for initial preferred start anchor before seeding raw PDR path."); + return; + } + + autonomousInitialLocation = initialFix; + initialMapLocationSeeded = true; + + sensorFusion.setStartGNSSLatitude(new float[]{ + (float) initialFix.latitude, + (float) initialFix.longitude + }); + + sensorFusion.writeInitialMetadata(); + + trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF waiting"); + tryShowInitialFusedPose(); + + Log.d(TAG, + "Live raw-PDR anchor seeded at " + + initialFix.latitude + ", " + initialFix.longitude); + } + + /** + * Tries to show the initial PF fused pose immediately, before the user starts moving. + * + * This does not change your live update flow. + * It only forces one PF initialisation attempt after the start anchor is known. + */ + private void tryShowInitialFusedPose() { + if (trajectoryMapFragment == null) { + return; + } + + sensorFusion.initialiseParticleFilterIfNeeded(); + + FusedPose fusedPose = sensorFusion.getLatestFusedPose(); + if (fusedPose == null || fusedPose.getLatLng() == null) { + return; + } + + trajectoryMapFragment.setCurrentTrajectoryPlotSource("PF fused"); + + trajectoryMapFragment.updateUserLocation( + fusedPose.getLatLng(), + (float) Math.toDegrees(fusedPose.getHeadingRad()) + ); + + trajectoryMapFragment.updateDebugInfo((float) fusedPose.getHeadingRad()); + trajectoryMapFragment.refreshLiveDebugBox(); + + Log.d(TAG, + "Initial PF fused pose shown before movement: " + + fusedPose.getLatLng() + + ", floor=" + fusedPose.getFloor()); + } + + /** + * Resolves a stable autonomous absolute position. + * + * Policy: + * 1. Prefer GNSS first for the initial anchor. + * 2. Use WiFi only as fallback. + * 3. Require the candidate to remain stable briefly before locking. + */ + @Nullable + private LatLng resolveAutonomousInitialLocation() { + float[] gnssLatLng = sensorFusion.getGNSSLatitude(false); + + LatLng candidateLatLng = null; + InitialAnchorSource candidateSource = null; + + if (gnssLatLng != null + && gnssLatLng.length >= 2 + && !(Math.abs(gnssLatLng[0]) < 1e-6 && Math.abs(gnssLatLng[1]) < 1e-6)) { + candidateLatLng = new LatLng(gnssLatLng[0], gnssLatLng[1]); + candidateSource = InitialAnchorSource.GNSS; + } else { + LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning(); + if (isValidLatLng(wifiLatLng)) { + candidateLatLng = wifiLatLng; + candidateSource = InitialAnchorSource.WIFI; + } + } + + if (candidateLatLng == null || candidateSource == null) { + resetPendingInitialAnchor("no usable GNSS/WiFi fix yet"); + return null; + } + + long now = System.currentTimeMillis(); + boolean sourceChanged = pendingInitialAnchorSource != candidateSource; + boolean jumpTooLarge = pendingInitialAnchorCandidate != null + && UtilFunctions.distanceBetweenPoints(pendingInitialAnchorCandidate, candidateLatLng) + > INITIAL_ANCHOR_MAX_JUMP_METRES; + + if (pendingInitialAnchorCandidate == null || sourceChanged || jumpTooLarge) { + pendingInitialAnchorCandidate = candidateLatLng; + pendingInitialAnchorSource = candidateSource; + pendingInitialAnchorSinceMs = now; + pendingInitialAnchorSamples = 1; + + Log.d(TAG, String.format( + Locale.UK, + "STEP3_ANCHOR pending source=%s lat=%.6f lon=%.6f", + candidateSource, + candidateLatLng.latitude, + candidateLatLng.longitude + )); + return null; + } + + pendingInitialAnchorSamples++; + long stableDurationMs = now - pendingInitialAnchorSinceMs; + if (pendingInitialAnchorSamples >= INITIAL_ANCHOR_REQUIRED_SAMPLES + || stableDurationMs >= INITIAL_ANCHOR_STABLE_DURATION_MS) { + Log.d(TAG, String.format( + Locale.UK, + "STEP3_ANCHOR accepted stable source=%s samples=%d stableMs=%d lat=%.6f lon=%.6f", + candidateSource, + pendingInitialAnchorSamples, + stableDurationMs, + candidateLatLng.latitude, + candidateLatLng.longitude + )); + return candidateLatLng; + } + + return null; + } + + private void resetPendingInitialAnchor(@NonNull String reason) { + if (pendingInitialAnchorCandidate != null || pendingInitialAnchorSource != null) { + Log.d(TAG, "STEP3_ANCHOR reset pending candidate: " + reason); + } + pendingInitialAnchorCandidate = null; + pendingInitialAnchorSource = null; + pendingInitialAnchorSinceMs = 0L; + pendingInitialAnchorSamples = 0; + } + + private boolean isValidLatLng(@Nullable LatLng latLng) { + if (latLng == null) { + return false; + } + return !(Math.abs(latLng.latitude) < 1e-6 && Math.abs(latLng.longitude) < 1e-6); + } + + private boolean hasMeaningfulRawPdrMovement(float[] pdrValues) { + if (pdrValues == null || pdrValues.length < 2) { + return false; + } + + float dx = pdrValues[0] - previousPosX; + float dy = pdrValues[1] - previousPosY; + float delta = (float) Math.hypot(dx, dy); + + return delta >= LIVE_DRAW_MIN_PDR_DELTA_METERS; + } + + private boolean shouldUpdateLiveTrajectory(float[] pdrValues) { + long now = SystemClock.uptimeMillis(); + + if (hasMeaningfulRawPdrMovement(pdrValues)) { + lastLiveMovementUptimeMs = now; + return true; + } + + return (now - lastLiveMovementUptimeMs) <= LIVE_DRAW_STATIONARY_HOLD_MS; + } + + /** + * Periodically sends the latest sensor packet to the desktop TCP server. + */ + private final Runnable tcpStreamRunnable = new Runnable() { + @Override + public void run() { + if (!tcpStreamingEnabled || tcpPacketSender == null) { + return; + } + + tcpPacketSender.sendLatestPacket(); + tcpHandler.postDelayed(this, 200); + } + }; + @Override public void onPause() { super.onPause(); @@ -328,13 +816,23 @@ public void onPause() { @Override public void onResume() { super.onResume(); - if(!this.settings.getBoolean("split_trajectory", false)) { + if (!settings.getBoolean("split_trajectory", false)) { refreshDataHandler.postDelayed(refreshDataTask, 500); } } - private int testPointIndex = 0; + @Override + public void onDestroyView() { + super.onDestroyView(); + stopTcpStreaming(); + refreshDataHandler.removeCallbacks(refreshDataTask); + pfUiStepInitialised = false; + lastPfUiStepElapsedMs = 0L; + } + /** + * Simple in-session test point record. + */ private static class TestPoint { final int index; final long timestampMs; @@ -348,8 +846,4 @@ private static class TestPoint { this.lng = lng; } } - - private final List testPoints = new ArrayList<>(); - - -} +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java index d15a4a83..4392db98 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java @@ -65,6 +65,15 @@ public class ReplayFragment extends Fragment { private int currentIndex = 0; private boolean isPlaying = false; + // Option B: allow the user to manually specify the absolute start floor when Replay starts. + // This avoids defaulting to floor G when the original JSON does not contain initialFloor. + @Nullable + private Integer manualInitialFloorOverride = null; + private boolean hasPromptedReplayStartFloor = false; + + private static final String[] REPLAY_START_FLOOR_LABELS = new String[]{"LG (-1)", "G (0)", "1", "2", "3", "4", "5"}; + private static final int[] REPLAY_START_FLOOR_VALUES = new int[]{-1, 0, 1, 2, 3, 4, 5}; + @Override public void onCreate(@Nullable Bundle savedInstanceState) { super.onCreate(savedInstanceState); @@ -130,14 +139,17 @@ public void onViewCreated(@NonNull View view, .replace(R.id.replayMapFragmentContainer, trajectoryMapFragment) .commit(); } - - + trajectoryMapFragment.setReplayModeEnabled(true); // 1) Check if the file contains any GNSS data boolean gnssExists = hasAnyGnssData(replayData); if (gnssExists) { - showGnssChoiceDialog(); + showGnssChoiceDialog(() -> { + if (!replayData.isEmpty()) { + promptReplayStartFloorSelection(() -> updateMapForIndex(0)); + } + }); } else { // No GNSS data -> automatically use param lat/lon if (initialLat != 0f || initialLon != 0f) { @@ -224,8 +236,8 @@ public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) { @Override public void onStopTrackingTouch(SeekBar seekBar) {} }); - if (!replayData.isEmpty()) { - updateMapForIndex(0); + if (!gnssExists && !replayData.isEmpty()) { + promptReplayStartFloorSelection(() -> updateMapForIndex(0)); } } @@ -249,7 +261,7 @@ private boolean hasAnyGnssData(List data) { * 1) GNSS from file * 2) Lat/Lon from ReplayActivity arguments */ - private void showGnssChoiceDialog() { + private void showGnssChoiceDialog(@Nullable Runnable onChoiceComplete) { new AlertDialog.Builder(requireContext()) .setTitle("Choose Starting Location") .setMessage("GNSS data is found in the file. Would you like to use the file's GNSS as the start, or the one you manually picked?") @@ -261,10 +273,16 @@ private void showGnssChoiceDialog() { // Fallback if no valid GNSS found setupInitialMapPosition(initialLat, initialLon); } + if (onChoiceComplete != null) { + onChoiceComplete.run(); + } dialog.dismiss(); }) .setNegativeButton("Use Manual Set", (dialog, which) -> { setupInitialMapPosition(initialLat, initialLon); + if (onChoiceComplete != null) { + onChoiceComplete.run(); + } dialog.dismiss(); }) .setCancelable(false) @@ -272,7 +290,7 @@ private void showGnssChoiceDialog() { } private void setupInitialMapPosition(float latitude, float longitude) { - LatLng startPoint = new LatLng(initialLat, initialLon); + LatLng startPoint = new LatLng(latitude, longitude); Log.i(TAG, "Setting initial map position: " + startPoint.toString()); trajectoryMapFragment.setInitialCameraPosition(startPoint); } @@ -283,13 +301,83 @@ private void setupInitialMapPosition(float latitude, float longitude) { private LatLng getFirstGnssLocation(List data) { for (TrajParser.ReplayPoint point : data) { if (point.gnssLocation != null) { - return new LatLng(replayData.get(0).gnssLocation.latitude, replayData.get(0).gnssLocation.longitude); + return new LatLng(point.gnssLocation.latitude, point.gnssLocation.longitude); } } return null; // None found } + private void promptReplayStartFloorSelection(@Nullable Runnable onSelected) { + if (replayData.isEmpty()) { + if (onSelected != null) { + onSelected.run(); + } + return; + } + + if (hasPromptedReplayStartFloor) { + if (onSelected != null) { + onSelected.run(); + } + return; + } + + hasPromptedReplayStartFloor = true; + int checkedItem = getDefaultReplayStartFloorChoiceIndex(); + + new AlertDialog.Builder(requireContext()) + .setTitle("Choose Replay Start Floor") + .setSingleChoiceItems(REPLAY_START_FLOOR_LABELS, checkedItem, (dialog, which) -> { + manualInitialFloorOverride = REPLAY_START_FLOOR_VALUES[which]; + }) + .setPositiveButton("Use Selected Floor", (dialog, which) -> { + if (manualInitialFloorOverride == null) { + manualInitialFloorOverride = REPLAY_START_FLOOR_VALUES[checkedItem]; + } + Log.i(TAG, "Replay start floor override = " + manualInitialFloorOverride); + if (onSelected != null) { + onSelected.run(); + } + dialog.dismiss(); + }) + .setNegativeButton("Use File Default", (dialog, which) -> { + manualInitialFloorOverride = null; + if (onSelected != null) { + onSelected.run(); + } + dialog.dismiss(); + }) + .setCancelable(false) + .show(); + } + + private int getDefaultReplayStartFloorChoiceIndex() { + Integer preferredFloor = manualInitialFloorOverride; + if (preferredFloor == null && !replayData.isEmpty()) { + preferredFloor = replayData.get(0).initialFloor; + } + if (preferredFloor == null) { + preferredFloor = 2; + } + + for (int i = 0; i < REPLAY_START_FLOOR_VALUES.length; i++) { + if (REPLAY_START_FLOOR_VALUES[i] == preferredFloor) { + manualInitialFloorOverride = preferredFloor; + return i; + } + } + + manualInitialFloorOverride = 2; + return 3; + } + + @Nullable + private Integer resolveReplayInitialFloor(@NonNull TrajParser.ReplayPoint point) { + return manualInitialFloorOverride != null ? manualInitialFloorOverride : point.initialFloor; + } + + /** * Runnable for playback of trajectory data. * This runnable is called repeatedly to update the map with the next point in the replayData list. @@ -316,34 +404,60 @@ public void run() { /** - * Update the map with the user location and GNSS location (if available) for the given index. - * Clears the map and redraws up to the given index. + * Updates replay map state for the requested frame index. * - * @param newIndex + * Replay policy: + * - replay frame context is always pushed first + * - replay location is then updated second + * - on jumps/scrubs, only replay trajectory state is cleared + * (do not wipe selected building / indoor overlay / replay mode) */ private void updateMapForIndex(int newIndex) { - if (newIndex < 0 || newIndex >= replayData.size()) return; + if (newIndex < 0 || newIndex >= replayData.size() || trajectoryMapFragment == null) { + return; + } - // Detect if user is playing sequentially (lastIndex + 1) - // or is skipping around (backwards, or jump forward) boolean isSequentialForward = (newIndex == lastIndex + 1); if (!isSequentialForward) { - // Clear everything and redraw up to newIndex - trajectoryMapFragment.clearMapAndReset(); + trajectoryMapFragment.clearReplayTrajectoryOnly(); + for (int i = 0; i <= newIndex; i++) { TrajParser.ReplayPoint p = replayData.get(i); + + trajectoryMapFragment.setReplayFrameContext( + p.syntheticFloor, + p.currentElevation, + p.deltaHeight, + p.heightChanged, + resolveReplayInitialFloor(p) + ); + trajectoryMapFragment.updateUserLocation(p.pdrLocation, p.orientation); + if (p.gnssLocation != null) { trajectoryMapFragment.updateGNSS(p.gnssLocation); + } else { + trajectoryMapFragment.clearGNSS(); } } } else { - // Normal sequential forward step: add just the new point TrajParser.ReplayPoint p = replayData.get(newIndex); + + trajectoryMapFragment.setReplayFrameContext( + p.syntheticFloor, + p.currentElevation, + p.deltaHeight, + p.heightChanged, + resolveReplayInitialFloor(p) + ); + trajectoryMapFragment.updateUserLocation(p.pdrLocation, p.orientation); + if (p.gnssLocation != null) { trajectoryMapFragment.updateGNSS(p.gnssLocation); + } else { + trajectoryMapFragment.clearGNSS(); } } diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/SettingsFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/SettingsFragment.java index c1f6501c..bd54b572 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/SettingsFragment.java +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/SettingsFragment.java @@ -26,6 +26,18 @@ public class SettingsFragment extends PreferenceFragmentCompat { private EditTextPreference accelFilter; private EditTextPreference wifiInterval; + //Parameters for particle filter tuning + private EditTextPreference pfParticleCount; + private EditTextPreference pfSigmaStep; + private EditTextPreference pfSigmaThetaDeg; + private EditTextPreference pfSigmaWifi; + private EditTextPreference pfSigmaGnss; + private EditTextPreference pfInitPosStd; + private EditTextPreference pfInitHeadingDeg; + private EditTextPreference pfResampleRatio; + private EditTextPreference pfSigmaRegPos; + private EditTextPreference pfSigmaRegThetaDeg; + /** * {@inheritDoc} * Sets the relevant numeric type for the preferences that should not take string values. @@ -53,5 +65,46 @@ public void onCreatePreferences(Bundle savedInstanceState, String rootKey) { wifiInterval.setOnBindEditTextListener(editText -> editText.setInputType( InputType.TYPE_CLASS_NUMBER)); + //Added sections for particle filter fine tuning + pfParticleCount = findPreference("pf_particle_count"); + pfParticleCount.setOnBindEditTextListener(editText -> + editText.setInputType(InputType.TYPE_CLASS_NUMBER)); + + pfSigmaStep = findPreference("pf_sigma_step"); + pfSigmaStep.setOnBindEditTextListener(editText -> + editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL)); + + pfSigmaThetaDeg = findPreference("pf_sigma_theta_deg"); + pfSigmaThetaDeg.setOnBindEditTextListener(editText -> + editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL)); + + pfSigmaWifi = findPreference("pf_sigma_wifi"); + pfSigmaWifi.setOnBindEditTextListener(editText -> + editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL)); + + pfSigmaGnss = findPreference("pf_sigma_gnss"); + pfSigmaGnss.setOnBindEditTextListener(editText -> + editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL)); + + pfInitPosStd = findPreference("pf_init_pos_std"); + pfInitPosStd.setOnBindEditTextListener(editText -> + editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL)); + + pfInitHeadingDeg = findPreference("pf_init_heading_deg"); + pfInitHeadingDeg.setOnBindEditTextListener(editText -> + editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL)); + + pfResampleRatio = findPreference("pf_resample_ratio"); + pfResampleRatio.setOnBindEditTextListener(editText -> + editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL)); + + pfSigmaRegPos = findPreference("pf_sigma_reg_pos"); + pfSigmaRegPos.setOnBindEditTextListener(editText -> + editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL)); + + pfSigmaRegThetaDeg = findPreference("pf_sigma_reg_theta_deg"); + pfSigmaRegThetaDeg.setOnBindEditTextListener(editText -> + editText.setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_DECIMAL)); + } } \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java index 0951e85a..ee2de50d 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java @@ -1,13 +1,17 @@ package com.openpositioning.PositionMe.presentation.fragment; +import android.graphics.BitmapFactory; import android.graphics.Color; import android.os.Bundle; +import android.os.Handler; +import android.os.Looper; import android.util.Log; import android.view.LayoutInflater; import android.view.View; import android.view.ViewGroup; import android.widget.Button; import android.widget.TextView; +import android.widget.Toast; import androidx.annotation.NonNull; import androidx.annotation.Nullable; @@ -16,8 +20,10 @@ import com.google.android.gms.maps.CameraUpdateFactory; import com.google.android.gms.maps.GoogleMap; -import com.google.android.gms.maps.OnMapReadyCallback; import com.google.android.gms.maps.SupportMapFragment; +import com.google.android.gms.maps.model.BitmapDescriptorFactory; +import com.google.android.gms.maps.model.GroundOverlay; +import com.google.android.gms.maps.model.GroundOverlayOptions; import com.google.android.gms.maps.model.LatLng; import com.google.android.gms.maps.model.LatLngBounds; import com.google.android.gms.maps.model.Marker; @@ -26,117 +32,348 @@ import com.google.android.gms.maps.model.PolygonOptions; import com.google.android.gms.maps.model.Polyline; import com.google.android.gms.maps.model.PolylineOptions; +import com.google.android.material.floatingactionbutton.FloatingActionButton; import com.openpositioning.PositionMe.R; import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; import com.openpositioning.PositionMe.presentation.activity.RecordingActivity; import com.openpositioning.PositionMe.presentation.activity.ReplayActivity; import com.openpositioning.PositionMe.sensors.SensorFusion; +import com.openpositioning.PositionMe.utils.BuildingPolygon; import java.util.ArrayList; import java.util.HashMap; import java.util.List; +import java.util.Locale; import java.util.Map; /** - * Fragment for selecting the start location before recording begins. - * Displays a Google Map with building outlines fetched from the floorplan API. - * Users can tap a building outline to select it, which shows the indoor floor plan - * and places a draggable marker at the building center. The selected building ID - * is saved for use during trajectory upload. + * Start-location fragment. * - * @see RecordingFragment the next fragment in the recording flow - * @see SensorFusion the class containing sensors and recording - * @see FloorplanApiClient the API client for fetching building data + * Design intent: + * - use automatic GNSS / Wi-Fi start detection by default + * - allow manual correction only as a fallback when the detected start is clearly wrong + * - let the user inspect/select the building and start floor when needed + * + * Keeps: + * - nearby building outline request + * - building tap selection + * - indoor vector preview / actual map overlay + * - floor switching + * + * Supports: + * - automatically tracked start marker before confirmation + * - optional manual correction of the start anchor + * - reset back to automatic detection */ + public class StartLocationFragment extends Fragment { private static final String TAG = "StartLocationFragment"; - // UI elements - private Button button; + private static final int FILL_COLOR_DEFAULT = Color.argb(60, 33, 150, 243); + private static final int STROKE_COLOR_DEFAULT = Color.argb(200, 33, 150, 243); + private static final int FILL_COLOR_SELECTED = Color.argb(100, 33, 150, 243); + private static final int STROKE_COLOR_SELECTED = Color.argb(255, 25, 118, 210); + + private static final int MAX_REQUEST_RETRIES = 10; + private static final long RETRY_DELAY_MS = 2000L; + + private enum HorizontalAnchor { + LEFT, + RIGHT, + CENTER + } + + private static final class ActualMapAlignmentConfig { + final HorizontalAnchor horizontalAnchor; + final double northInsetRatio; + final double southInsetRatio; + final double horizontalInsetRatio; + final double widthScale; + final double topVisibleInsetRatio; + final double bottomVisibleInsetRatio; + final double rightVisibleInsetRatio; + final double leftVisibleInsetRatio; + + ActualMapAlignmentConfig(HorizontalAnchor horizontalAnchor, + double northInsetRatio, + double southInsetRatio, + double horizontalInsetRatio, + double widthScale, + double topVisibleInsetRatio, + double bottomVisibleInsetRatio, + double rightVisibleInsetRatio, + double leftVisibleInsetRatio) { + this.horizontalAnchor = horizontalAnchor; + this.northInsetRatio = northInsetRatio; + this.southInsetRatio = southInsetRatio; + this.horizontalInsetRatio = horizontalInsetRatio; + this.widthScale = widthScale; + this.topVisibleInsetRatio = topVisibleInsetRatio; + this.bottomVisibleInsetRatio = bottomVisibleInsetRatio; + this.rightVisibleInsetRatio = rightVisibleInsetRatio; + this.leftVisibleInsetRatio = leftVisibleInsetRatio; + } + } + + private static final class DrawableContentInsets { + final double leftFraction; + final double topFraction; + final double rightFraction; + final double bottomFraction; + + DrawableContentInsets(double leftFraction, + double topFraction, + double rightFraction, + double bottomFraction) { + this.leftFraction = clamp01(leftFraction); + this.topFraction = clamp01(topFraction); + this.rightFraction = clamp01(rightFraction); + this.bottomFraction = clamp01(bottomFraction); + } + + double contentWidthFraction() { + return Math.max(0.01d, 1d - leftFraction - rightFraction); + } + + double contentHeightFraction() { + return Math.max(0.01d, 1d - topFraction - bottomFraction); + } + } + + private static final class OverlayCalibration { + final float shiftLatRatio; + final float shiftLngRatio; + final float widthScale; + final float heightScale; + + OverlayCalibration(float shiftLatRatio, float shiftLngRatio, float widthScale, float heightScale) { + this.shiftLatRatio = shiftLatRatio; + this.shiftLngRatio = shiftLngRatio; + this.widthScale = widthScale; + this.heightScale = heightScale; + } + + static OverlayCalibration identity() { + return new OverlayCalibration(0f, 0f, 1f, 1f); + } + } + + // UI + private Button doneButton; + private Button btnResetStartAnchor; + private Button btnFindIndoorMap; + private Button btnFindActualMap; private TextView instructionText; - private View buildingInfoCard; - private TextView buildingNameText; + private TextView startAnchorStatusText; + private FloatingActionButton floorUpButton; + private FloatingActionButton floorDownButton; + private TextView floorLabel; - // Singleton SensorFusion class which stores data from all sensors - private SensorFusion sensorFusion = SensorFusion.getInstance(); + // Core services + private final SensorFusion sensorFusion = SensorFusion.getInstance(); + private final Handler retryHandler = new Handler(Looper.getMainLooper()); + private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient(); - // Map and position state + // Map state + @Nullable private GoogleMap mMap; - private LatLng position; - private float[] startPosition = new float[2]; - private float zoom = 19f; + @Nullable private Marker startMarker; + @Nullable + private Marker currentLocationMarker; + + private final float[] startPosition = new float[]{0f, 0f}; + private float zoom = 19f; // Building selection state + @Nullable private String selectedBuildingId; + private int currentFloorIndex = 0; + private boolean showActualMapOverlays = true; + private boolean hasInitialCameraPositioned = false; + + /** + * When true, live GNSS keeps moving the start marker. + * Once the user taps / drags, this becomes false. + */ + private boolean followCurrentLocationWithStartMarker = true; + + /** + * True after the user manually edits the start marker in this screen. + */ + private boolean hasUserAdjustedMarker = false; + + // Building / overlay containers private final List buildingPolygons = new ArrayList<>(); private final Map floorplanBuildingMap = new HashMap<>(); - private Polygon selectedPolygon; - - // Vector shapes drawn as floor plan preview (cleared when switching buildings) + private final List realMapOverlays = new ArrayList<>(); private final List previewPolygons = new ArrayList<>(); private final List previewPolylines = new ArrayList<>(); - // Building outline colours (ARGB) - private static final int FILL_COLOR_DEFAULT = Color.argb(60, 33, 150, 243); - private static final int STROKE_COLOR_DEFAULT = Color.argb(200, 33, 150, 243); - private static final int FILL_COLOR_SELECTED = Color.argb(100, 33, 150, 243); - private static final int STROKE_COLOR_SELECTED = Color.argb(255, 25, 118, 210); + @Nullable + private Polygon whiteMaskPolygon; + @Nullable + private Polygon selectedPolygon; + @Nullable + private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding; + + private int requestRetryCount = 0; + + // Live GNSS update loop + private final Handler liveLocationHandler = new Handler(Looper.getMainLooper()); + private final Runnable liveLocationRunnable = new Runnable() { + @Override + public void run() { + updateLiveLocation(false); + liveLocationHandler.postDelayed(this, 1000L); + } + }; - /** - * Public Constructor for the class. - * Left empty as not required - */ public StartLocationFragment() { - // Required empty public constructor } - /** - * {@inheritDoc} - * Inflates the layout, initialises the map, and requests building data from the API. - */ + private boolean isRecordingMode() { + return requireActivity() instanceof RecordingActivity; + } + + private boolean isReplayMode() { + return requireActivity() instanceof ReplayActivity; + } + + private void updateInstructionTextForMode() { + if (instructionText == null) { + return; + } + + if (isRecordingMode()) { + instructionText.setText( + "The app detects your start position from GNSS and Wi-Fi automatically. Only adjust the marker or floor if the detected start point is clearly wrong, since an inaccurate initial anchor can affect the full plotted trajectory." + ); + } else { + instructionText.setText( + "Review the detected start position and building context before continuing. Adjust the marker or floor only if the displayed start point is clearly incorrect." + ); + } + } + + @Nullable @Override - public View onCreateView(LayoutInflater inflater, ViewGroup container, - Bundle savedInstanceState) { + public View onCreateView(@NonNull LayoutInflater inflater, + @Nullable ViewGroup container, + @Nullable Bundle savedInstanceState) { AppCompatActivity activity = (AppCompatActivity) getActivity(); if (activity != null && activity.getSupportActionBar() != null) { activity.getSupportActionBar().hide(); } - View rootView = inflater.inflate(R.layout.fragment_startlocation, container, false); + return inflater.inflate(R.layout.fragment_startlocation, container, false); + } - // Obtain the start position from GPS data - startPosition = sensorFusion.getGNSSLatitude(false); - if (startPosition[0] == 0 && startPosition[1] == 0) { - zoom = 1f; - } else { - zoom = 19f; + @Override + public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) { + super.onViewCreated(view, savedInstanceState); + + doneButton = view.findViewById(R.id.startLocationDone); + btnResetStartAnchor = view.findViewById(R.id.btnResetStartAnchor); + btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap); + btnFindActualMap = view.findViewById(R.id.btnFindActualMap); + instructionText = view.findViewById(R.id.correctionInfoView); + startAnchorStatusText = view.findViewById(R.id.startAnchorStatusText); + floorUpButton = view.findViewById(R.id.floorUpButton); + floorDownButton = view.findViewById(R.id.floorDownButton); + floorLabel = view.findViewById(R.id.floorLabel); + + updateInstructionTextForMode(); + setFloorControlsVisibility(View.GONE); + + if (floorUpButton != null) { + floorUpButton.setOnClickListener(v -> moveFloor(true)); } - // Initialize map fragment - SupportMapFragment supportMapFragment = (SupportMapFragment) - getChildFragmentManager().findFragmentById(R.id.startMap); + if (floorDownButton != null) { + floorDownButton.setOnClickListener(v -> moveFloor(false)); + } - supportMapFragment.getMapAsync(new OnMapReadyCallback() { - /** - * {@inheritDoc} - * Sets up the map, adds the initial marker, and fetches building outlines. - */ - @Override - public void onMapReady(GoogleMap googleMap) { + if (btnFindIndoorMap != null) { + btnFindIndoorMap.setOnClickListener(v -> { + showActualMapOverlays = false; + resetMapOverlays(); + redrawSelectedBuildingOverlay(); + updateStatus("Vector preview mode selected. Tap a blue building if needed."); + }); + } + + if (btnFindActualMap != null) { + btnFindActualMap.setOnClickListener(v -> { + showActualMapOverlays = true; + resetMapOverlays(); + redrawSelectedBuildingOverlay(); + updateStatus("Actual map mode selected. Tap a blue building if needed."); + }); + } + + if (btnResetStartAnchor != null) { + btnResetStartAnchor.setOnClickListener(v -> resetToCurrentLocation()); + } + + if (doneButton != null) { + doneButton.setOnClickListener(v -> confirmSelectionAndContinue()); + } + + SupportMapFragment supportMapFragment = + (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.startMap); + + if (supportMapFragment != null) { + supportMapFragment.getMapAsync(googleMap -> { mMap = googleMap; setupMap(); - requestBuildingData(); - } - }); + installStartMarkerInteraction(); + requestBuildingDataWhenReady(); + }); + } else { + updateStatus("Map fragment not found."); + } + } - return rootView; + @Override + public void onResume() { + super.onResume(); + startLiveLocationUpdates(); + } + + @Override + public void onPause() { + super.onPause(); + stopLiveLocationUpdates(); + } + + @Override + public void onDestroyView() { + super.onDestroyView(); + retryHandler.removeCallbacksAndMessages(null); + stopLiveLocationUpdates(); + mMap = null; + startMarker = null; + currentLocationMarker = null; } /** - * Configures the Google Map with initial settings, draggable marker, and listeners. + * Configures the map and initial markers. + * + * Start-screen policy: + * - use the same preferred-start resolver as the live recording pipeline + * - restore manual-confirmed anchor when available + * - preload previously selected building/floor context if available + * + * Important: + * the marker only stops following live GNSS when there is already a + * confirmed manual start anchor. */ private void setupMap() { + if (mMap == null) { + return; + } + mMap.setMapType(GoogleMap.MAP_TYPE_HYBRID); mMap.getUiSettings().setCompassEnabled(true); mMap.getUiSettings().setTiltGesturesEnabled(true); @@ -144,50 +381,258 @@ private void setupMap() { mMap.getUiSettings().setScrollGesturesEnabled(true); mMap.clear(); - // Add initial marker at GPS position - position = new LatLng(startPosition[0], startPosition[1]); + float[] gnss = sensorFusion.getGNSSLatitude(false); + LatLng manualAnchor = sensorFusion.getManualStartAnchorLatLng(); + LatLng preferredAnchor = sensorFusion.resolvePreferredStartAnchor(); + + LatLng initialPosition; + if (isValidLatLng(preferredAnchor)) { + initialPosition = preferredAnchor; + startPosition[0] = (float) preferredAnchor.latitude; + startPosition[1] = (float) preferredAnchor.longitude; + } else if (isValidLatLon(gnss)) { + initialPosition = new LatLng(gnss[0], gnss[1]); + startPosition[0] = gnss[0]; + startPosition[1] = gnss[1]; + } else { + initialPosition = new LatLng(0, 0); + } + + // Only freeze the marker when there is already a confirmed manual anchor. + if (isValidLatLng(manualAnchor)) { + followCurrentLocationWithStartMarker = false; + hasUserAdjustedMarker = true; + } else if (isValidLatLon(gnss)) { + followCurrentLocationWithStartMarker = true; + hasUserAdjustedMarker = false; + } else { + followCurrentLocationWithStartMarker = false; + hasUserAdjustedMarker = false; + } + + // Preload previously chosen building/floor context for recording mode. + if (isRecordingMode()) { + String preferredBuildingId = sensorFusion.resolvePreferredStartBuildingId(); + if (preferredBuildingId != null && !preferredBuildingId.isEmpty()) { + selectedBuildingId = preferredBuildingId; + } + currentFloorIndex = Math.max(0, sensorFusion.resolvePreferredStartFloorIndex()); + } + + currentLocationMarker = mMap.addMarker(new MarkerOptions() + .position(initialPosition) + .title("Detected Location") + .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE)) + .zIndex(21f)); + startMarker = mMap.addMarker(new MarkerOptions() - .position(position) - .title("Start Position") - .draggable(true)); - mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(position, zoom)); + .position(initialPosition) + .title("Automatic Start Location") + .snippet("Detected automatically from GNSS / Wi-Fi. Adjust only if clearly wrong.") + .draggable(true) + .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_RED)) + .zIndex(22f)); + + if (startMarker != null && isValidLatLng(manualAnchor)) { + styleConfirmedMarker(startMarker); + startMarker.setTitle("Confirmed Start Location"); + startMarker.setSnippet("Previously confirmed start anchor for this session"); + } + + boolean cameraReady = isValidLatLng(initialPosition); + if (cameraReady && !hasInitialCameraPositioned) { + mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(initialPosition, zoom)); + hasInitialCameraPositioned = true; + } + + mMap.setOnPolygonClickListener(polygon -> { + String buildingName = (String) polygon.getTag(); + if (buildingName != null) { + onBuildingSelected(buildingName, polygon); + } + }); + } + + /** + * Manual start correction remains available as a fallback in both recording and replay mode. + */ + private void installStartMarkerInteraction() { + if (mMap == null) { + return; + } - // Marker drag listener to update the start position when dragged mMap.setOnMarkerDragListener(new GoogleMap.OnMarkerDragListener() { @Override - public void onMarkerDragStart(Marker marker) {} + public void onMarkerDragStart(@NonNull Marker marker) { + if (startMarker != null && marker.equals(startMarker)) { + updateStatus("Adjusting start marker..."); + } + } @Override - public void onMarkerDragEnd(Marker marker) { - startPosition[0] = (float) marker.getPosition().latitude; - startPosition[1] = (float) marker.getPosition().longitude; + public void onMarkerDrag(@NonNull Marker marker) { + // no-op } @Override - public void onMarkerDrag(Marker marker) {} + public void onMarkerDragEnd(@NonNull Marker marker) { + if (startMarker != null && marker.equals(startMarker)) { + onStartMarkerManuallyMoved(marker.getPosition(), false); + } + } }); - // Polygon click listener for building selection - mMap.setOnPolygonClickListener(polygon -> { - String buildingName = (String) polygon.getTag(); - if (buildingName != null) { - onBuildingSelected(buildingName, polygon); + mMap.setOnMapClickListener(latLng -> { + if (startMarker != null) { + startMarker.setPosition(latLng); + onStartMarkerManuallyMoved(latLng, false); } }); } + private void onStartMarkerManuallyMoved(@NonNull LatLng newPosition, boolean animateCamera) { + startPosition[0] = (float) newPosition.latitude; + startPosition[1] = (float) newPosition.longitude; + followCurrentLocationWithStartMarker = false; + hasUserAdjustedMarker = true; + + sensorFusion.clearManualStartAnchor(); + + if (startMarker != null) { + styleEditableMarker(startMarker); + startMarker.setTitle("Manual Start Correction"); + startMarker.setSnippet("Use this only when the automatic start estimate is clearly incorrect."); + startMarker.showInfoWindow(); + } + + if (mMap != null && animateCamera) { + mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(newPosition, Math.max(18.5f, mMap.getCameraPosition().zoom))); + } + + updateStatus(formatLatLng("Manual start correction selected", newPosition)); + + // Refresh nearby building outlines around the corrected point. + requestRetryCount = 0; + requestBuildingData(); + } + + /** + * Confirms the chosen start marker and carries the selected building/floor + * into the recording session. + * + * Recording policy: + * - manual start anchor becomes the authoritative session start + * - selected building/floor are stored together with that anchor + * - live auto-floor starts disabled and can later be enabled from the map UI + */ + private void confirmSelectionAndContinue() { + if (startMarker == null) { + Toast.makeText(getContext(), "Start marker is not ready yet.", Toast.LENGTH_SHORT).show(); + return; + } + + LatLng chosenLatLng = startMarker.getPosition(); + if (!isValidLatLng(chosenLatLng)) { + Toast.makeText(getContext(), "Please wait for a valid start location.", Toast.LENGTH_SHORT).show(); + return; + } + + startPosition[0] = (float) chosenLatLng.latitude; + startPosition[1] = (float) chosenLatLng.longitude; + + if (selectedBuildingId != null) { + sensorFusion.setSelectedBuildingId(selectedBuildingId); + } + + if (isRecordingMode()) { + Integer selectedFloorToSave = null; + if (selectedFloorplanBuilding != null) { + selectedFloorToSave = clampFloorIndexForBuilding(selectedFloorplanBuilding, currentFloorIndex); + } + + sensorFusion.setManualStartAnchor( + chosenLatLng, + selectedFloorToSave, + selectedBuildingId + ); + + sensorFusion.setLiveAutoFloorEnabled(false); + + if (startMarker != null) { + styleConfirmedMarker(startMarker); + startMarker.setTitle("Confirmed Start Location"); + startMarker.setSnippet("This start anchor will be used for recording"); + startMarker.showInfoWindow(); + } + + sensorFusion.setRecordingTrajectoryMode(SensorFusion.TRAJECTORY_MODE_PARTICLE_FILTER); + sensorFusion.startRecording(); + ((RecordingActivity) requireActivity()).showRecordingScreen(); + return; + } + + if (isReplayMode()) { + ((ReplayActivity) requireActivity()).onStartLocationChosen( + (float) chosenLatLng.latitude, + (float) chosenLatLng.longitude + ); + } + } + + /** + * If GNSS is not ready yet, retry a few times. + * If the user already adjusted the marker, use that point instead. + */ + private void requestBuildingDataWhenReady() { + boolean currentStartReady = isValidLatLon(startPosition); + + if (!currentStartReady) { + float[] gnss = sensorFusion.getGNSSLatitude(false); + if (isValidLatLon(gnss)) { + startPosition[0] = gnss[0]; + startPosition[1] = gnss[1]; + currentStartReady = true; + } + } + + if (!currentStartReady) { + if (requestRetryCount < MAX_REQUEST_RETRIES) { + requestRetryCount++; + retryHandler.postDelayed(this::requestBuildingDataWhenReady, RETRY_DELAY_MS); + } else { + updateStatus("Waiting for automatic GNSS / Wi-Fi start estimate..."); + } + return; + } + + LatLng current = new LatLng(startPosition[0], startPosition[1]); + + if (currentLocationMarker != null && isValidLatLng(current)) { + currentLocationMarker.setPosition(current); + } + + if (startMarker != null && followCurrentLocationWithStartMarker && !hasUserAdjustedMarker) { + startMarker.setPosition(current); + } + + if (mMap != null && isValidLatLng(current) && !hasInitialCameraPositioned) { + mMap.moveCamera(CameraUpdateFactory.newLatLngZoom(current, zoom)); + hasInitialCameraPositioned = true; + } + + requestBuildingData(); + } + /** - * Requests building data from the floorplan API using the current GPS position. - * On success, draws building outlines on the map. On failure, falls back to - * the standard drag-marker interaction. + * Request nearby building outlines. */ private void requestBuildingData() { - FloorplanApiClient apiClient = new FloorplanApiClient(); + if (!isValidLatLon(startPosition)) { + return; + } - // Collect observed WiFi AP MAC addresses from latest scan List observedMacs = new ArrayList<>(); - List wifiList = - sensorFusion.getWifiList(); + List wifiList = sensorFusion.getWifiList(); if (wifiList != null) { for (com.openpositioning.PositionMe.sensors.Wifi wifi : wifiList) { String mac = wifi.getBssidString(); @@ -197,154 +642,1180 @@ private void requestBuildingData() { } } - apiClient.requestFloorplan(startPosition[0], startPosition[1], observedMacs, + floorplanApiClient.requestFloorplan( + startPosition[0], + startPosition[1], + observedMacs, new FloorplanApiClient.FloorplanCallback() { @Override public void onSuccess(List buildings) { - if (!isAdded() || mMap == null) return; + if (!isAdded() || mMap == null) { + return; + } + requestRetryCount = 0; sensorFusion.setFloorplanBuildings(buildings); floorplanBuildingMap.clear(); - for (FloorplanApiClient.BuildingInfo building : buildings) { - floorplanBuildingMap.put(building.getName(), building); - } - if (buildings.isEmpty()) { - Log.d(TAG, "No buildings returned by API"); - if (instructionText != null) { - instructionText.setText(R.string.noBuildingsFound); + if (buildings != null) { + for (FloorplanApiClient.BuildingInfo building : buildings) { + if (building != null && building.getName() != null) { + floorplanBuildingMap.put(building.getName(), building); + } } - return; } drawBuildingOutlines(buildings); + restorePreferredBuildingAndFloorSelectionIfAvailable(); + + if (buildings == null || buildings.isEmpty()) { + updateStatus("No buildings found nearby. Automatic start detection is still available, and manual correction can be used only if needed."); + } } @Override public void onFailure(String error) { - if (!isAdded()) return; - sensorFusion.setFloorplanBuildings(new ArrayList<>()); - floorplanBuildingMap.clear(); + if (!isAdded()) { + return; + } Log.e(TAG, "Floorplan API failed: " + error); + updateStatus("Floorplan request failed: " + error); } - }); + } + ); } /** - * Draws building outlines on the map as clickable coloured polygons. + * Restores previously chosen building/floor context after nearby-building + * data has been fetched. * - * @param buildings list of building info objects containing outline polygons + * This is important because building polygons are recreated after each floorplan + * request, so the visual selection needs to be rebound to the restored state. + */ + private void restorePreferredBuildingAndFloorSelectionIfAvailable() { + String buildingNameToRestore = selectedBuildingId; + + if ((buildingNameToRestore == null || buildingNameToRestore.isEmpty()) && isRecordingMode()) { + buildingNameToRestore = sensorFusion.resolvePreferredStartBuildingId(); + } + + if (buildingNameToRestore == null || buildingNameToRestore.isEmpty()) { + return; + } + + FloorplanApiClient.BuildingInfo building = floorplanBuildingMap.get(buildingNameToRestore); + if (building == null) { + return; + } + + selectedBuildingId = buildingNameToRestore; + selectedFloorplanBuilding = building; + + int restoredFloorIndex = currentFloorIndex; + if (isRecordingMode()) { + String preferredBuildingId = sensorFusion.resolvePreferredStartBuildingId(); + if (preferredBuildingId != null && preferredBuildingId.equals(buildingNameToRestore)) { + restoredFloorIndex = sensorFusion.resolvePreferredStartFloorIndex(); + } + } + + currentFloorIndex = clampFloorIndexForBuilding(building, restoredFloorIndex); + + Polygon restoredPolygon = findPolygonByBuildingName(buildingNameToRestore); + + if (selectedPolygon != null && selectedPolygon != restoredPolygon) { + selectedPolygon.setFillColor(FILL_COLOR_DEFAULT); + selectedPolygon.setStrokeColor(STROKE_COLOR_DEFAULT); + } + + if (restoredPolygon != null) { + restoredPolygon.setFillColor(FILL_COLOR_SELECTED); + restoredPolygon.setStrokeColor(STROKE_COLOR_SELECTED); + selectedPolygon = restoredPolygon; + } + + redrawSelectedBuildingOverlay(); + } + + /** + * Finds the rendered polygon matching a building name. + */ + @Nullable + private Polygon findPolygonByBuildingName(@NonNull String buildingName) { + for (Polygon polygon : buildingPolygons) { + Object tag = polygon.getTag(); + if (buildingName.equals(tag)) { + return polygon; + } + } + return null; + } + + /** + * Clamps a floor index to the valid range of the selected building. */ - private void drawBuildingOutlines(List buildings) { + private int clampFloorIndexForBuilding(@Nullable FloorplanApiClient.BuildingInfo building, + int requestedFloorIndex) { + if (building == null + || building.getFloorShapesList() == null + || building.getFloorShapesList().isEmpty()) { + return Math.max(0, requestedFloorIndex); + } + + int maxFloor = building.getFloorShapesList().size() - 1; + return Math.max(0, Math.min(requestedFloorIndex, maxFloor)); + } + + /** + * Draw nearby buildings as clickable blue polygons. + */ + private void drawBuildingOutlines(@Nullable List buildings) { + if (mMap == null) { + return; + } + + for (Polygon p : buildingPolygons) { + p.remove(); + } + buildingPolygons.clear(); + + if (buildings == null) { + return; + } + for (FloorplanApiClient.BuildingInfo building : buildings) { List outlinePoints = building.getOutlinePolygon(); if (outlinePoints == null || outlinePoints.size() < 3) { - Log.w(TAG, "Skipping building with insufficient outline points: " - + building.getName()); continue; } - PolygonOptions options = new PolygonOptions() + Polygon polygon = mMap.addPolygon(new PolygonOptions() .addAll(outlinePoints) .strokeColor(STROKE_COLOR_DEFAULT) .strokeWidth(4f) .fillColor(FILL_COLOR_DEFAULT) - .clickable(true); + .clickable(true)); - Polygon polygon = mMap.addPolygon(options); polygon.setTag(building.getName()); buildingPolygons.add(polygon); } - - // Auto-zoom to include building(s) and current position - if (!buildingPolygons.isEmpty()) { - LatLngBounds.Builder boundsBuilder = new LatLngBounds.Builder(); - boundsBuilder.include(new LatLng(startPosition[0], startPosition[1])); - for (Polygon p : buildingPolygons) { - for (LatLng point : p.getPoints()) { - boundsBuilder.include(point); - } - } - try { - mMap.animateCamera(CameraUpdateFactory.newLatLngBounds( - boundsBuilder.build(), 100)); - } catch (Exception e) { - Log.w(TAG, "Could not fit bounds", e); - } - } } /** - * Handles building selection when user taps a building polygon. - * Highlights the polygon, shows the floor plan overlay, moves the marker, - * and stores the building identifier. + * Building selection updates the selected venue/floor context. + * + * Floor-selection policy: + * - keep the current floor if the user re-selects the same building + * - otherwise, if this building matches the preferred session building, + * restore the preferred floor + * - otherwise fall back to the building default floor * - * @param buildingName the name/ID of the selected building (e.g. "nucleus_building") - * @param polygon the tapped polygon on the map + * It still does NOT forcibly move the start marker. */ - private void onBuildingSelected(String buildingName, Polygon polygon) { - // Reset previous selection colour + private void onBuildingSelected(@NonNull String buildingName, @NonNull Polygon polygon) { if (selectedPolygon != null) { selectedPolygon.setFillColor(FILL_COLOR_DEFAULT); selectedPolygon.setStrokeColor(STROKE_COLOR_DEFAULT); } - // Highlight selected polygon + String previousBuildingId = selectedBuildingId; + int previousFloorIndex = currentFloorIndex; + selectedPolygon = polygon; - polygon.setFillColor(FILL_COLOR_SELECTED); - polygon.setStrokeColor(STROKE_COLOR_SELECTED); + selectedPolygon.setFillColor(FILL_COLOR_SELECTED); + selectedPolygon.setStrokeColor(STROKE_COLOR_SELECTED); - // Store building selection selectedBuildingId = buildingName; + selectedFloorplanBuilding = floorplanBuildingMap.get(buildingName); - // Compute building centre from polygon points - LatLng center = computePolygonCenter(polygon); + if (selectedFloorplanBuilding == null) { + updateStatus("Selected building data is not available yet."); + return; + } - // Move the marker to building centre - if (startMarker != null) { - startMarker.setPosition(center); + if (buildingName.equals(previousBuildingId)) { + currentFloorIndex = clampFloorIndexForBuilding(selectedFloorplanBuilding, previousFloorIndex); + } else if (isRecordingMode()) { + String preferredBuildingId = sensorFusion.resolvePreferredStartBuildingId(); + if (preferredBuildingId != null && preferredBuildingId.equals(buildingName)) { + currentFloorIndex = clampFloorIndexForBuilding( + selectedFloorplanBuilding, + sensorFusion.resolvePreferredStartFloorIndex() + ); + } else { + currentFloorIndex = getDefaultFloorIndex(selectedFloorplanBuilding); + } + } else { + currentFloorIndex = getDefaultFloorIndex(selectedFloorplanBuilding); + } + + updateFloorLabel(); + redrawSelectedBuildingOverlay(); + + LatLng center = computePolygonCenter(polygon); + if (mMap != null && isValidLatLng(center)) { + float targetZoom = Math.max(18.5f, mMap.getCameraPosition().zoom); + mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, targetZoom)); + } + + updateStatus( + "Selected building: " + formatBuildingName(buildingName) + + " | floor: " + formatFloorLabelForUi( + getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex)) + ); + } + + private void redrawSelectedBuildingOverlay() { + resetMapOverlays(); + + if (selectedFloorplanBuilding == null || selectedBuildingId == null) { + setFloorControlsVisibility(View.GONE); + return; + } + + if (showActualMapOverlays) { + updateRealMapOverlay(selectedBuildingId, currentFloorIndex, true); + } else { + showFloorPlanOverlay(selectedBuildingId); + } + + setFloorControlsVisibility(View.VISIBLE); + updateFloorLabel(); + } + + private void moveFloor(boolean moveUp) { + if (selectedFloorplanBuilding == null) { + return; + } + + int next = getAdjacentFloorIndex(selectedFloorplanBuilding, currentFloorIndex, moveUp); + if (next == currentFloorIndex) { + return; + } + + currentFloorIndex = next; + redrawSelectedBuildingOverlay(); + + updateStatus( + "Floor changed to " + formatFloorLabelForUi( + getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex) + ) + ); + } + + private void setFloorControlsVisibility(int visibility) { + if (floorUpButton != null) floorUpButton.setVisibility(visibility); + if (floorDownButton != null) floorDownButton.setVisibility(visibility); + if (floorLabel != null) floorLabel.setVisibility(visibility); + } + + private void updateFloorLabel() { + if (floorLabel == null || selectedFloorplanBuilding == null) { + return; + } + floorLabel.setText( + formatFloorLabelForUi(getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex)) + ); + } + + private void resetMapOverlays() { + for (Polygon p : previewPolygons) { + p.remove(); + } + for (Polyline p : previewPolylines) { + p.remove(); + } + previewPolygons.clear(); + previewPolylines.clear(); + + if (whiteMaskPolygon != null) { + whiteMaskPolygon.remove(); + whiteMaskPolygon = null; + } + + for (GroundOverlay overlay : realMapOverlays) { + if (overlay != null) { + overlay.remove(); + } + } + realMapOverlays.clear(); + } + + private void clearBuildingSelectionAndOverlays() { + floorplanBuildingMap.clear(); + resetMapOverlays(); + + for (Polygon p : buildingPolygons) { + p.remove(); } - startPosition[0] = (float) center.latitude; - startPosition[1] = (float) center.longitude; + buildingPolygons.clear(); - // Zoom to the building - mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, 20f)); + selectedPolygon = null; + selectedBuildingId = null; + selectedFloorplanBuilding = null; + currentFloorIndex = 0; + setFloorControlsVisibility(View.GONE); + } - // Show floor plan overlay for the selected building - showFloorPlanOverlay(buildingName); + /** + * Reset back to the current automatic start estimate and clear any manual override. + */ + private void resetToCurrentLocation() { + sensorFusion.clearManualStartAnchor(); + followCurrentLocationWithStartMarker = true; + hasUserAdjustedMarker = false; + + if (startMarker != null) { + styleEditableMarker(startMarker); + startMarker.setTitle("Automatic Start Location"); + startMarker.setSnippet("Following the automatic GNSS / Wi-Fi estimate."); + } + + clearBuildingSelectionAndOverlays(); + updateLiveLocation(true); + requestRetryCount = 0; + requestBuildingDataWhenReady(); + updateStatus("Returned to automatic start detection."); + } - // Update UI with building name - updateBuildingInfoDisplay(buildingName); + private void startLiveLocationUpdates() { + liveLocationHandler.removeCallbacks(liveLocationRunnable); + liveLocationHandler.post(liveLocationRunnable); + } - Log.d(TAG, "Building selected: " + buildingName); + private void stopLiveLocationUpdates() { + liveLocationHandler.removeCallbacks(liveLocationRunnable); } /** - * Shows a vector floor plan preview for the selected building using the - * map_shapes data from the API. Draws the ground floor shapes (walls, rooms). - * Removes any previously drawn preview shapes. - * - * @param buildingName the building identifier + * Update the live detected position. + * If automatic-follow mode is active, also move the start marker. */ + private void updateLiveLocation(boolean animateCamera) { + float[] gnss = sensorFusion.getGNSSLatitude(false); + if (!isValidLatLon(gnss)) { + return; + } + + LatLng current = new LatLng(gnss[0], gnss[1]); + + if (currentLocationMarker != null) { + currentLocationMarker.setPosition(current); + } + + if (followCurrentLocationWithStartMarker && startMarker != null) { + startMarker.setPosition(current); + startPosition[0] = gnss[0]; + startPosition[1] = gnss[1]; + } + + if (mMap != null && animateCamera) { + float targetZoom = Math.max(18.5f, mMap.getCameraPosition().zoom); + mMap.animateCamera(CameraUpdateFactory.newLatLngZoom(current, targetZoom)); + } + } + + private void styleEditableMarker(@NonNull Marker marker) { + marker.setDraggable(true); + marker.setIcon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_RED)); + } + + private void styleConfirmedMarker(@NonNull Marker marker) { + marker.setDraggable(true); + marker.setIcon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_GREEN)); + } + + private void updateStatus(@NonNull String message) { + if (startAnchorStatusText != null) { + startAnchorStatusText.setText(message); + } + Log.d(TAG, message); + } + + @NonNull + private String formatLatLng(@NonNull String prefix, @NonNull LatLng latLng) { + return String.format( + Locale.UK, + "%s\nlat=%.6f lon=%.6f", + prefix, + latLng.latitude, + latLng.longitude + ); + } + + private boolean isValidLatLon(@Nullable float[] latLon) { + return latLon != null + && latLon.length >= 2 + && !(Math.abs(latLon[0]) < 1e-6 && Math.abs(latLon[1]) < 1e-6); + } + + private boolean isValidLatLng(@Nullable LatLng latLng) { + return latLng != null + && !(Math.abs(latLng.latitude) < 1e-6 && Math.abs(latLng.longitude) < 1e-6); + } + + private void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) { + if (!show || mMap == null || selectedFloorplanBuilding == null) { + return; + } + + String selectedBuildingKey = resolveKnownBuildingKey(selectedFloorplanBuilding, buildingName); + String selectedFloorDisplayName = normalizeFloorLabel( + getFloorDisplayName(selectedFloorplanBuilding, floorIndex) + ); + + addActualMapOverlayForBuilding( + selectedFloorplanBuilding, + selectedBuildingKey, + selectedFloorDisplayName, + floorIndex + ); + + if (shouldShowLinkedLibraryAndNucleus(selectedBuildingKey)) { + String linkedBuildingKey = "library".equals(selectedBuildingKey) + ? "nucleus_building" + : "library"; + + FloorplanApiClient.BuildingInfo linkedBuilding = findBuildingByKnownKey(linkedBuildingKey); + int linkedFloorIndex = linkedBuilding != null + ? findMatchingFloorIndex(linkedBuilding, selectedFloorDisplayName, floorIndex) + : resolveFallbackFloorIndexForKey(linkedBuildingKey, selectedFloorDisplayName, floorIndex); + + addActualMapOverlayForBuilding( + linkedBuilding, + linkedBuildingKey, + selectedFloorDisplayName, + linkedFloorIndex + ); + } + } + + private void addActualMapOverlayForBuilding(FloorplanApiClient.BuildingInfo building, + String buildingKey, + String requestedFloorDisplayName, + int requestedFloorIndex) { + if (mMap == null) { + return; + } + + String normalizedBuildingKey = normalizeBuildingKey(buildingKey); + String requestedCanonicalFloor = canonicalFloorLabel(requestedFloorDisplayName); + + if ("library".equals(normalizedBuildingKey) && "LG".equals(requestedCanonicalFloor)) { + return; + } + + int resolvedFloorIndex = building != null + ? findMatchingFloorIndex(building, requestedFloorDisplayName, requestedFloorIndex) + : resolveFallbackFloorIndexForKey(normalizedBuildingKey, requestedFloorDisplayName, requestedFloorIndex); + + String resolvedFloorDisplayName = building != null + ? normalizeFloorLabel(getFloorDisplayName(building, resolvedFloorIndex)) + : normalizeFloorLabel(requestedFloorDisplayName); + + String drawableFloorDisplayName = "library".equals(normalizedBuildingKey) + ? requestedCanonicalFloor + : resolvedFloorDisplayName; + + int drawableResId = resolveActualMapDrawable( + normalizedBuildingKey, + drawableFloorDisplayName, + resolvedFloorIndex + ); + + LatLngBounds bounds = computeActualMapBounds( + building, + normalizedBuildingKey, + drawableResId, + drawableFloorDisplayName + ); + + if (drawableResId != 0 && bounds != null) { + GroundOverlay overlay = mMap.addGroundOverlay(new GroundOverlayOptions() + .image(BitmapDescriptorFactory.fromResource(drawableResId)) + .positionFromBounds(bounds) + .transparency(0.18f) + .zIndex(15f)); + if (overlay != null) { + realMapOverlays.add(overlay); + } + } + } + + private boolean shouldShowLinkedLibraryAndNucleus(String buildingKey) { + return "library".equals(buildingKey) || "nucleus_building".equals(buildingKey); + } + + private FloorplanApiClient.BuildingInfo findBuildingByKnownKey(String knownKey) { + if (knownKey == null || knownKey.isEmpty()) { + return null; + } + + if (selectedFloorplanBuilding != null) { + String selectedKey = resolveKnownBuildingKey( + selectedFloorplanBuilding, + selectedFloorplanBuilding.getName() + ); + if (knownKey.equals(selectedKey)) { + return selectedFloorplanBuilding; + } + } + + for (FloorplanApiClient.BuildingInfo building : floorplanBuildingMap.values()) { + String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null); + if (knownKey.equals(candidateKey)) { + return building; + } + } + + List cachedBuildings = SensorFusion.getInstance().getFloorplanBuildings(); + if (cachedBuildings != null) { + for (FloorplanApiClient.BuildingInfo building : cachedBuildings) { + String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null); + if (knownKey.equals(candidateKey)) { + return building; + } + } + } + + return null; + } + + private int findMatchingFloorIndex(FloorplanApiClient.BuildingInfo building, + String requestedFloorDisplayName, + int fallbackFloorIndex) { + if (building == null || building.getFloorShapesList() == null + || building.getFloorShapesList().isEmpty()) { + return 0; + } + + String normalizedRequestedFloor = normalizeFloorLabel(requestedFloorDisplayName); + if (!normalizedRequestedFloor.isEmpty()) { + for (int i = 0; i < building.getFloorShapesList().size(); i++) { + String candidateLabel = normalizeFloorLabel( + building.getFloorShapesList().get(i).getDisplayName() + ); + if (areEquivalentFloorLabels(normalizedRequestedFloor, candidateLabel)) { + return i; + } + } + } + + return Math.max(0, Math.min( + fallbackFloorIndex, + building.getFloorShapesList().size() - 1 + )); + } + + private boolean areEquivalentFloorLabels(String requestedFloorLabel, String candidateFloorLabel) { + if (requestedFloorLabel == null || candidateFloorLabel == null) { + return false; + } + if (requestedFloorLabel.equals(candidateFloorLabel)) { + return true; + } + + String requested = canonicalFloorLabel(requestedFloorLabel); + String candidate = canonicalFloorLabel(candidateFloorLabel); + return !requested.isEmpty() && requested.equals(candidate); + } + + private int resolveFallbackFloorIndexForKey(String buildingKey, + String requestedFloorDisplayName, + int requestedFloorIndex) { + String normalizedKey = normalizeBuildingKey(buildingKey); + String canonicalFloor = canonicalFloorLabel(requestedFloorDisplayName); + + if ("nucleus_building".equals(normalizedKey)) { + switch (canonicalFloor) { + case "LG": return 0; + case "G": return 1; + case "1": return 2; + case "2": return 3; + case "3": return 4; + default: return Math.max(0, Math.min(requestedFloorIndex, 4)); + } + } + + if ("library".equals(normalizedKey)) { + switch (canonicalFloor) { + case "G": return 0; + case "1": return 1; + case "2": return 2; + case "3": return 3; + default: return Math.max(0, Math.min(requestedFloorIndex, 3)); + } + } + + return Math.max(0, requestedFloorIndex); + } + + private int resolveActualMapDrawable(String buildingName, String floorDisplayName, int floorIndex) { + buildingName = normalizeBuildingKey(buildingName); + String canonicalFloor = canonicalFloorLabel(floorDisplayName); + + if ("nucleus_building".equals(buildingName)) { + if ("LG".equals(canonicalFloor)) return R.drawable.nucleuslg; + if ("G".equals(canonicalFloor)) return R.drawable.nucleusg; + if ("1".equals(canonicalFloor)) return R.drawable.nucleus1; + if ("2".equals(canonicalFloor)) return R.drawable.nucleus2; + if ("3".equals(canonicalFloor)) return R.drawable.nucleus3; + + switch (floorIndex) { + case 0: return R.drawable.nucleuslg; + case 1: return R.drawable.nucleusg; + case 2: return R.drawable.nucleus1; + case 3: return R.drawable.nucleus2; + case 4: return R.drawable.nucleus3; + default: return R.drawable.nucleusg; + } + } + + if ("library".equals(buildingName)) { + if ("LG".equals(canonicalFloor)) return 0; + if ("G".equals(canonicalFloor)) return R.drawable.libraryg; + if ("1".equals(canonicalFloor)) return R.drawable.library1; + if ("2".equals(canonicalFloor)) return R.drawable.library2; + if ("3".equals(canonicalFloor)) return R.drawable.library3; + + switch (floorIndex) { + case 0: return 0; + case 1: return R.drawable.libraryg; + case 2: return R.drawable.library1; + case 3: return R.drawable.library2; + case 4: return R.drawable.library3; + default: return R.drawable.libraryg; + } + } + + return 0; + } + + private LatLngBounds computeActualMapBounds(FloorplanApiClient.BuildingInfo building, + String buildingName, + int drawableResId, + String floorDisplayName) { + buildingName = normalizeBuildingKey(buildingName); + ActualMapAlignmentConfig config = getActualMapAlignmentConfig(buildingName); + + LatLngBounds bounds; + if ("library".equals(buildingName)) { + bounds = computeFixedActualMapBounds(buildingName, drawableResId); + } else if (building != null) { + bounds = computeThreeEdgeAlignedBounds(building, drawableResId, config); + } else { + bounds = computeFixedActualMapBounds(buildingName, drawableResId); + } + + if (bounds == null) { + bounds = getFallbackBuildingBounds(buildingName); + } + if (bounds != null) { + bounds = applyDefaultCalibration(bounds, buildingName, floorDisplayName); + } + return bounds; + } + + private LatLngBounds computeFixedActualMapBounds(String buildingName, int drawableResId) { + buildingName = normalizeBuildingKey(buildingName); + if ("library".equals(buildingName)) { + double widthScale = getLibraryFixedWidthScale(drawableResId); + return buildRightAnchoredRectBounds( + BuildingPolygon.LIBRARY_SW, + BuildingPolygon.LIBRARY_NE, + widthScale, + 1.0, + 0.008, + 0.0 + ); + } + return null; + } + + private double getLibraryFixedWidthScale(int drawableResId) { + return 1.000; + } + + private LatLngBounds buildRightAnchoredRectBounds(LatLng southWest, + LatLng northEast, + double widthScale, + double heightScale, + double eastShiftRatio, + double northShiftRatio) { + if (southWest == null || northEast == null) { + return null; + } + + double rectWidth = northEast.longitude - southWest.longitude; + double rectHeight = northEast.latitude - southWest.latitude; + if (rectWidth <= 0d || rectHeight <= 0d) { + return null; + } + + double overlayWidth = rectWidth * widthScale; + double overlayHeight = rectHeight * heightScale; + double east = northEast.longitude + rectWidth * eastShiftRatio; + double west = east - overlayWidth; + double north = northEast.latitude + rectHeight * northShiftRatio; + double south = north - overlayHeight; + + return new LatLngBounds(new LatLng(south, west), new LatLng(north, east)); + } + + private LatLngBounds computeThreeEdgeAlignedBounds(FloorplanApiClient.BuildingInfo building, + int drawableResId, + ActualMapAlignmentConfig config) { + if (building == null || config == null) { + return null; + } + + List outline = building.getOutlinePolygon(); + if (outline == null || outline.size() < 3) { + return null; + } + + double minLat = Double.POSITIVE_INFINITY; + double maxLat = Double.NEGATIVE_INFINITY; + double minLng = Double.POSITIVE_INFINITY; + double maxLng = Double.NEGATIVE_INFINITY; + + for (LatLng point : outline) { + if (point == null) { + continue; + } + minLat = Math.min(minLat, point.latitude); + maxLat = Math.max(maxLat, point.latitude); + minLng = Math.min(minLng, point.longitude); + maxLng = Math.max(maxLng, point.longitude); + } + + if (!Double.isFinite(minLat) || !Double.isFinite(maxLat) + || !Double.isFinite(minLng) || !Double.isFinite(maxLng) + || maxLat <= minLat || maxLng <= minLng) { + return null; + } + + double latSpan = maxLat - minLat; + double lngSpan = maxLng - minLng; + double visibleNorth = maxLat - latSpan * config.northInsetRatio; + double visibleSouth = minLat + latSpan * config.southInsetRatio; + + if (visibleSouth >= visibleNorth) { + return null; + } + + double fullAspectRatio = getDrawableAspectRatio(drawableResId); + if (fullAspectRatio <= 0d) { + return null; + } + + DrawableContentInsets contentInsets = getDrawableContentInsets(drawableResId, config); + double visibleContentHeightFraction = contentInsets.contentHeightFraction(); + double visibleContentWidthFraction = contentInsets.contentWidthFraction(); + if (visibleContentHeightFraction <= 0d || visibleContentWidthFraction <= 0d) { + return null; + } + + double visibleHeightDeg = visibleNorth - visibleSouth; + double totalHeightDeg = visibleHeightDeg / visibleContentHeightFraction; + double overlayNorth = visibleNorth + totalHeightDeg * contentInsets.topFraction; + double overlaySouth = overlayNorth - totalHeightDeg; + + double midLatitudeRadians = Math.toRadians((visibleNorth + visibleSouth) / 2.0); + double metersPerDegreeLng = Math.max(111320.0 * Math.cos(midLatitudeRadians), 1.0); + double totalHeightMeters = totalHeightDeg * 111320.0; + double totalWidthMeters = (totalHeightMeters / fullAspectRatio) * config.widthScale; + double totalWidthLng = totalWidthMeters / metersPerDegreeLng; + double visibleContentWidthLng = totalWidthLng * visibleContentWidthFraction; + + double visibleEast; + double visibleWest; + switch (config.horizontalAnchor) { + case RIGHT: + visibleEast = maxLng - lngSpan * config.horizontalInsetRatio; + visibleWest = visibleEast - visibleContentWidthLng; + break; + case LEFT: + visibleWest = minLng + lngSpan * config.horizontalInsetRatio; + visibleEast = visibleWest + visibleContentWidthLng; + break; + case CENTER: + default: + double centerLng = ((minLng + maxLng) / 2.0) + + (lngSpan * (config.leftVisibleInsetRatio - config.rightVisibleInsetRatio) * 0.5); + visibleWest = centerLng - visibleContentWidthLng / 2.0; + visibleEast = centerLng + visibleContentWidthLng / 2.0; + break; + } + + double overlayWest = visibleWest - totalWidthLng * contentInsets.leftFraction; + double overlayEast = overlayWest + totalWidthLng; + + return new LatLngBounds( + new LatLng(overlaySouth, overlayWest), + new LatLng(overlayNorth, overlayEast) + ); + } + + private DrawableContentInsets getDrawableContentInsets(int drawableResId, + ActualMapAlignmentConfig config) { + BitmapFactory.Options bounds = new BitmapFactory.Options(); + bounds.inJustDecodeBounds = true; + BitmapFactory.decodeResource(getResources(), drawableResId, bounds); + + return new DrawableContentInsets( + config.leftVisibleInsetRatio, + config.topVisibleInsetRatio, + config.rightVisibleInsetRatio, + config.bottomVisibleInsetRatio + ); + } + + private double getDrawableAspectRatio(int drawableResId) { + try { + BitmapFactory.Options options = new BitmapFactory.Options(); + options.inJustDecodeBounds = true; + BitmapFactory.decodeResource(getResources(), drawableResId, options); + if (options.outWidth > 0 && options.outHeight > 0) { + return (double) options.outHeight / (double) options.outWidth; + } + } catch (Exception ignored) { + } + return 1d; + } + + private LatLngBounds getFallbackBuildingBounds(String buildingName) { + buildingName = normalizeBuildingKey(buildingName); + + if ("nucleus_building".equals(buildingName)) { + return new LatLngBounds(BuildingPolygon.NUCLEUS_SW, BuildingPolygon.NUCLEUS_NE); + } + if ("library".equals(buildingName)) { + return new LatLngBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE); + } + if ("murchison_house".equals(buildingName)) { + return new LatLngBounds(BuildingPolygon.MURCHISON_SW, BuildingPolygon.MURCHISON_NE); + } + return null; + } + + private ActualMapAlignmentConfig getActualMapAlignmentConfig(String buildingName) { + buildingName = normalizeBuildingKey(buildingName); + + if ("nucleus_building".equals(buildingName)) { + return new ActualMapAlignmentConfig( + HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.99, + 0.0, 0.0, 0.0, 0.0 + ); + } + if ("library".equals(buildingName)) { + return new ActualMapAlignmentConfig( + HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 0.985, + 0.0, 0.0, 0.0, 0.0 + ); + } + if ("murchison_house".equals(buildingName)) { + return new ActualMapAlignmentConfig( + HorizontalAnchor.CENTER, 0.0, 0.0, 0.0, 1.0, + 0.0, 0.0, 0.0, 0.0 + ); + } + return new ActualMapAlignmentConfig( + HorizontalAnchor.RIGHT, 0.0, 0.0, 0.0, 1.0, + 0.0, 0.0, 0.0, 0.0 + ); + } + + private LatLngBounds applyDefaultCalibration(LatLngBounds baseBounds, + String buildingKey, + String floorDisplayName) { + if (baseBounds == null) { + return null; + } + + OverlayCalibration calibration = getHardcodedCalibrationDefault(buildingKey, floorDisplayName); + + double baseNorth = baseBounds.northeast.latitude; + double baseSouth = baseBounds.southwest.latitude; + double baseEast = baseBounds.northeast.longitude; + double baseWest = baseBounds.southwest.longitude; + + double latSpan = baseNorth - baseSouth; + double lngSpan = baseEast - baseWest; + if (latSpan <= 0d || lngSpan <= 0d) { + return baseBounds; + } + + double centerLat = ((baseNorth + baseSouth) / 2d) + latSpan * calibration.shiftLatRatio; + double centerLng = ((baseEast + baseWest) / 2d) + lngSpan * calibration.shiftLngRatio; + double adjustedLatSpan = latSpan * calibration.heightScale; + double adjustedLngSpan = lngSpan * calibration.widthScale; + + double north = centerLat + adjustedLatSpan / 2d; + double south = centerLat - adjustedLatSpan / 2d; + double east = centerLng + adjustedLngSpan / 2d; + double west = centerLng - adjustedLngSpan / 2d; + + return new LatLngBounds(new LatLng(south, west), new LatLng(north, east)); + } + + private OverlayCalibration getHardcodedCalibrationDefault(String buildingKey, String floorDisplayName) { + String normalizedBuilding = normalizeBuildingKey(buildingKey); + String normalizedFloor = canonicalFloorLabel(floorDisplayName); + + if ("nucleus_building".equals(normalizedBuilding)) { + switch (normalizedFloor) { + case "LG": return new OverlayCalibration(0.012f, -0.022f, 0.967f, 0.986f); + case "G": return new OverlayCalibration(0.029f, -0.052f, 0.958f, 0.942f); + case "1": return new OverlayCalibration(0.004f, 0.000f, 1.000f, 0.981f); + case "2": return new OverlayCalibration(0.005f, -0.005f, 1.000f, 1.000f); + case "3": return new OverlayCalibration(0.005f, 0.005f, 1.015f, 0.990f); + default: return OverlayCalibration.identity(); + } + } + + if ("library".equals(normalizedBuilding)) { + switch (normalizedFloor) { + case "G": return new OverlayCalibration(-0.072f, 0.018f, 0.965f, 1.098f); + case "1": return new OverlayCalibration(-0.053f, 0.019f, 0.945f, 1.050f); + case "2": return new OverlayCalibration(-0.075f, 0.025f, 0.950f, 1.070f); + case "3": return new OverlayCalibration(-0.070f, 0.025f, 0.960f, 1.065f); + default: return OverlayCalibration.identity(); + } + } + + return OverlayCalibration.identity(); + } + + private static double clamp01(double value) { + return Math.max(0d, Math.min(1d, value)); + } + + private String normalizeFloorLabel(String floorDisplayName) { + if (floorDisplayName == null) { + return ""; + } + return floorDisplayName.trim().toUpperCase().replace(" ", ""); + } + + private String canonicalFloorLabel(String floorLabel) { + String normalized = normalizeFloorLabel(floorLabel); + switch (normalized) { + case "LG": + case "LOWERGROUND": + case "LOWERG": + case "B1": + case "BASEMENT1": + return "LG"; + case "G": + case "GF": + case "GROUND": + case "GROUNDFLOOR": + case "0": + return "G"; + case "1": + case "F1": + case "FIRST": + case "FIRSTFLOOR": + return "1"; + case "2": + case "F2": + case "SECOND": + case "SECONDFLOOR": + return "2"; + case "3": + case "F3": + case "THIRD": + case "THIRDFLOOR": + return "3"; + default: + return normalized; + } + } + + private String normalizeBuildingKey(String buildingName) { + if (buildingName == null) { + return ""; + } + String key = buildingName.trim().toLowerCase(); + if (key.contains("nucleus") || key.contains("nuclear")) { + return "nucleus_building"; + } + if (key.contains("library") || key.contains("kenneth") || key.contains("murray")) { + return "library"; + } + if (key.contains("murchison")) { + return "murchison_house"; + } + return key; + } + + private String resolveKnownBuildingKey(FloorplanApiClient.BuildingInfo building, String buildingName) { + String normalized = normalizeBuildingKey(buildingName); + if ("nucleus_building".equals(normalized) + || "library".equals(normalized) + || "murchison_house".equals(normalized)) { + return normalized; + } + + LatLng center = building != null ? building.getCenter() : null; + if (center != null) { + if (BuildingPolygon.inLibrary(center)) return "library"; + if (BuildingPolygon.inNucleus(center)) return "nucleus_building"; + if (BuildingPolygon.inMurchison(center)) return "murchison_house"; + } + + return normalized; + } + + private int getDefaultFloorIndex(FloorplanApiClient.BuildingInfo building) { + if (building == null || building.getFloorShapesList() == null + || building.getFloorShapesList().isEmpty()) { + return 0; + } + + for (int i = 0; i < building.getFloorShapesList().size(); i++) { + String displayName = building.getFloorShapesList().get(i).getDisplayName(); + if ("G".equals(canonicalFloorLabel(displayName))) { + return i; + } + } + + List orderedFloorIndices = getOrderedFloorIndices(building); + return orderedFloorIndices.isEmpty() ? 0 : orderedFloorIndices.get(0); + } + + private String getFloorDisplayName(FloorplanApiClient.BuildingInfo building, int floorIndex) { + if (building == null || building.getFloorShapesList() == null + || floorIndex < 0 || floorIndex >= building.getFloorShapesList().size()) { + return ""; + } + String displayName = building.getFloorShapesList().get(floorIndex).getDisplayName(); + return displayName == null ? "" : displayName.trim().toUpperCase(); + } + + private int getAdjacentFloorIndex(FloorplanApiClient.BuildingInfo building, + int currentIndex, + boolean moveUp) { + List orderedFloorIndices = getOrderedFloorIndices(building); + if (orderedFloorIndices.isEmpty()) { + return currentIndex; + } + + int currentOrderedPosition = orderedFloorIndices.indexOf(currentIndex); + if (currentOrderedPosition < 0) { + currentOrderedPosition = 0; + for (int i = 0; i < orderedFloorIndices.size(); i++) { + if (orderedFloorIndices.get(i) >= currentIndex) { + currentOrderedPosition = i; + break; + } + } + } + + int nextOrderedPosition = moveUp + ? currentOrderedPosition + 1 + : currentOrderedPosition - 1; + + if (nextOrderedPosition < 0 || nextOrderedPosition >= orderedFloorIndices.size()) { + return currentIndex; + } + + return orderedFloorIndices.get(nextOrderedPosition); + } + + private List getOrderedFloorIndices(FloorplanApiClient.BuildingInfo building) { + List ordered = new ArrayList<>(); + if (building == null || building.getFloorShapesList() == null + || building.getFloorShapesList().isEmpty()) { + return ordered; + } + + List fallback = new ArrayList<>(); + for (int i = 0; i < building.getFloorShapesList().size(); i++) { + fallback.add(i); + } + + String[] desiredOrder = new String[]{"LG", "G", "1", "2", "3"}; + for (String desiredFloor : desiredOrder) { + for (int i = 0; i < building.getFloorShapesList().size(); i++) { + if (ordered.contains(i)) { + continue; + } + String candidateFloor = canonicalFloorLabel( + building.getFloorShapesList().get(i).getDisplayName() + ); + if (desiredFloor.equals(candidateFloor)) { + ordered.add(i); + break; + } + } + } + + for (Integer index : fallback) { + if (!ordered.contains(index)) { + ordered.add(index); + } + } + return ordered; + } + + private String formatFloorLabelForUi(String rawFloorLabel) { + String canonicalFloor = canonicalFloorLabel(rawFloorLabel); + switch (canonicalFloor) { + case "LG": return "LG"; + case "G": return "G"; + case "1": return "1"; + case "2": return "2"; + case "3": return "3"; + default: return rawFloorLabel == null ? "" : rawFloorLabel; + } + } + private void showFloorPlanOverlay(String buildingName) { - // Clear previous preview shapes - for (Polygon p : previewPolygons) p.remove(); - for (Polyline p : previewPolylines) p.remove(); + for (Polygon p : previewPolygons) { + p.remove(); + } + for (Polyline p : previewPolylines) { + p.remove(); + } previewPolygons.clear(); previewPolylines.clear(); + if (whiteMaskPolygon != null) { + whiteMaskPolygon.remove(); + whiteMaskPolygon = null; + } + + if (mMap == null) { + return; + } + + PolygonOptions whiteMask = new PolygonOptions() + .add( + new LatLng(85, -180), + new LatLng(85, 180), + new LatLng(-85, 180), + new LatLng(-85, -180) + ) + .fillColor(0xD9FFFFFF) + .strokeWidth(0) + .zIndex(5); + + whiteMaskPolygon = mMap.addPolygon(whiteMask); + FloorplanApiClient.BuildingInfo building = floorplanBuildingMap.get(buildingName); - if (building == null) return; + if (building == null) { + return; + } List floors = building.getFloorShapesList(); if (floors == null || floors.isEmpty()) { - Log.d(TAG, "No floor shape data available for: " + buildingName); return; } - // Pick the default floor to preview (ground floor) - int defaultFloor = Math.min(1, floors.size() - 1); - FloorplanApiClient.FloorShapes floor = floors.get(defaultFloor); + FloorplanApiClient.FloorShapes floor = + floors.get(Math.max(0, Math.min(currentFloorIndex, floors.size() - 1))); for (FloorplanApiClient.MapShapeFeature feature : floor.getFeatures()) { String geoType = feature.getGeometryType(); @@ -352,72 +1823,64 @@ private void showFloorPlanOverlay(String buildingName) { if ("MultiPolygon".equals(geoType) || "Polygon".equals(geoType)) { for (List ring : feature.getParts()) { - if (ring.size() < 3) continue; + if (ring.size() < 3) { + continue; + } Polygon p = mMap.addPolygon(new PolygonOptions() .addAll(ring) .strokeColor(getPreviewStrokeColor(indoorType)) .strokeWidth(2f) - .fillColor(getPreviewFillColor(indoorType))); + .fillColor(getPreviewFillColor(indoorType)) + .zIndex(10)); previewPolygons.add(p); } - } else if ("MultiLineString".equals(geoType) - || "LineString".equals(geoType)) { + } else if ("MultiLineString".equals(geoType) || "LineString".equals(geoType)) { for (List line : feature.getParts()) { - if (line.size() < 2) continue; + if (line.size() < 2) { + continue; + } Polyline pl = mMap.addPolyline(new PolylineOptions() .addAll(line) .color(getPreviewStrokeColor(indoorType)) - .width(3f)); + .width(4f) + .zIndex(10)); previewPolylines.add(pl); } } } } - /** - * Returns the stroke colour for a preview indoor feature. - */ private int getPreviewStrokeColor(String indoorType) { - if ("wall".equals(indoorType)) return Color.argb(200, 80, 80, 80); - if ("room".equals(indoorType)) return Color.argb(180, 33, 150, 243); - return Color.argb(150, 100, 100, 100); + if ("wall".equals(indoorType)) { + return Color.argb(255, 34, 34, 34); + } + if ("room".equals(indoorType)) { + return Color.argb(255, 60, 60, 60); + } + return Color.argb(255, 50, 50, 50); } - /** - * Returns the fill colour for a preview indoor feature. - */ private int getPreviewFillColor(String indoorType) { - if ("room".equals(indoorType)) return Color.argb(40, 33, 150, 243); + if ("room".equals(indoorType)) { + return Color.argb(40, 33, 150, 243); + } return Color.TRANSPARENT; } - /** - * Updates the building info card to show the selected building name. - * - * @param buildingName the raw building name from the API - */ - private void updateBuildingInfoDisplay(String buildingName) { - if (buildingInfoCard == null || buildingNameText == null) return; - - String displayName = formatBuildingName(buildingName); - buildingNameText.setText(getString(R.string.buildingSelected, displayName)); - buildingInfoCard.setVisibility(View.VISIBLE); - } - - /** - * Formats a building API name into a user-friendly display name. - * Converts underscores to spaces and capitalises each word. - * - * @param apiName the API building name (e.g. "nucleus_building") - * @return formatted name (e.g. "Nucleus Building") - */ private String formatBuildingName(String apiName) { - if (apiName == null || apiName.isEmpty()) return ""; + if (apiName == null || apiName.isEmpty()) { + return ""; + } + String[] parts = apiName.split("_"); StringBuilder sb = new StringBuilder(); for (String part : parts) { - if (part.isEmpty()) continue; - if (sb.length() > 0) sb.append(" "); + if (part.isEmpty()) { + continue; + } + if (sb.length() > 0) { + sb.append(" "); + } sb.append(Character.toUpperCase(part.charAt(0))); if (part.length() > 1) { sb.append(part.substring(1)); @@ -426,61 +1889,21 @@ private String formatBuildingName(String apiName) { return sb.toString(); } - /** - * Computes the centroid of a Google Maps Polygon by averaging all vertices. - * - * @param polygon the polygon whose centre is to be computed - * @return the centroid LatLng - */ private LatLng computePolygonCenter(Polygon polygon) { List points = polygon.getPoints(); - double latSum = 0, lonSum = 0; + double latSum = 0; + double lonSum = 0; int count = 0; + for (LatLng p : points) { latSum += p.latitude; lonSum += p.longitude; count++; } - if (count == 0) return new LatLng(0, 0); - return new LatLng(latSum / count, lonSum / count); - } - - /** - * {@inheritDoc} - * Sets up button click listeners and view references after the view is created. - */ - @Override - public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) { - super.onViewCreated(view, savedInstanceState); - - this.button = view.findViewById(R.id.startLocationDone); - this.instructionText = view.findViewById(R.id.correctionInfoView); - this.buildingInfoCard = view.findViewById(R.id.buildingInfoCard); - this.buildingNameText = view.findViewById(R.id.buildingNameText); - - this.button.setOnClickListener(v -> { - float chosenLat = startPosition[0]; - float chosenLon = startPosition[1]; - - // Save the building selection for campaign binding during upload - if (selectedBuildingId != null) { - sensorFusion.setSelectedBuildingId(selectedBuildingId); - } - - if (requireActivity() instanceof RecordingActivity) { - // Start sensor recording + set the start location - sensorFusion.startRecording(); - sensorFusion.setStartGNSSLatitude(startPosition); - // Write trajectory_id, initial_position and initial heading to protobuf - sensorFusion.writeInitialMetadata(); - // Switch to the recording screen - ((RecordingActivity) requireActivity()).showRecordingScreen(); - - } else if (requireActivity() instanceof ReplayActivity) { - ((ReplayActivity) requireActivity()) - .onStartLocationChosen(chosenLat, chosenLon); - } - }); + if (count == 0) { + return new LatLng(0, 0); + } + return new LatLng(latSum / count, lonSum / count); } -} +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java index 479ea51b..a30cf063 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java @@ -1,6 +1,10 @@ package com.openpositioning.PositionMe.presentation.fragment; +import android.content.Context; +import android.content.SharedPreferences; +import android.graphics.BitmapFactory; import android.graphics.Color; +import android.location.Location; import android.os.Bundle; import android.os.Handler; import android.os.Looper; @@ -14,710 +18,2332 @@ import android.widget.Button; import android.widget.Spinner; import android.widget.TextView; -import com.google.android.material.switchmaterial.SwitchMaterial; import androidx.annotation.NonNull; import androidx.annotation.Nullable; import androidx.fragment.app.Fragment; +import com.openpositioning.PositionMe.fusion.FusedPose; -import com.google.android.gms.maps.OnMapReadyCallback; -import com.openpositioning.PositionMe.R; -import com.openpositioning.PositionMe.sensors.SensorFusion; -import com.openpositioning.PositionMe.utils.IndoorMapManager; -import com.openpositioning.PositionMe.utils.UtilFunctions; import com.google.android.gms.maps.CameraUpdateFactory; import com.google.android.gms.maps.GoogleMap; import com.google.android.gms.maps.SupportMapFragment; -import com.google.android.gms.maps.model.*; +import com.google.android.gms.maps.model.BitmapDescriptorFactory; +import com.google.android.gms.maps.model.GroundOverlay; +import com.google.android.gms.maps.model.GroundOverlayOptions; +import com.google.android.gms.maps.model.LatLng; +import com.google.android.gms.maps.model.LatLngBounds; +import com.google.android.gms.maps.model.Polygon; +import com.google.android.gms.maps.model.PolygonOptions; +import com.google.android.material.progressindicator.CircularProgressIndicator; +import com.google.android.material.switchmaterial.SwitchMaterial; +import com.openpositioning.PositionMe.R; +import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; +import com.openpositioning.PositionMe.sensors.SensorFusion; +import com.openpositioning.PositionMe.utils.BuildingPolygon; +import com.openpositioning.PositionMe.utils.IndoorMapManager; import java.util.ArrayList; +import java.util.HashMap; import java.util.List; +import java.util.Locale; +import java.util.Map; +public class TrajectoryMapFragment extends Fragment { + + private static final String TAG = "TrajectoryMapFragment"; + private static final String TEST_LOG_TAG = "MAP_MATCH_TEST"; -/** - * A fragment responsible for displaying a trajectory map using Google Maps. - *

- * The TrajectoryMapFragment provides a map interface for visualizing movement trajectories, - * GNSS tracking, and indoor mapping. It manages map settings, user interactions, and real-time - * updates to user location and GNSS markers. - *

- * Key Features: - * - Displays a Google Map with support for different map types (Hybrid, Normal, Satellite). - * - Tracks and visualizes user movement using polylines. - * - Supports GNSS position updates and visual representation. - * - Includes indoor mapping with floor selection and auto-floor adjustments. - * - Allows user interaction through map controls and UI elements. - * - * @see com.openpositioning.PositionMe.presentation.activity.RecordingActivity The activity hosting this fragment. - * @see com.openpositioning.PositionMe.utils.IndoorMapManager Utility for managing indoor map overlays. - * @see com.openpositioning.PositionMe.utils.UtilFunctions Utility functions for UI and graphics handling. - * - * @author Mate Stodulka - */ + private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000L; + private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000L; + private static final String CALIBRATION_PREFS_NAME = "actual_map_calibration"; + private static final float CALIBRATION_SHIFT_STEP = 0.005f; + private static final float CALIBRATION_SCALE_STEP = 0.005f; + private static final float AUTO_SELECT_BUILDING_MAX_DISTANCE_METERS = 60f; -public class TrajectoryMapFragment extends Fragment { + // Map and core services + private GoogleMap gMap; + private LatLng currentLocation; + private LatLng pendingCameraPosition = null; + private boolean hasPendingCameraMove = false; - private GoogleMap gMap; // Google Maps instance - private LatLng currentLocation; // Stores the user's current location - private Marker orientationMarker; // Marker representing user's heading - private Marker gnssMarker; // GNSS position marker - // Keep test point markers so they can be cleared when recording ends - private final List testPointMarkers = new ArrayList<>(); + private SensorFusion sensorFusion; + private IndoorMapManager indoorMapManager; - private Polyline polyline; // Polyline representing user's movement path - private boolean isRed = true; // Tracks whether the polyline color is red - private boolean isGnssOn = false; // Tracks if GNSS tracking is enabled + private final TrajectoryRenderer trajectoryRenderer = new TrajectoryRenderer(); + private final FloorplanApiClient floorplanApiClient = new FloorplanApiClient(); - private Polyline gnssPolyline; // Polyline for GNSS path - private LatLng lastGnssLocation = null; // Stores the last GNSS location + // Building / indoor selection state + private final List floorplanPolygons = new ArrayList<>(); + private final Map polygonToBuilding = new HashMap<>(); + private final List lastFetchedBuildings = new ArrayList<>(); - private LatLng pendingCameraPosition = null; // Stores pending camera movement - private boolean hasPendingCameraMove = false; // Tracks if camera needs to move + private FloorplanApiClient.BuildingInfo selectedFloorplanBuilding; + private Polygon selectedFloorplanPolygon; - private IndoorMapManager indoorMapManager; // Manages indoor mapping - private SensorFusion sensorFusion; + private boolean indoorMapVisible = false; + private boolean actualMapVisible = false; + private boolean hasFetchedNearbyBuildings = false; + private boolean hasAttemptedInitialBuildingFetch = false; + private boolean isIndoorRequestInFlight = false; + private boolean hasAutoSelectedIndoorMap = false; + private boolean replayModeEnabled = false; + private int currentFloorIndex = 0; - // Auto-floor state - private static final String TAG = "TrajectoryMapFragment"; - private static final long AUTO_FLOOR_DEBOUNCE_MS = 3000; - private static final long AUTO_FLOOR_CHECK_INTERVAL_MS = 1000; - private Handler autoFloorHandler; - private Runnable autoFloorTask; - private int lastCandidateFloor = Integer.MIN_VALUE; - private long lastCandidateTime = 0; - - // UI - private Spinner switchMapSpinner; + // Overlay calibration state + private final List realMapOverlays = new ArrayList<>(); + private String calibrationTargetBuildingKey = ""; + // UI references + private Spinner switchMapSpinner; private SwitchMaterial gnssSwitch; private SwitchMaterial autoFloorSwitch; + private SwitchMaterial showWifiSwitch; + private SwitchMaterial showPdrSwitch; + + private com.google.android.material.floatingactionbutton.FloatingActionButton floorUpButton; + private com.google.android.material.floatingactionbutton.FloatingActionButton floorDownButton; - private com.google.android.material.floatingactionbutton.FloatingActionButton floorUpButton, floorDownButton; private TextView floorLabel; private Button switchColorButton; - private Polygon buildingPolygon; + private View mapControlContent; + private Button btnToggleMapControls; + private boolean mapControlsExpanded = true; + + private Button btnToggleLog; + private TextView debugStatusText; + private boolean isDebugStatusVisible = false; + + private Button btnFindIndoorMap; + private Button btnFindActualMap; + private Button btnToggleAdjustMap; + private Button btnCalibrationTarget; + private Button btnCalibrateUp; + private Button btnCalibrateDown; + private Button btnCalibrateLeft; + private Button btnCalibrateRight; + private Button btnWidthMinus; + private Button btnWidthPlus; + private Button btnHeightMinus; + private Button btnHeightPlus; + private Button btnSaveCalibration; + private Button btnResetCalibration; + + private View calibrationPanel; + private TextView selectedVenueText; + private TextView calibrationTargetText; + private TextView calibrationValueText; + private CircularProgressIndicator indoorLoadingIndicator; + + private TextView debugHeading; + private TextView debugAdaptedHeading; + private TextView debugCosSin; + private String currentTrajectoryPlotSource = "Waiting"; + + // Controller / coordinator + private final FloorController floorController = new FloorController(new FloorController.Host() { + @Override + public FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding() { + return selectedFloorplanBuilding; + } + + @Override + public IndoorMapManager getIndoorMapManager() { + return indoorMapManager; + } + + @Override + public SensorFusion getSensorFusion() { + return sensorFusion; + } + + @Override + public boolean isReplayModeEnabled() { + return replayModeEnabled; + } + + @Override + public int getCurrentFloorIndex() { + return currentFloorIndex; + } + + @Override + public void setCurrentFloorIndex(int floorIndex) { + currentFloorIndex = floorIndex; + } + + @Override + public boolean isIndoorMapVisible() { + return indoorMapVisible; + } + + @Override + public boolean isActualMapVisible() { + return actualMapVisible; + } + + @Override + public void refreshSelectedPolygonAppearance() { + TrajectoryMapFragment.this.refreshSelectedPolygonAppearance(); + } + + @Override + public void resetMapOverlays() { + TrajectoryMapFragment.this.resetMapOverlays(); + } + + @Override + public void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) { + TrajectoryMapFragment.this.updateRealMapOverlay(buildingName, floorIndex, show); + } + + @Override + public void updateCalibrationUi() { + TrajectoryMapFragment.this.updateCalibrationUi(); + } + }); + + private final MapMatchingCoordinator mapMatchingCoordinator = new MapMatchingCoordinator( + new MapMatchingCoordinator.Host() { + @Nullable + @Override + public GoogleMap getGoogleMap() { + return gMap; + } + + @NonNull + @Override + public Context requireContext() { + return TrajectoryMapFragment.this.requireContext(); + } + + @NonNull + @Override + public TrajectoryRenderer getTrajectoryRenderer() { + return trajectoryRenderer; + } + + @Nullable + @Override + public FloorplanApiClient.BuildingInfo getSelectedFloorplanBuilding() { + return selectedFloorplanBuilding; + } + + @Nullable + @Override + public IndoorMapManager getIndoorMapManager() { + return indoorMapManager; + } + + @Override + public boolean isReplayModeEnabled() { + return replayModeEnabled; + } + + @Nullable + @Override + public SensorFusion getSensorFusion() { + return sensorFusion; + } + + @Override + public Integer getTrackingCandidateFloorIndex() { + // Bootstrap-only candidate from FloorController. + return floorController.peekTrackingFloorCandidateIndex(); + } + + @Override + public int getCurrentFloorIndex() { + return currentFloorIndex; + } + + @Override + public void setFloor(int floorIndex) { + TrajectoryMapFragment.this.setFloor(floorIndex); + } + + @Override + public boolean isAutoFloorEnabled() { + return autoFloorSwitch != null && autoFloorSwitch.isChecked(); + } + + @Override + public boolean hasReliableInitialFloorFix() { + return floorController.hasReliableInitialFloorFix(); + } + + @Nullable + @Override + public LatLng getCurrentLocation() { + return currentLocation; + } + + @Override + public void setCurrentLocation(@NonNull LatLng location) { + currentLocation = location; + } + + @NonNull + @Override + public String resolveKnownBuildingKey(@NonNull FloorplanApiClient.BuildingInfo building, + @Nullable String buildingName) { + return TrajectoryMapFragment.this.resolveKnownBuildingKey(building, buildingName); + } + + @NonNull + @Override + public String canonicalFloorLabel(@Nullable String floorLabel) { + return TrajectoryMapFragment.this.canonicalFloorLabel(floorLabel); + } + + @NonNull + @Override + public List getOrderedFloorIndices(@NonNull FloorplanApiClient.BuildingInfo building) { + return TrajectoryMapFragment.this.getOrderedFloorIndices(building); + } + + @Override + public void maybeFetchNearbyBuildingsOnFirstLocation() { + TrajectoryMapFragment.this.maybeFetchNearbyBuildingsOnFirstLocation(); + } + + @Override + public boolean hasAutoSelectedIndoorMap() { + return hasAutoSelectedIndoorMap; + } + + @NonNull + @Override + public List getLastFetchedBuildings() { + return lastFetchedBuildings; + } + + @Override + public void maybeAutoSelectIndoorMap(@NonNull List buildings) { + TrajectoryMapFragment.this.maybeAutoSelectIndoorMap(buildings); + } + + @NonNull + @Override + public String getTag() { + return TAG; + } + + @NonNull + @Override + public String getTestLogTag() { + return TEST_LOG_TAG; + } + } + ); public TrajectoryMapFragment() { - // Required empty public constructor } @Nullable @Override - public View onCreateView(@NonNull LayoutInflater inflater, - @Nullable ViewGroup container, + public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) { - // Inflate the separate layout containing map + map-related UI return inflater.inflate(R.layout.fragment_trajectory_map, container, false); } @Override - public void onViewCreated(@NonNull View view, - @Nullable Bundle savedInstanceState) { + public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) { super.onViewCreated(view, savedInstanceState); - // Grab references to UI controls + sensorFusion = SensorFusion.getInstance(); + + // UI controls switchMapSpinner = view.findViewById(R.id.mapSwitchSpinner); - gnssSwitch = view.findViewById(R.id.gnssSwitch); + gnssSwitch = view.findViewById(R.id.gnssSwitch); autoFloorSwitch = view.findViewById(R.id.autoFloor); - floorUpButton = view.findViewById(R.id.floorUpButton); + showWifiSwitch = view.findViewById(R.id.showWifiSwitch); + showPdrSwitch = view.findViewById(R.id.showPdrSwitch); + + floorUpButton = view.findViewById(R.id.floorUpButton); floorDownButton = view.findViewById(R.id.floorDownButton); - floorLabel = view.findViewById(R.id.floorLabel); + floorLabel = view.findViewById(R.id.floorLabel); switchColorButton = view.findViewById(R.id.lineColorButton); - // Setup floor up/down UI hidden initially until we know there's an indoor map - setFloorControlsVisibility(View.GONE); + mapControlContent = view.findViewById(R.id.mapControlContent); + btnToggleMapControls = view.findViewById(R.id.btnToggleMapControls); + + btnToggleLog = view.findViewById(R.id.btnToggleLog); + debugStatusText = view.findViewById(R.id.debugStatusText); + + debugHeading = view.findViewById(R.id.debugHeading); + debugAdaptedHeading = view.findViewById(R.id.debugAdaptedHeading); + debugCosSin = view.findViewById(R.id.debugCosSin); + + btnFindIndoorMap = view.findViewById(R.id.btnFindIndoorMap); + btnFindActualMap = view.findViewById(R.id.btnFindActualMap); + btnToggleAdjustMap = view.findViewById(R.id.btnToggleAdjustMap); + btnCalibrationTarget = view.findViewById(R.id.btnCalibrationTarget); + btnCalibrateUp = view.findViewById(R.id.btnCalibrateUp); + btnCalibrateDown = view.findViewById(R.id.btnCalibrateDown); + btnCalibrateLeft = view.findViewById(R.id.btnCalibrateLeft); + btnCalibrateRight = view.findViewById(R.id.btnCalibrateRight); + btnWidthMinus = view.findViewById(R.id.btnWidthMinus); + btnWidthPlus = view.findViewById(R.id.btnWidthPlus); + btnHeightMinus = view.findViewById(R.id.btnHeightMinus); + btnHeightPlus = view.findViewById(R.id.btnHeightPlus); + btnSaveCalibration = view.findViewById(R.id.btnSaveCalibration); + btnResetCalibration = view.findViewById(R.id.btnResetCalibration); + + calibrationPanel = view.findViewById(R.id.calibrationPanel); + selectedVenueText = view.findViewById(R.id.selectedVenueText); + calibrationTargetText = view.findViewById(R.id.calibrationTargetText); + calibrationValueText = view.findViewById(R.id.calibrationValueText); + indoorLoadingIndicator = view.findViewById(R.id.indoorLoadingIndicator); + + floorController.bindViews(autoFloorSwitch, floorUpButton, floorDownButton, floorLabel); + + if (selectedVenueText != null) { + selectedVenueText.setText("Tap a blue building outline to select a building"); + } + if (indoorLoadingIndicator != null) { + indoorLoadingIndicator.setVisibility(View.GONE); + } + if (calibrationPanel != null) { + calibrationPanel.setVisibility(View.GONE); + } + if (btnToggleAdjustMap != null) { + btnToggleAdjustMap.setVisibility(View.GONE); + } - // Initialize the map asynchronously - SupportMapFragment mapFragment = (SupportMapFragment) - getChildFragmentManager().findFragmentById(R.id.trajectoryMap); + setFloorControlsVisibility(View.GONE); + initMapControlsToggle(); + initDebugStatusToggle(); + setupCalibrationControls(); + updateActualMapButtonState(); + updateAutoFloorAvailability(); + refreshDebugStatusText(); + + SupportMapFragment mapFragment = + (SupportMapFragment) getChildFragmentManager().findFragmentById(R.id.trajectoryMap); if (mapFragment != null) { - mapFragment.getMapAsync(new OnMapReadyCallback() { - @Override - public void onMapReady(@NonNull GoogleMap googleMap) { - // Assign the provided googleMap to your field variable - gMap = googleMap; - // Initialize map settings with the now non-null gMap - initMapSettings(gMap); - - // If we had a pending camera move, apply it now - if (hasPendingCameraMove && pendingCameraPosition != null) { - gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(pendingCameraPosition, 19f)); - hasPendingCameraMove = false; - pendingCameraPosition = null; + mapFragment.getMapAsync(googleMap -> { + gMap = googleMap; + initMapSettings(gMap); + + if (!replayModeEnabled) { + showRecordingDefaultViewport(); + } + + if (hasPendingCameraMove && pendingCameraPosition != null) { + float savedZoom = getSavedMapZoom(); + gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(pendingCameraPosition, savedZoom)); + Log.d(TAG, String.format(Locale.UK, + "STEP2_CAMERA applied pending autonomous camera lat=%.6f lon=%.6f zoom=%.2f", + pendingCameraPosition.latitude, + pendingCameraPosition.longitude, + savedZoom)); + hasPendingCameraMove = false; + pendingCameraPosition = null; + } else if (!replayModeEnabled && getContext() != null) { + float savedZoom = getSavedMapZoom(); + Log.d(TAG, String.format(Locale.UK, + "STEP2_CAMERA recording mode waiting for autonomous anchor; skip saved user_start_lat/lon restore, zoom=%.2f", + savedZoom)); + } + + restoreCachedBuildingsIfAny(); + maybeFetchNearbyBuildingsOnFirstLocation(); + }); + } + + initMapTypeSpinner(); + + if (gnssSwitch != null) { + gnssSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> { + trajectoryRenderer.setShowGnssObservations(isChecked); + if (!isChecked) { + trajectoryRenderer.clearGnss(); + } + }); + } + + if (showWifiSwitch != null) { + showWifiSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> { + trajectoryRenderer.setShowWifiObservations(isChecked); + if (!isChecked) { + trajectoryRenderer.clearWifi(); + } + }); + } + + if (showPdrSwitch != null) { + showPdrSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> + trajectoryRenderer.setShowPdrObservations(isChecked)); + } + + if (switchColorButton != null) { + switchColorButton.setOnClickListener(v -> { + trajectoryRenderer.toggleTrajectoryColor(); + applyTrajectoryColorButtonState(); + }); + } + applyTrajectoryColorButtonState(); + + if (btnFindIndoorMap != null) { + btnFindIndoorMap.setOnClickListener(v -> { + if (selectedFloorplanBuilding == null) { + if (lastFetchedBuildings.isEmpty()) { + requestNearbyIndoorMaps(true); + } else if (selectedVenueText != null) { + selectedVenueText.setText("Tap a blue building outline to select a building first"); + } + return; + } + + actualMapVisible = false; + indoorMapVisible = true; + + if (indoorMapManager != null) { + indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding); + } + floorController.refreshCurrentFloorUi(); + + if (selectedVenueText != null) { + selectedVenueText.setText("Showing indoor vector map for " + + prettyBuildingName(selectedFloorplanBuilding.getName())); + } + + updateCalibrationUi(); + updateActualMapButtonState(); + }); + } + + if (btnFindActualMap != null) { + btnFindActualMap.setOnClickListener(v -> { + if (selectedFloorplanBuilding == null) { + if (lastFetchedBuildings.isEmpty()) { + requestNearbyIndoorMaps(true); + } else if (selectedVenueText != null) { + selectedVenueText.setText("Tap a blue building outline to select a building first"); + } + return; + } + + indoorMapVisible = true; + actualMapVisible = !actualMapVisible; + + if (indoorMapManager != null) { + indoorMapManager.setSelectedBuilding(selectedFloorplanBuilding); + } + floorController.refreshCurrentFloorUi(); + + if (selectedVenueText != null) { + if (actualMapVisible) { + selectedVenueText.setText("Displaying actual map under indoor overlay for " + + prettyBuildingName(selectedFloorplanBuilding.getName())); + } else { + selectedVenueText.setText("Actual map hidden for " + + prettyBuildingName(selectedFloorplanBuilding.getName())); } + } + + updateCalibrationUi(); + updateActualMapButtonState(); + }); + } + + syncReplayUiState(); + } + + // Public API used by RecordingFragment / ReplayFragment + /** + * Updates the map with either: + * - replay map-matched location (replay mode), or + * - already-fused live PF location (live mode) + * + * Important live policy: + * this fragment is UI-only in live mode. + * It must NOT re-run live map matching or absolute observation blending. + */ + public void updateUserLocation(@NonNull LatLng newLocation, float orientationDeg) { + if (replayModeEnabled) { + mapMatchingCoordinator.updateUserLocation(newLocation, orientationDeg); + } else { + updateLiveFusedLocationOnly(newLocation, orientationDeg); + } + refreshDebugStatusText(); + } + + /** + * Renders the already-fused live pose without applying any additional correction. + * + * This is the key separation: + * - ParticleFilterManager owns live fusion + live map validity + * - TrajectoryMapFragment only draws the final live fused pose + */ + private void updateLiveFusedLocationOnly(@NonNull LatLng newLocation, float orientationDeg) { + if (gMap == null) { + return; + } + + LatLng displayLocation = newLocation; + float displayOrientationDeg = orientationDeg; + + // Prefer the latest PF-owned fused pose if available. + if (sensorFusion != null) { + FusedPose fusedPose = sensorFusion.getLatestFusedPose(); + if (fusedPose != null) { + if (fusedPose.getLatLng() != null) { + displayLocation = fusedPose.getLatLng(); + } + displayOrientationDeg = (float) Math.toDegrees(fusedPose.getHeadingRad()); + + // Live display floor now follows the PF-owned fused floor. + if (fusedPose.getFloor() != currentFloorIndex) { + displayPfOwnedFloor(fusedPose.getFloor()); + } + } + } + + LatLng oldLocation = currentLocation; + currentLocation = displayLocation; + + trajectoryRenderer.updateCurrentPosition( + requireContext(), + displayLocation, + displayOrientationDeg, + false, + getSavedMapZoom() + ); + + /* + * When the PF commits a new floor, do NOT connect the new point to the + * previous floor's trajectory polyline. + * + * Instead, start a fresh live trajectory segment so the path is visually + * broken across floors. + */ + boolean floorChanged = false; + if (sensorFusion != null && sensorFusion.getParticleFilterManager() != null) { + floorChanged = sensorFusion.getParticleFilterManager().consumeFloorChangedFlag(); + } + + if (floorChanged) { + trajectoryRenderer.startNewLiveSegment(); + oldLocation = null; // prevent drawing a connecting line across floors + } + + trajectoryRenderer.appendMatchedLocation(oldLocation, displayLocation); + + if (indoorMapManager != null) { + indoorMapManager.setCurrentLocation(displayLocation); + } + + maybeFetchNearbyBuildingsOnFirstLocation(); + if (!hasAutoSelectedIndoorMap && !lastFetchedBuildings.isEmpty()) { + maybeAutoSelectIndoorMap(lastFetchedBuildings); + } + } + public void setReplayModeEnabled(boolean enabled) { + if (replayModeEnabled == enabled) { + syncReplayUiState(); + return; + } + + replayModeEnabled = enabled; + mapMatchingCoordinator.onReplayModeChanged(enabled); + + if (enabled) { + floorController.stopAutoFloor(); + } + + syncReplayUiState(); + refreshDebugStatusText(); + } + + public void setCurrentTrajectoryPlotSource(@NonNull String source) { + currentTrajectoryPlotSource = source; + refreshDebugStatusText(); + } + + public void setReplayFrameContext(@Nullable Integer syntheticFloor, + @Nullable Double currentElevation, + @Nullable Double deltaHeight, + boolean heightChanged) { + setReplayModeEnabled(true); + mapMatchingCoordinator.setReplayFrameContext( + syntheticFloor, currentElevation, deltaHeight, heightChanged + ); + } + + public void setReplayFrameContext(@Nullable Integer syntheticFloor, + @Nullable Double currentElevation, + @Nullable Double deltaHeight, + boolean heightChanged, + @Nullable Integer initialFloor) { + setReplayModeEnabled(true); + mapMatchingCoordinator.setReplayFrameContext( + syntheticFloor, currentElevation, deltaHeight, heightChanged, initialFloor + ); + } + + public void setInitialCameraPosition(@NonNull LatLng startLocation) { + float savedZoom = getSavedMapZoom(); + if (gMap != null) { + gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(startLocation, savedZoom)); + } else { + pendingCameraPosition = startLocation; + hasPendingCameraMove = true; + } + } + + public void showRecordingDefaultViewport() { + LatLngBounds nucleusBounds = new LatLngBounds( + BuildingPolygon.NUCLEUS_SW, + BuildingPolygon.NUCLEUS_NE + ); + + if (gMap != null) { + int paddingPx = (int) (48 * requireContext().getResources().getDisplayMetrics().density); + gMap.moveCamera(CameraUpdateFactory.newLatLngBounds(nucleusBounds, paddingPx)); + } + } + + public LatLng getCurrentLocation() { + return currentLocation; + } + + public void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) { + trajectoryRenderer.addTestPointMarker(index, timestampMs, position); + } + + public void updateGNSS(@NonNull LatLng gnssLocation) { + trajectoryRenderer.updateGnss(gnssLocation); + } + + public void clearGNSS() { + trajectoryRenderer.clearGnss(); + } + + public void updateWifi(@NonNull LatLng wifiLocation) { + trajectoryRenderer.updateWifi(wifiLocation); + } + + public void clearWifi() { + trajectoryRenderer.clearWifi(); + } + + public boolean isAutoFloorEnabled() { + return autoFloorSwitch != null && autoFloorSwitch.isChecked(); + } + + public boolean isGnssEnabled() { + return gnssSwitch != null && gnssSwitch.isChecked(); + } + + public boolean isWifiEnabled() { + return showWifiSwitch != null && showWifiSwitch.isChecked(); + } + + /** + * Updates the heading debug text shown on screen. + * + * - Displays the raw heading value. + * - Converts the heading into the app's adapted heading convention. + * - Displays the cosine and sine of the adapted heading for quick checking. + */ + public void updateDebugInfo(float headingValue) { + float adaptedHeading = (float) (Math.PI/2 - headingValue); + if (debugHeading != null) { + debugHeading.setText(String.format(Locale.US, "Heading: %.3f", headingValue)); + } + if (debugAdaptedHeading != null) { + debugAdaptedHeading.setText(String.format(Locale.US, "Adapted Heading: %.3f", adaptedHeading)); + } + if (debugCosSin != null) { + debugCosSin.setText(String.format(Locale.US, "cos=%.3f sin=%.3f", + Math.cos(adaptedHeading), Math.sin(adaptedHeading))); + } + } + + public void clearMapAndReset() { + + if (autoFloorSwitch != null) { + autoFloorSwitch.setChecked(false); + } + + mapMatchingCoordinator.resetMapMatchingState(); + trajectoryRenderer.clearAll(); + + currentLocation = null; + + for (Polygon p : floorplanPolygons) { + p.remove(); + } + floorplanPolygons.clear(); + polygonToBuilding.clear(); + lastFetchedBuildings.clear(); + + selectedFloorplanPolygon = null; + selectedFloorplanBuilding = null; + indoorMapVisible = false; + actualMapVisible = false; + hasFetchedNearbyBuildings = false; + hasAttemptedInitialBuildingFetch = false; + hasAutoSelectedIndoorMap = false; + replayModeEnabled = false; + currentFloorIndex = 0; + + resetMapOverlays(); + + if (indoorMapManager != null) { + indoorMapManager.clearIndoorMap(); + } + + if (selectedVenueText != null) { + selectedVenueText.setText("Tap a blue building outline to select a building"); + } + + calibrationTargetBuildingKey = ""; + updateCalibrationUi(); + updateActualMapButtonState(); + updateAutoFloorAvailability(); + + if (indoorLoadingIndicator != null) { + indoorLoadingIndicator.setVisibility(View.GONE); + } + + setFloorControlsVisibility(View.GONE); + syncReplayUiState(); + refreshDebugStatusText(); + } + + // Map / building lifecycle + private void initMapSettings(@NonNull GoogleMap map) { + map.getUiSettings().setCompassEnabled(true); + map.getUiSettings().setTiltGesturesEnabled(true); + map.getUiSettings().setRotateGesturesEnabled(true); + map.getUiSettings().setScrollGesturesEnabled(true); + map.setMapType(GoogleMap.MAP_TYPE_HYBRID); + + indoorMapManager = new IndoorMapManager(map); + + map.setOnPolygonClickListener(polygon -> { + FloorplanApiClient.BuildingInfo building = polygonToBuilding.get(polygon); + if (building != null) { + onFloorplanBuildingSelected(building, polygon); + } + }); + + trajectoryRenderer.attachToMap(map); + trajectoryRenderer.setShowGnssObservations(gnssSwitch == null || gnssSwitch.isChecked()); + trajectoryRenderer.setShowWifiObservations(showWifiSwitch == null || showWifiSwitch.isChecked()); + trajectoryRenderer.setShowPdrObservations(showPdrSwitch == null || showPdrSwitch.isChecked()); + } + + private void maybeFetchNearbyBuildingsOnFirstLocation() { + if (gMap == null || currentLocation == null || hasAttemptedInitialBuildingFetch + || isIndoorRequestInFlight || hasFetchedNearbyBuildings) { + return; + } + hasAttemptedInitialBuildingFetch = true; + requestNearbyIndoorMaps(false); + } + + private void maybeAutoSelectIndoorMap(List buildings) { + if (hasAutoSelectedIndoorMap || selectedFloorplanBuilding != null + || currentLocation == null || indoorMapManager == null) { + return; + } + if (buildings == null || buildings.isEmpty()) { + return; + } + + FloorplanApiClient.BuildingInfo candidate = findBestBuildingForAutoSelection(buildings, currentLocation); + if (candidate == null) { + return; + } + + Polygon candidatePolygon = null; + for (Map.Entry entry : polygonToBuilding.entrySet()) { + if (entry.getValue() == candidate) { + candidatePolygon = entry.getKey(); + break; + } + } + + onFloorplanBuildingSelected(candidate, candidatePolygon); + hasAutoSelectedIndoorMap = true; + + if (selectedVenueText != null) { + selectedVenueText.setText("Auto-selected " + prettyBuildingName(candidate.getName()) + + ". Tap Find Maps to show."); + } + } + + @Nullable + private FloorplanApiClient.BuildingInfo findBestBuildingForAutoSelection( + List buildings, @NonNull LatLng location) { + FloorplanApiClient.BuildingInfo insideCandidate = null; + FloorplanApiClient.BuildingInfo nearestCandidate = null; + float nearestDistanceMeters = Float.MAX_VALUE; + + for (FloorplanApiClient.BuildingInfo building : buildings) { + if (building == null) { + continue; + } + + List outline = building.getOutlinePolygon(); + if (outline != null && outline.size() >= 3 && isPointInsidePolygon(location, outline)) { + insideCandidate = building; + break; + } + + LatLng center = building.getCenter(); + if (center == null) { + center = computeOutlineCentroid(outline); + } + if (center == null) { + continue; + } + + float distanceMeters = distanceBetweenMeters(location, center); + if (distanceMeters < nearestDistanceMeters) { + nearestDistanceMeters = distanceMeters; + nearestCandidate = building; + } + } + + if (insideCandidate != null) { + return insideCandidate; + } + if (nearestCandidate != null && nearestDistanceMeters <= AUTO_SELECT_BUILDING_MAX_DISTANCE_METERS) { + return nearestCandidate; + } + return null; + } + + private boolean isPointInsidePolygon(@NonNull LatLng point, @NonNull List polygon) { + boolean inside = false; + int count = polygon.size(); + for (int i = 0, j = count - 1; i < count; j = i++) { + LatLng pi = polygon.get(i); + LatLng pj = polygon.get(j); + if (pi == null || pj == null) { + continue; + } + boolean intersects = ((pi.longitude > point.longitude) != (pj.longitude > point.longitude)) + && (point.latitude < (pj.latitude - pi.latitude) * (point.longitude - pi.longitude) + / ((pj.longitude - pi.longitude) == 0 ? 1e-12 : (pj.longitude - pi.longitude)) + pi.latitude); + if (intersects) { + inside = !inside; + } + } + return inside; + } + + private float distanceBetweenMeters(@NonNull LatLng a, @NonNull LatLng b) { + float[] result = new float[1]; + Location.distanceBetween(a.latitude, a.longitude, b.latitude, b.longitude, result); + return result[0]; + } + + private void onFloorplanBuildingSelected(FloorplanApiClient.BuildingInfo building, @Nullable Polygon polygon) { + if (selectedFloorplanPolygon != null) { + selectedFloorplanPolygon.setFillColor(Color.argb(50, 33, 150, 243)); + selectedFloorplanPolygon.setStrokeColor(Color.argb(220, 33, 150, 243)); + selectedFloorplanPolygon.setZIndex(19f); + } + + selectedFloorplanPolygon = polygon; + selectedFloorplanBuilding = building; + indoorMapVisible = false; + actualMapVisible = false; + currentFloorIndex = getDefaultFloorIndex(building); + + if (polygon != null) { + polygon.setZIndex(19f); + } + refreshSelectedPolygonAppearance(); + + SensorFusion.getInstance().setSelectedBuildingId(building.getName()); + + mapMatchingCoordinator.onSelectedBuildingChanged(); + trajectoryRenderer.clearMatchedTrajectoryOnly(); + + resetMapOverlays(); + if (indoorMapManager != null) { + indoorMapManager.clearIndoorMap(); + } + + setFloorControlsVisibility(View.GONE); + + if (selectedVenueText != null) { + selectedVenueText.setText("Selected: " + prettyBuildingName(building.getName()) + + ". Tap Find Indoor Maps."); + } + + calibrationTargetBuildingKey = resolveKnownBuildingKey(building, building.getName()); + updateCalibrationUi(); + updateActualMapButtonState(); + updateAutoFloorAvailability(); + refreshDebugStatusText(); + + LatLng center = building.getCenter(); + if (center != null && !(center.latitude == 0 && center.longitude == 0) && gMap != null) { + gMap.animateCamera(CameraUpdateFactory.newLatLngZoom(center, 20f)); + } + } + + private void requestNearbyIndoorMaps(boolean userInitiated) { + if (gMap == null) { + return; + } + + LatLng center = currentLocation; + if (center == null) { + center = trajectoryRenderer.getOrientationPosition(); + } + if (center == null) { + float[] gnss = SensorFusion.getInstance().getGNSSLatitude(false); + if (gnss != null && !(gnss[0] == 0f && gnss[1] == 0f)) { + center = new LatLng(gnss[0], gnss[1]); + } + } + + if (center == null) { + if (userInitiated && selectedVenueText != null) { + selectedVenueText.setText("Location not ready yet. Please wait."); + } + return; + } + + if (userInitiated && selectedVenueText != null) { + selectedVenueText.setText("Requesting nearby indoor maps..."); + } + setIndoorLoading(true); + + floorplanApiClient.requestFloorplan(center.latitude, center.longitude, getObservedMacs(), + new FloorplanApiClient.FloorplanCallback() { + @Override + public void onSuccess(List buildings) { + if (!isAdded() || gMap == null) { + return; + } + setIndoorLoading(false); + hasFetchedNearbyBuildings = buildings != null && !buildings.isEmpty(); + + lastFetchedBuildings.clear(); + if (buildings != null) { + lastFetchedBuildings.addAll(buildings); + } + + SensorFusion.getInstance().setFloorplanBuildings(buildings); + drawFloorplanBuildings(buildings); + maybeAutoSelectIndoorMap(buildings); + + if (selectedVenueText != null) { + if (buildings == null || buildings.isEmpty()) { + selectedVenueText.setText("No nearby buildings found."); + } else { + selectedVenueText.setText("Tap a blue building outline to select a building"); + } + } + } + + @Override + public void onFailure(String error) { + if (!isAdded()) { + return; + } + setIndoorLoading(false); + if (userInitiated && selectedVenueText != null) { + selectedVenueText.setText("Request failed: " + error); + } + } + }); + } + + private void drawFloorplanBuildings(List buildings) { + for (Polygon p : floorplanPolygons) { + p.remove(); + } + floorplanPolygons.clear(); + polygonToBuilding.clear(); + + if (buildings == null || buildings.isEmpty() || gMap == null) { + return; + } + + for (FloorplanApiClient.BuildingInfo building : buildings) { + List outline = building.getOutlinePolygon(); + if (outline == null || outline.size() < 3) { + continue; + } + + Polygon polygon = gMap.addPolygon(new PolygonOptions() + .addAll(outline) + .strokeColor(Color.argb(220, 33, 150, 243)) + .strokeWidth(5f) + .fillColor(Color.argb(50, 33, 150, 243)) + .clickable(true) + .zIndex(19f)); + + floorplanPolygons.add(polygon); + polygonToBuilding.put(polygon, building); + } + } + + private void restoreCachedBuildingsIfAny() { + List cached = SensorFusion.getInstance().getFloorplanBuildings(); + if (cached != null && !cached.isEmpty()) { + drawFloorplanBuildings(cached); + maybeAutoSelectIndoorMap(cached); + lastFetchedBuildings.clear(); + lastFetchedBuildings.addAll(cached); + hasFetchedNearbyBuildings = true; + if (selectedVenueText != null) { + selectedVenueText.setText("Tap a blue building outline to select a building"); + } + } + } + + /** + * Updates the displayed map floor from the PF-owned fused pose. + * + * Important: + * this is UI-only and must not push floor back into PF. + */ + private void displayPfOwnedFloor(int newFloorIndex) { + floorController.displayPfOwnedFloor(newFloorIndex); + refreshDebugStatusText(); + } + + // Floor helpers + private void setFloor(int newFloorIndex) { + floorController.setFloor(newFloorIndex); + refreshDebugStatusText(); + } + + private int getDefaultFloorIndex(FloorplanApiClient.BuildingInfo building) { + return floorController.getDefaultFloorIndex(building); + } + + private String getFloorDisplayName(FloorplanApiClient.BuildingInfo building, int floorIndex) { + return floorController.getFloorDisplayName(building, floorIndex); + } + + private int getAdjacentFloorIndex(FloorplanApiClient.BuildingInfo building, int currentIndex, boolean moveUp) { + return floorController.getAdjacentFloorIndex(building, currentIndex, moveUp); + } + + private List getOrderedFloorIndices(FloorplanApiClient.BuildingInfo building) { + return floorController.getOrderedFloorIndices(building); + } + + private String formatFloorLabelForUi(String rawFloorLabel) { + String canonicalFloor = canonicalFloorLabel(rawFloorLabel); + switch (canonicalFloor) { + case "LG": + return "LG"; + case "G": + return "G"; + case "1": + return "F1"; + case "2": + return "F2"; + case "3": + return "F3"; + default: + return rawFloorLabel == null ? "" : rawFloorLabel; + } + } + + private void setFloorControlsVisibility(int visibility) { + if (floorUpButton != null) floorUpButton.setVisibility(visibility); + if (floorDownButton != null) floorDownButton.setVisibility(visibility); + if (floorLabel != null) floorLabel.setVisibility(visibility); + + // Keep auto-floor in the foldable top-left control panel. + if (visibility == View.VISIBLE) { + updateFloorLabel(); + } + } + + private void updateFloorLabel() { + if (floorLabel != null && indoorMapManager != null && indoorMapManager.getIsIndoorMapSet()) { + floorLabel.setText(formatFloorLabelForUi(indoorMapManager.getCurrentFloorDisplayName())); + } + updateCalibrationUi(); + } + + private void updateAutoFloorAvailability() { + if (autoFloorSwitch == null) { + return; + } + + boolean enabled = selectedFloorplanBuilding != null && !replayModeEnabled; + autoFloorSwitch.setEnabled(enabled); + autoFloorSwitch.setAlpha(enabled ? 1f : 0.45f); + + if (!enabled && autoFloorSwitch.isChecked()) { + autoFloorSwitch.setChecked(false); + } + } + + private void syncReplayUiState() { + updateAutoFloorAvailability(); + } + + // UI helpers + private void initMapControlsToggle() { + if (btnToggleMapControls != null && mapControlContent != null) { + btnToggleMapControls.setOnClickListener(v -> { + mapControlsExpanded = !mapControlsExpanded; + mapControlContent.setVisibility(mapControlsExpanded ? View.VISIBLE : View.GONE); + btnToggleMapControls.setText(mapControlsExpanded ? "Hide" : "Show"); + }); + } + } + + private void initDebugStatusToggle() { + if (btnToggleLog != null && debugStatusText != null) { + btnToggleLog.setOnClickListener(v -> { + isDebugStatusVisible = !isDebugStatusVisible; + debugStatusText.setVisibility(isDebugStatusVisible ? View.VISIBLE : View.GONE); + btnToggleLog.setText(isDebugStatusVisible ? "Hide Log" : "Show Log"); + }); + } + } + + private void applyTrajectoryColorButtonState() { + if (switchColorButton == null) { + return; + } + switchColorButton.setBackgroundColor(Color.RED); + } + + private void updateActualMapButtonState() { + if (btnFindActualMap == null) { + return; + } + btnFindActualMap.setText(actualMapVisible ? "Hide Actual Maps" : "Display Actual Maps"); + } + + private void refreshDebugStatusText() { + if (debugStatusText == null) { + return; + } + + String pfSummary = sensorFusion != null + ? sensorFusion.getParticleFilterDebugSummary() + : "PF: unavailable"; + + String autoFloorSummary = floorController != null + ? floorController.getAutoFloorDebugSummary() + : "autoFloor: unavailable"; + + String modeSummary = replayModeEnabled + ? mapMatchingCoordinator.getLatestDebugStatus() + : "Live MM owner: ParticleFilterManager\nFragment role: UI-only renderer"; + + int wifiFloor = sensorFusion != null ? sensorFusion.getWifiFloor() : -1; + boolean wifiAvailable = sensorFusion != null && sensorFusion.getLatLngWifiPositioning() != null; + + debugStatusText.setText(String.format( + Locale.US, + "Trajectory: %s\n" + + "Mode: %s\n" + + "Display floor: %d\n" + + "WiFi: %s | floor: %d\n" + + "%s\n" + + "%s\n" + + "%s", + currentTrajectoryPlotSource, + replayModeEnabled ? "Replay" : "Live", + currentFloorIndex, + wifiAvailable ? "yes" : "no", + wifiFloor, + pfSummary, + autoFloorSummary, + modeSummary + )); + } + + public void refreshLiveDebugBox() { + refreshDebugStatusText(); + } + + public void updateRawPdrObservation(@NonNull LatLng rawPdrLocation) { + trajectoryRenderer.appendRawObservationPoint(rawPdrLocation); + } + + /** + * Clears only replay trajectory/render state without destroying + * the selected building, indoor map, replay mode, or floor UI state. + * + * This is used when replay scrubs/jumps and needs to rebuild the path. + */ + public void clearReplayTrajectoryOnly() { + mapMatchingCoordinator.resetMapMatchingState(); + trajectoryRenderer.clearAll(); + currentLocation = null; + + trajectoryRenderer.clearGnss(); + trajectoryRenderer.clearWifi(); + + refreshDebugStatusText(); + } + + private void initMapTypeSpinner() { + if (switchMapSpinner == null) { + return; + } + String[] maps = new String[]{ + getString(R.string.hybrid), + getString(R.string.normal), + getString(R.string.satellite) + }; + ArrayAdapter adapter = new ArrayAdapter<>( + requireContext(), + android.R.layout.simple_spinner_dropdown_item, + maps + ); + switchMapSpinner.setAdapter(adapter); + + switchMapSpinner.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() { + @Override + public void onItemSelected(AdapterView parent, View view, int position, long id) { + if (gMap == null) { + return; + } + switch (position) { + case 0: + gMap.setMapType(GoogleMap.MAP_TYPE_HYBRID); + break; + case 1: + gMap.setMapType(GoogleMap.MAP_TYPE_NORMAL); + break; + case 2: + gMap.setMapType(GoogleMap.MAP_TYPE_SATELLITE); + break; + } + } + + @Override + public void onNothingSelected(AdapterView parent) { + } + }); + } + + private float getSavedMapZoom() { + if (getContext() == null) { + return 19f; + } + return getContext() + .getSharedPreferences("MapCameraState", Context.MODE_PRIVATE) + .getFloat("user_selected_zoom", 19f); + } + + private void setIndoorLoading(boolean loading) { + isIndoorRequestInFlight = loading; + if (indoorLoadingIndicator != null) { + indoorLoadingIndicator.setVisibility(loading ? View.VISIBLE : View.GONE); + } + if (btnFindIndoorMap != null) { + btnFindIndoorMap.setEnabled(!loading); + btnFindIndoorMap.setAlpha(loading ? 0.6f : 1f); + } + if (btnFindActualMap != null) { + btnFindActualMap.setEnabled(!loading); + btnFindActualMap.setAlpha(loading ? 0.6f : 1f); + } + if (btnToggleAdjustMap != null) { + btnToggleAdjustMap.setEnabled(!loading); + btnToggleAdjustMap.setAlpha(loading ? 0.6f : 1f); + } + } + + private List getObservedMacs() { + List macs = new ArrayList<>(); + List wifiList = SensorFusion.getInstance().getWifiList(); + if (wifiList != null) { + for (com.openpositioning.PositionMe.sensors.Wifi wifi : wifiList) { + String mac = wifi.getBssidString(); + if (mac != null && !mac.isEmpty()) { + macs.add(mac); + } + } + } + return macs; + } + + private String prettyBuildingName(String raw) { + if (raw == null || raw.isEmpty()) { + return ""; + } + String[] parts = raw.split("_"); + StringBuilder sb = new StringBuilder(); + for (String p : parts) { + if (p.isEmpty()) { + continue; + } + if (sb.length() > 0) { + sb.append(" "); + } + sb.append(Character.toUpperCase(p.charAt(0))); + if (p.length() > 1) { + sb.append(p.substring(1)); + } + } + return sb.toString(); + } + + // Calibration / actual map overlay logic + private enum HorizontalAnchor { + LEFT, RIGHT, CENTER + } + + private static final class ActualMapAlignmentConfig { + final HorizontalAnchor horizontalAnchor; + final double northInsetRatio; + final double southInsetRatio; + final double horizontalInsetRatio; + final double widthScale; + final double topVisibleInsetRatio; + final double bottomVisibleInsetRatio; + final double rightVisibleInsetRatio; + final double leftVisibleInsetRatio; + + ActualMapAlignmentConfig(HorizontalAnchor horizontalAnchor, + double northInsetRatio, + double southInsetRatio, + double horizontalInsetRatio, + double widthScale, + double topVisibleInsetRatio, + double bottomVisibleInsetRatio, + double rightVisibleInsetRatio, + double leftVisibleInsetRatio) { + this.horizontalAnchor = horizontalAnchor; + this.northInsetRatio = northInsetRatio; + this.southInsetRatio = southInsetRatio; + this.horizontalInsetRatio = horizontalInsetRatio; + this.widthScale = widthScale; + this.topVisibleInsetRatio = topVisibleInsetRatio; + this.bottomVisibleInsetRatio = bottomVisibleInsetRatio; + this.rightVisibleInsetRatio = rightVisibleInsetRatio; + this.leftVisibleInsetRatio = leftVisibleInsetRatio; + } + } + + private static final class DrawableContentInsets { + final double leftFraction; + final double topFraction; + final double rightFraction; + final double bottomFraction; + + DrawableContentInsets(double leftFraction, + double topFraction, + double rightFraction, + double bottomFraction) { + this.leftFraction = clamp01(leftFraction); + this.topFraction = clamp01(topFraction); + this.rightFraction = clamp01(rightFraction); + this.bottomFraction = clamp01(bottomFraction); + } + + double contentWidthFraction() { + return Math.max(0.01d, 1d - leftFraction - rightFraction); + } - drawBuildingPolygon(); + double contentHeightFraction() { + return Math.max(0.01d, 1d - topFraction - bottomFraction); + } + } - Log.d("TrajectoryMapFragment", "onMapReady: Map is ready!"); + private static final class OverlayCalibration { + final float shiftLatRatio; + final float shiftLngRatio; + final float widthScale; + final float heightScale; + + OverlayCalibration(float shiftLatRatio, float shiftLngRatio, float widthScale, float heightScale) { + this.shiftLatRatio = shiftLatRatio; + this.shiftLngRatio = shiftLngRatio; + this.widthScale = widthScale; + this.heightScale = heightScale; + } + static OverlayCalibration identity() { + return new OverlayCalibration(0f, 0f, 1f, 1f); + } + } + private void setupCalibrationControls() { + if (btnToggleAdjustMap != null) { + btnToggleAdjustMap.setOnClickListener(v -> { + if (!actualMapVisible) { + if (selectedVenueText != null) { + selectedVenueText.setText("Show actual maps first, then adjust them"); + } + return; } + if (calibrationPanel != null) { + calibrationPanel.setVisibility( + calibrationPanel.getVisibility() == View.VISIBLE ? View.GONE : View.VISIBLE + ); + } + updateCalibrationUi(); }); } - // Map type spinner setup - initMapTypeSpinner(); + if (btnCalibrationTarget != null) { + btnCalibrationTarget.setOnClickListener(v -> { + cycleCalibrationTarget(); + updateCalibrationUi(); + }); + } - // GNSS Switch - gnssSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> { - isGnssOn = isChecked; - if (!isChecked && gnssMarker != null) { - gnssMarker.remove(); - gnssMarker = null; - } - }); + bindCalibrationButton(btnCalibrateUp, 0f, CALIBRATION_SHIFT_STEP, 0f, 0f); + bindCalibrationButton(btnCalibrateDown, 0f, -CALIBRATION_SHIFT_STEP, 0f, 0f); + bindCalibrationButton(btnCalibrateLeft, -CALIBRATION_SHIFT_STEP, 0f, 0f, 0f); + bindCalibrationButton(btnCalibrateRight, CALIBRATION_SHIFT_STEP, 0f, 0f, 0f); + bindCalibrationButton(btnWidthMinus, 0f, 0f, -CALIBRATION_SCALE_STEP, 0f); + bindCalibrationButton(btnWidthPlus, 0f, 0f, CALIBRATION_SCALE_STEP, 0f); + bindCalibrationButton(btnHeightMinus, 0f, 0f, 0f, -CALIBRATION_SCALE_STEP); + bindCalibrationButton(btnHeightPlus, 0f, 0f, 0f, CALIBRATION_SCALE_STEP); + + if (btnSaveCalibration != null) { + btnSaveCalibration.setOnClickListener(v -> { + String targetKey = getEffectiveCalibrationTargetBuildingKey(); + if (targetKey.isEmpty()) { + return; + } + String floorKey = getCurrentCalibrationFloorKey(targetKey); + OverlayCalibration calibration = loadOverlayCalibration(targetKey, floorKey); + logCalibration(targetKey, floorKey, calibration, "saved"); + if (selectedVenueText != null) { + selectedVenueText.setText("Saved calibration for " + prettyBuildingName(targetKey) + " " + floorKey); + } + updateCalibrationUi(); + }); + } - // Color switch - switchColorButton.setOnClickListener(v -> { - if (polyline != null) { - if (isRed) { - switchColorButton.setBackgroundColor(Color.BLACK); - polyline.setColor(Color.BLACK); - isRed = false; - } else { - switchColorButton.setBackgroundColor(Color.RED); - polyline.setColor(Color.RED); - isRed = true; + if (btnResetCalibration != null) { + btnResetCalibration.setOnClickListener(v -> { + String targetKey = getEffectiveCalibrationTargetBuildingKey(); + if (targetKey.isEmpty()) { + return; } - } - }); + String floorKey = getCurrentCalibrationFloorKey(targetKey); + OverlayCalibration defaults = getHardcodedCalibrationDefault(targetKey, floorKey); + saveOverlayCalibration(targetKey, floorKey, defaults); + if (actualMapVisible) { + floorController.refreshCurrentFloorUi(); + } + if (selectedVenueText != null) { + selectedVenueText.setText("Reset calibration for " + prettyBuildingName(targetKey) + " " + floorKey); + } + logCalibration(targetKey, floorKey, defaults, "reset"); + updateCalibrationUi(); + }); + } + } - // Auto-floor toggle: start/stop periodic floor evaluation - sensorFusion = SensorFusion.getInstance(); - autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> { - if (isChecked) { - startAutoFloor(); - } else { - stopAutoFloor(); - } - }); + private void bindCalibrationButton(Button button, float shiftLngDelta, float shiftLatDelta, + float widthDelta, float heightDelta) { + if (button == null) { + return; + } + button.setOnClickListener(v -> applyCalibrationDelta(shiftLngDelta, shiftLatDelta, widthDelta, heightDelta)); + } - floorUpButton.setOnClickListener(v -> { - // If user manually changes floor, turn off auto floor - autoFloorSwitch.setChecked(false); - if (indoorMapManager != null) { - indoorMapManager.increaseFloor(); - updateFloorLabel(); + private void applyCalibrationDelta(float shiftLngDelta, float shiftLatDelta, + float widthDelta, float heightDelta) { + String targetKey = getEffectiveCalibrationTargetBuildingKey(); + if (targetKey.isEmpty()) { + if (selectedVenueText != null) { + selectedVenueText.setText("Select a visible actual map to adjust"); } - }); + return; + } - floorDownButton.setOnClickListener(v -> { - autoFloorSwitch.setChecked(false); - if (indoorMapManager != null) { - indoorMapManager.decreaseFloor(); - updateFloorLabel(); - } - }); + String floorKey = getCurrentCalibrationFloorKey(targetKey); + OverlayCalibration current = loadOverlayCalibration(targetKey, floorKey); + OverlayCalibration updated = new OverlayCalibration( + current.shiftLatRatio + shiftLatDelta, + current.shiftLngRatio + shiftLngDelta, + Math.max(0.50f, current.widthScale + widthDelta), + Math.max(0.50f, current.heightScale + heightDelta) + ); + saveOverlayCalibration(targetKey, floorKey, updated); + logCalibration(targetKey, floorKey, updated, "updated"); + if (actualMapVisible) { + floorController.refreshCurrentFloorUi(); + } + updateCalibrationUi(); } - /** - * Initialize the map settings with the provided GoogleMap instance. - *

- * The method sets basic map settings, initializes the indoor map manager, - * and creates an empty polyline for user movement tracking. - * The method also initializes the GNSS polyline for tracking GNSS path. - * The method sets the map type to Hybrid and initializes the map with these settings. - * - * @param map - */ + private void updateRealMapOverlay(String buildingName, int floorIndex, boolean show) { + if (!show || gMap == null || selectedFloorplanBuilding == null) { + return; + } - private void initMapSettings(GoogleMap map) { - // Basic map settings - map.getUiSettings().setCompassEnabled(true); - map.getUiSettings().setTiltGesturesEnabled(true); - map.getUiSettings().setRotateGesturesEnabled(true); - map.getUiSettings().setScrollGesturesEnabled(true); - map.setMapType(GoogleMap.MAP_TYPE_HYBRID); + String selectedBuildingKey = resolveKnownBuildingKey(selectedFloorplanBuilding, buildingName); + String selectedFloorDisplayName = normalizeFloorLabel(getFloorDisplayName(selectedFloorplanBuilding, floorIndex)); + addActualMapOverlayForBuilding(selectedFloorplanBuilding, selectedBuildingKey, selectedFloorDisplayName, floorIndex); + + if (shouldShowLinkedLibraryAndNucleus(selectedBuildingKey)) { + String linkedBuildingKey = "library".equals(selectedBuildingKey) ? "nucleus_building" : "library"; + FloorplanApiClient.BuildingInfo linkedBuilding = findBuildingByKnownKey(linkedBuildingKey); + int linkedFloorIndex = linkedBuilding != null + ? findMatchingFloorIndex(linkedBuilding, selectedFloorDisplayName, floorIndex) + : resolveFallbackFloorIndexForKey(linkedBuildingKey, selectedFloorDisplayName, floorIndex); + addActualMapOverlayForBuilding(linkedBuilding, linkedBuildingKey, selectedFloorDisplayName, linkedFloorIndex); + } + } - // Initialize indoor manager - indoorMapManager = new IndoorMapManager(map); + private void addActualMapOverlayForBuilding(FloorplanApiClient.BuildingInfo building, + String buildingKey, + String requestedFloorDisplayName, + int requestedFloorIndex) { + if (gMap == null) { + return; + } - // Initialize an empty polyline - polyline = map.addPolyline(new PolylineOptions() - .color(Color.RED) - .width(5f) - .add() // start empty - ); + String normalizedBuildingKey = normalizeBuildingKey(buildingKey); + String requestedCanonicalFloor = canonicalFloorLabel(requestedFloorDisplayName); + if ("library".equals(normalizedBuildingKey) && "LG".equals(requestedCanonicalFloor)) { + return; + } - // GNSS path in blue - gnssPolyline = map.addPolyline(new PolylineOptions() - .color(Color.BLUE) - .width(5f) - .add() // start empty - ); + int resolvedFloorIndex = building != null + ? findMatchingFloorIndex(building, requestedFloorDisplayName, requestedFloorIndex) + : resolveFallbackFloorIndexForKey(normalizedBuildingKey, requestedFloorDisplayName, requestedFloorIndex); + + String resolvedFloorDisplayName = building != null + ? normalizeFloorLabel(getFloorDisplayName(building, resolvedFloorIndex)) + : normalizeFloorLabel(requestedFloorDisplayName); + + String drawableFloorDisplayName = "library".equals(normalizedBuildingKey) + ? requestedCanonicalFloor + : resolvedFloorDisplayName; + + int drawableResId = resolveActualMapDrawable(normalizedBuildingKey, drawableFloorDisplayName, resolvedFloorIndex); + LatLngBounds bounds = computeActualMapBounds(building, normalizedBuildingKey, drawableResId, drawableFloorDisplayName); + + if (drawableResId != 0 && bounds != null) { + GroundOverlay overlay = gMap.addGroundOverlay(new GroundOverlayOptions() + .image(BitmapDescriptorFactory.fromResource(drawableResId)) + .positionFromBounds(bounds) + .transparency(0.32f) + .zIndex(5f)); + if (overlay != null) { + realMapOverlays.add(overlay); + } + } } + private void resetMapOverlays() { + for (GroundOverlay overlay : realMapOverlays) { + if (overlay != null) { + overlay.remove(); + } + } + realMapOverlays.clear(); + } - /** - * Initialize the map type spinner with the available map types. - *

- * The spinner allows the user to switch between different map types - * (e.g. Hybrid, Normal, Satellite) to customize their map view. - * The spinner is populated with the available map types and listens - * for user selection to update the map accordingly. - * The map type is updated directly on the GoogleMap instance. - *

- * Note: The spinner is initialized with the default map type (Hybrid). - * The map type is updated on user selection. - *

- *

- * @see com.google.android.gms.maps.GoogleMap The GoogleMap instance to update map type. - */ - private void initMapTypeSpinner() { - if (switchMapSpinner == null) return; - String[] maps = new String[]{ - getString(R.string.hybrid), - getString(R.string.normal), - getString(R.string.satellite) - }; - ArrayAdapter adapter = new ArrayAdapter<>( - requireContext(), - android.R.layout.simple_spinner_dropdown_item, - maps - ); - switchMapSpinner.setAdapter(adapter); + private int resolveFallbackFloorIndexForKey(String buildingKey, String requestedFloorDisplayName, int requestedFloorIndex) { + String normalizedKey = normalizeBuildingKey(buildingKey); + String canonicalFloor = canonicalFloorLabel(requestedFloorDisplayName); + + if ("nucleus_building".equals(normalizedKey)) { + switch (canonicalFloor) { + case "LG": return 0; + case "G": return 1; + case "1": return 2; + case "2": return 3; + case "3": return 4; + default: return Math.max(0, Math.min(requestedFloorIndex, 4)); + } + } - switchMapSpinner.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() { - @Override - public void onItemSelected(AdapterView parent, View view, - int position, long id) { - if (gMap == null) return; - switch (position){ - case 0: - gMap.setMapType(GoogleMap.MAP_TYPE_HYBRID); - break; - case 1: - gMap.setMapType(GoogleMap.MAP_TYPE_NORMAL); - break; - case 2: - gMap.setMapType(GoogleMap.MAP_TYPE_SATELLITE); - break; - } + if ("library".equals(normalizedKey)) { + switch (canonicalFloor) { + case "G": return 0; + case "1": return 1; + case "2": return 2; + case "3": return 3; + default: return Math.max(0, Math.min(requestedFloorIndex, 3)); } - @Override - public void onNothingSelected(AdapterView parent) {} - }); + } + + return Math.max(0, requestedFloorIndex); } - /** - * Update the user's current location on the map, create or move orientation marker, - * and append to polyline if the user actually moved. - * - * @param newLocation The new location to plot. - * @param orientation The user’s heading (e.g. from sensor fusion). - */ - public void updateUserLocation(@NonNull LatLng newLocation, float orientation) { - if (gMap == null) return; - - // Keep track of current location - LatLng oldLocation = this.currentLocation; - this.currentLocation = newLocation; - - // If no marker, create it - if (orientationMarker == null) { - orientationMarker = gMap.addMarker(new MarkerOptions() - .position(newLocation) - .flat(true) - .title("Current Position") - .icon(BitmapDescriptorFactory.fromBitmap( - UtilFunctions.getBitmapFromVector(requireContext(), - R.drawable.ic_baseline_navigation_24))) - ); - gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(newLocation, 19f)); - } else { - // Update marker position + orientation - orientationMarker.setPosition(newLocation); - orientationMarker.setRotation(orientation); - // Move camera a bit - gMap.moveCamera(CameraUpdateFactory.newLatLng(newLocation)); + private boolean shouldShowLinkedLibraryAndNucleus(String buildingKey) { + return "library".equals(buildingKey) || "nucleus_building".equals(buildingKey); + } + + private FloorplanApiClient.BuildingInfo findBuildingByKnownKey(String knownKey) { + if (knownKey == null || knownKey.isEmpty()) { + return null; + } + + if (selectedFloorplanBuilding != null) { + String selectedKey = resolveKnownBuildingKey(selectedFloorplanBuilding, selectedFloorplanBuilding.getName()); + if (knownKey.equals(selectedKey)) { + return selectedFloorplanBuilding; + } } - // Extend polyline if movement occurred - /*if (oldLocation != null && !oldLocation.equals(newLocation) && polyline != null) { - List points = new ArrayList<>(polyline.getPoints()); - points.add(newLocation); - polyline.setPoints(points); - }*/ - // Extend polyline - if (polyline != null) { - List points = new ArrayList<>(polyline.getPoints()); + for (FloorplanApiClient.BuildingInfo building : lastFetchedBuildings) { + String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null); + if (knownKey.equals(candidateKey)) { + return building; + } + } - // First position fix: add the first polyline point - if (oldLocation == null) { - points.add(newLocation); - polyline.setPoints(points); - } else if (!oldLocation.equals(newLocation)) { - // Subsequent movement: append a new polyline point - points.add(newLocation); - polyline.setPoints(points); + List cachedBuildings = SensorFusion.getInstance().getFloorplanBuildings(); + if (cachedBuildings != null) { + for (FloorplanApiClient.BuildingInfo building : cachedBuildings) { + String candidateKey = resolveKnownBuildingKey(building, building != null ? building.getName() : null); + if (knownKey.equals(candidateKey)) { + return building; + } } } + return null; + } - // Update indoor map overlay - if (indoorMapManager != null) { - indoorMapManager.setCurrentLocation(newLocation); - setFloorControlsVisibility(indoorMapManager.getIsIndoorMapSet() ? View.VISIBLE : View.GONE); + private int findMatchingFloorIndex(FloorplanApiClient.BuildingInfo building, + String requestedFloorDisplayName, + int fallbackFloorIndex) { + if (building == null || building.getFloorShapesList() == null || building.getFloorShapesList().isEmpty()) { + return 0; + } + + String normalizedRequestedFloor = normalizeFloorLabel(requestedFloorDisplayName); + if (!normalizedRequestedFloor.isEmpty()) { + for (int i = 0; i < building.getFloorShapesList().size(); i++) { + String candidateLabel = normalizeFloorLabel(building.getFloorShapesList().get(i).getDisplayName()); + if (areEquivalentFloorLabels(normalizedRequestedFloor, candidateLabel)) { + return i; + } + } } + + return Math.max(0, Math.min(fallbackFloorIndex, building.getFloorShapesList().size() - 1)); } + private boolean areEquivalentFloorLabels(String requestedFloorLabel, String candidateFloorLabel) { + if (requestedFloorLabel == null || candidateFloorLabel == null) { + return false; + } + if (requestedFloorLabel.equals(candidateFloorLabel)) { + return true; + } + String requested = canonicalFloorLabel(requestedFloorLabel); + String candidate = canonicalFloorLabel(candidateFloorLabel); + return !requested.isEmpty() && requested.equals(candidate); + } - /** - * Set the initial camera position for the map. - *

- * The method sets the initial camera position for the map when it is first loaded. - * If the map is already ready, the camera is moved immediately. - * If the map is not ready, the camera position is stored until the map is ready. - * The method also tracks if there is a pending camera move. - *

- * @param startLocation The initial camera position to set. - */ - public void setInitialCameraPosition(@NonNull LatLng startLocation) { - // If the map is already ready, move camera immediately - if (gMap != null) { - gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(startLocation, 19f)); - } else { - // Otherwise, store it until onMapReady - pendingCameraPosition = startLocation; - hasPendingCameraMove = true; + private String canonicalFloorLabel(String floorLabel) { + String normalized = normalizeFloorLabel(floorLabel); + switch (normalized) { + case "LG": + case "LOWERGROUND": + case "LOWERG": + case "B1": + case "BASEMENT1": + return "LG"; + case "G": + case "GF": + case "GROUND": + case "GROUNDFLOOR": + case "0": + return "G"; + case "1": + case "F1": + case "FIRST": + case "FIRSTFLOOR": + return "1"; + case "2": + case "F2": + case "SECOND": + case "SECONDFLOOR": + return "2"; + case "3": + case "F3": + case "THIRD": + case "THIRDFLOOR": + return "3"; + default: + return normalized; } } + private String normalizeFloorLabel(String floorDisplayName) { + if (floorDisplayName == null) { + return ""; + } + return floorDisplayName.trim().toUpperCase().replace(" ", ""); + } - /** - * Get the current user location on the map. - * @return The current user location as a LatLng object. - */ - public LatLng getCurrentLocation() { - return currentLocation; + private String normalizeBuildingKey(String buildingName) { + if (buildingName == null) { + return ""; + } + String key = buildingName.trim().toLowerCase(); + if (key.contains("nucleus") || key.contains("nuclear")) { + return "nucleus_building"; + } + if (key.contains("library") || key.contains("kenneth") || key.contains("murray")) { + return "library"; + } + if (key.contains("murchison")) { + return "murchison_house"; + } + return key; } - /** - * Add a numbered test point marker on the map. - * Called by RecordingFragment when user presses the "Test Point" button. - */ - public void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) { - if (gMap == null) return; + private String resolveKnownBuildingKey(FloorplanApiClient.BuildingInfo building, String buildingName) { + String normalized = normalizeBuildingKey(buildingName); + if ("nucleus_building".equals(normalized) || "library".equals(normalized) || "murchison_house".equals(normalized)) { + return normalized; + } - Marker m = gMap.addMarker(new MarkerOptions() - .position(position) - .title("TP " + index) - .snippet("t=" + timestampMs)); + LatLng center = building != null ? building.getCenter() : null; + if (center != null) { + if (BuildingPolygon.inLibrary(center)) return "library"; + if (BuildingPolygon.inNucleus(center)) return "nucleus_building"; + if (BuildingPolygon.inMurchison(center)) return "murchison_house"; + } - if (m != null) { - m.showInfoWindow(); // Show TP index immediately - testPointMarkers.add(m); + List outline = building != null ? building.getOutlinePolygon() : null; + if (outline != null && !outline.isEmpty()) { + LatLng centroid = computeOutlineCentroid(outline); + if (centroid != null) { + if (BuildingPolygon.inLibrary(centroid)) return "library"; + if (BuildingPolygon.inNucleus(centroid)) return "nucleus_building"; + if (BuildingPolygon.inMurchison(centroid)) return "murchison_house"; + } } + + return normalized; } + private LatLng computeOutlineCentroid(List outline) { + if (outline == null || outline.isEmpty()) { + return null; + } + double latSum = 0d; + double lngSum = 0d; + int count = 0; + for (LatLng point : outline) { + if (point == null) continue; + latSum += point.latitude; + lngSum += point.longitude; + count++; + } + if (count == 0) { + return null; + } + return new LatLng(latSum / count, lngSum / count); + } - /** - * Called when we want to set or update the GNSS marker position - */ - public void updateGNSS(@NonNull LatLng gnssLocation) { - if (gMap == null) return; - if (!isGnssOn) return; - - if (gnssMarker == null) { - // Create the GNSS marker for the first time - gnssMarker = gMap.addMarker(new MarkerOptions() - .position(gnssLocation) - .title("GNSS Position") - .icon(BitmapDescriptorFactory - .defaultMarker(BitmapDescriptorFactory.HUE_AZURE))); - lastGnssLocation = gnssLocation; - } else { - // Move existing GNSS marker - gnssMarker.setPosition(gnssLocation); + private int resolveActualMapDrawable(String buildingName, String floorDisplayName, int floorIndex) { + buildingName = normalizeBuildingKey(buildingName); + String canonicalFloor = canonicalFloorLabel(floorDisplayName); + + if ("nucleus_building".equals(buildingName)) { + if ("LG".equals(canonicalFloor)) return R.drawable.nucleuslg; + if ("G".equals(canonicalFloor)) return R.drawable.nucleusg; + if ("1".equals(canonicalFloor)) return R.drawable.nucleus1; + if ("2".equals(canonicalFloor)) return R.drawable.nucleus2; + if ("3".equals(canonicalFloor)) return R.drawable.nucleus3; + + switch (floorIndex) { + case 0: return R.drawable.nucleuslg; + case 1: return R.drawable.nucleusg; + case 2: return R.drawable.nucleus1; + case 3: return R.drawable.nucleus2; + case 4: return R.drawable.nucleus3; + default: return R.drawable.nucleusg; + } + } - // Add a segment to the blue GNSS line, if this is a new location - if (lastGnssLocation != null && !lastGnssLocation.equals(gnssLocation)) { - List gnssPoints = new ArrayList<>(gnssPolyline.getPoints()); - gnssPoints.add(gnssLocation); - gnssPolyline.setPoints(gnssPoints); + if ("library".equals(buildingName)) { + if ("LG".equals(canonicalFloor)) return 0; + if ("G".equals(canonicalFloor)) return R.drawable.libraryg; + if ("1".equals(canonicalFloor)) return R.drawable.library1; + if ("2".equals(canonicalFloor)) return R.drawable.library2; + if ("3".equals(canonicalFloor)) return R.drawable.library3; + + switch (floorIndex) { + case 0: return 0; + case 1: return R.drawable.libraryg; + case 2: return R.drawable.library1; + case 3: return R.drawable.library2; + case 4: return R.drawable.library3; + default: return R.drawable.libraryg; } - lastGnssLocation = gnssLocation; } + + return 0; } + private LatLngBounds computeActualMapBounds(FloorplanApiClient.BuildingInfo building, + String buildingName, + int drawableResId, + String floorDisplayName) { + buildingName = normalizeBuildingKey(buildingName); + ActualMapAlignmentConfig config = getActualMapAlignmentConfig(buildingName); + + LatLngBounds bounds; + if ("library".equals(buildingName)) { + bounds = computeFixedActualMapBounds(buildingName, drawableResId); + } else if (building != null) { + bounds = computeThreeEdgeAlignedBounds(building, drawableResId, config); + } else { + bounds = computeFixedActualMapBounds(buildingName, drawableResId); + } - /** - * Remove GNSS marker if user toggles it off - */ - public void clearGNSS() { - if (gnssMarker != null) { - gnssMarker.remove(); - gnssMarker = null; + if (bounds == null) { + bounds = getFallbackBuildingBounds(buildingName); } + if (bounds != null) { + bounds = applySavedCalibration(bounds, buildingName, floorDisplayName); + } + return bounds; } - /** - * Whether user is currently showing GNSS or not - */ - public boolean isGnssEnabled() { - return isGnssOn; + private LatLngBounds computeFixedActualMapBounds(String buildingName, int drawableResId) { + buildingName = normalizeBuildingKey(buildingName); + if ("library".equals(buildingName)) { + double widthScale = getLibraryFixedWidthScale(drawableResId); + return buildRightAnchoredRectBounds( + BuildingPolygon.LIBRARY_SW, + BuildingPolygon.LIBRARY_NE, + widthScale, + 1.0, + 0.008, + 0.0); + } + return null; } - private void setFloorControlsVisibility(int visibility) { - floorUpButton.setVisibility(visibility); - floorDownButton.setVisibility(visibility); - floorLabel.setVisibility(visibility); - autoFloorSwitch.setVisibility(visibility); - if (visibility == View.VISIBLE) { - updateFloorLabel(); - } + private double getLibraryFixedWidthScale(int drawableResId) { + return 1.000; } - /** - * Updates the floor label text to reflect the current floor display name. - */ - private void updateFloorLabel() { - if (floorLabel != null && indoorMapManager != null) { - floorLabel.setText(indoorMapManager.getCurrentFloorDisplayName()); + private LatLngBounds buildRightAnchoredRectBounds(LatLng southWest, + LatLng northEast, + double widthScale, + double heightScale, + double eastShiftRatio, + double northShiftRatio) { + if (southWest == null || northEast == null) { + return null; + } + + double rectWidth = northEast.longitude - southWest.longitude; + double rectHeight = northEast.latitude - southWest.latitude; + if (rectWidth <= 0d || rectHeight <= 0d) { + return null; } + + double overlayWidth = rectWidth * widthScale; + double overlayHeight = rectHeight * heightScale; + double east = northEast.longitude + rectWidth * eastShiftRatio; + double west = east - overlayWidth; + double north = northEast.latitude + rectHeight * northShiftRatio; + double south = north - overlayHeight; + return new LatLngBounds(new LatLng(south, west), new LatLng(north, east)); } - public void clearMapAndReset() { - stopAutoFloor(); - if (autoFloorSwitch != null) { - autoFloorSwitch.setChecked(false); + private LatLngBounds computeThreeEdgeAlignedBounds(FloorplanApiClient.BuildingInfo building, + int drawableResId, + ActualMapAlignmentConfig config) { + if (building == null || config == null) { + return null; } - if (polyline != null) { - polyline.remove(); - polyline = null; + + List outline = building.getOutlinePolygon(); + if (outline == null || outline.size() < 3) { + return null; } - if (gnssPolyline != null) { - gnssPolyline.remove(); - gnssPolyline = null; + + double minLat = Double.POSITIVE_INFINITY; + double maxLat = Double.NEGATIVE_INFINITY; + double minLng = Double.POSITIVE_INFINITY; + double maxLng = Double.NEGATIVE_INFINITY; + for (LatLng point : outline) { + if (point == null) continue; + minLat = Math.min(minLat, point.latitude); + maxLat = Math.max(maxLat, point.latitude); + minLng = Math.min(minLng, point.longitude); + maxLng = Math.max(maxLng, point.longitude); } - if (orientationMarker != null) { - orientationMarker.remove(); - orientationMarker = null; + + if (!Double.isFinite(minLat) || !Double.isFinite(maxLat) + || !Double.isFinite(minLng) || !Double.isFinite(maxLng) + || maxLat <= minLat || maxLng <= minLng) { + return null; } - if (gnssMarker != null) { - gnssMarker.remove(); - gnssMarker = null; + + double latSpan = maxLat - minLat; + double lngSpan = maxLng - minLng; + double visibleNorth = maxLat - latSpan * config.northInsetRatio; + double visibleSouth = minLat + latSpan * config.southInsetRatio; + if (visibleSouth >= visibleNorth) { + return null; } - lastGnssLocation = null; - currentLocation = null; - // Clear test point markers - for (Marker m : testPointMarkers) { - m.remove(); + double fullAspectRatio = getDrawableAspectRatio(drawableResId); + if (fullAspectRatio <= 0d) { + return null; } - testPointMarkers.clear(); + DrawableContentInsets contentInsets = getDrawableContentInsets(drawableResId, config); + double visibleContentHeightFraction = contentInsets.contentHeightFraction(); + double visibleContentWidthFraction = contentInsets.contentWidthFraction(); + if (visibleContentHeightFraction <= 0d || visibleContentWidthFraction <= 0d) { + return null; + } - // Re-create empty polylines with your chosen colors - if (gMap != null) { - polyline = gMap.addPolyline(new PolylineOptions() - .color(Color.RED) - .width(5f) - .add()); - gnssPolyline = gMap.addPolyline(new PolylineOptions() - .color(Color.BLUE) - .width(5f) - .add()); + double visibleHeightDeg = visibleNorth - visibleSouth; + double totalHeightDeg = visibleHeightDeg / visibleContentHeightFraction; + double overlayNorth = visibleNorth + totalHeightDeg * contentInsets.topFraction; + double overlaySouth = overlayNorth - totalHeightDeg; + + double midLatitudeRadians = Math.toRadians((visibleNorth + visibleSouth) / 2.0); + double metersPerDegreeLng = Math.max(111320.0 * Math.cos(midLatitudeRadians), 1.0); + double totalHeightMeters = totalHeightDeg * 111320.0; + double totalWidthMeters = (totalHeightMeters / fullAspectRatio) * config.widthScale; + double totalWidthLng = totalWidthMeters / metersPerDegreeLng; + double visibleContentWidthLng = totalWidthLng * visibleContentWidthFraction; + + double visibleEast; + double visibleWest; + switch (config.horizontalAnchor) { + case RIGHT: + visibleEast = maxLng - lngSpan * config.horizontalInsetRatio; + visibleWest = visibleEast - visibleContentWidthLng; + break; + case LEFT: + visibleWest = minLng + lngSpan * config.horizontalInsetRatio; + visibleEast = visibleWest + visibleContentWidthLng; + break; + case CENTER: + default: + double centerLng = ((minLng + maxLng) / 2.0) + + (lngSpan * (config.leftVisibleInsetRatio - config.rightVisibleInsetRatio) * 0.5); + visibleWest = centerLng - visibleContentWidthLng / 2.0; + visibleEast = centerLng + visibleContentWidthLng / 2.0; + break; } + + double overlayWest = visibleWest - totalWidthLng * contentInsets.leftFraction; + double overlayEast = overlayWest + totalWidthLng; + return new LatLngBounds(new LatLng(overlaySouth, overlayWest), new LatLng(overlayNorth, overlayEast)); } - /** - * Draw the building polygon on the map - *

- * The method draws a polygon representing the building on the map. - * The polygon is drawn with specific vertices and colors to represent - * different buildings or areas on the map. - * The method removes the old polygon if it exists and adds the new polygon - * to the map with the specified options. - * The method logs the number of vertices in the polygon for debugging. - *

- * - * Note: The method uses hard-coded vertices for the building polygon. - * - *

- * - * See: {@link com.google.android.gms.maps.model.PolygonOptions} The options for the new polygon. - */ - private void drawBuildingPolygon() { - if (gMap == null) { - Log.e("TrajectoryMapFragment", "GoogleMap is not ready"); - return; + private DrawableContentInsets getDrawableContentInsets(int drawableResId, ActualMapAlignmentConfig config) { + BitmapFactory.Options bounds = new BitmapFactory.Options(); + bounds.inJustDecodeBounds = true; + BitmapFactory.decodeResource(getResources(), drawableResId, bounds); + int width = bounds.outWidth; + int height = bounds.outHeight; + if (width <= 0 || height <= 0) { + return new DrawableContentInsets( + config.leftVisibleInsetRatio, + config.topVisibleInsetRatio, + config.rightVisibleInsetRatio, + config.bottomVisibleInsetRatio + ); } + return new DrawableContentInsets( + config.leftVisibleInsetRatio, + config.topVisibleInsetRatio, + config.rightVisibleInsetRatio, + config.bottomVisibleInsetRatio + ); + } - // nuclear building polygon vertices - LatLng nucleus1 = new LatLng(55.92279538827796, -3.174612147506538); - LatLng nucleus2 = new LatLng(55.92278121423647, -3.174107900816096); - LatLng nucleus3 = new LatLng(55.92288405733954, -3.173843694667146); - LatLng nucleus4 = new LatLng(55.92331786793876, -3.173832892645086); - LatLng nucleus5 = new LatLng(55.923337194112555, -3.1746284301397387); + private static double clamp01(double value) { + return Math.max(0d, Math.min(1d, value)); + } + private double getDrawableAspectRatio(int drawableResId) { + try { + BitmapFactory.Options options = new BitmapFactory.Options(); + options.inJustDecodeBounds = true; + BitmapFactory.decodeResource(getResources(), drawableResId, options); + if (options.outWidth > 0 && options.outHeight > 0) { + return (double) options.outHeight / (double) options.outWidth; + } + } catch (Exception ignored) { + } + return 1d; + } - // nkml building polygon vertices - LatLng nkml1 = new LatLng(55.9230343434213, -3.1751847990731954); - LatLng nkml2 = new LatLng(55.923032840563366, -3.174777103346131); - LatLng nkml4 = new LatLng(55.92280139974615, -3.175195527934348); - LatLng nkml3 = new LatLng(55.922793885410734, -3.1747958788136867); + private LatLngBounds getFallbackBuildingBounds(String buildingName) { + buildingName = normalizeBuildingKey(buildingName); + if ("nucleus_building".equals(buildingName)) { + return new LatLngBounds(BuildingPolygon.NUCLEUS_SW, BuildingPolygon.NUCLEUS_NE); + } + if ("library".equals(buildingName)) { + return new LatLngBounds(BuildingPolygon.LIBRARY_SW, BuildingPolygon.LIBRARY_NE); + } + if ("murchison_house".equals(buildingName)) { + return new LatLngBounds(BuildingPolygon.MURCHISON_SW, BuildingPolygon.MURCHISON_NE); + } + return null; + } - LatLng fjb1 = new LatLng(55.92269205199916, -3.1729563477188774);//left top - LatLng fjb2 = new LatLng(55.922822801570994, -3.172594249522305); - LatLng fjb3 = new LatLng(55.92223512226413, -3.171921917547244); - LatLng fjb4 = new LatLng(55.9221071265519, -3.1722813131202097); + private ActualMapAlignmentConfig getActualMapAlignmentConfig(String buildingName) { + buildingName = normalizeBuildingKey(buildingName); + if ("nucleus_building".equals(buildingName)) { + return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, + 0.0, 0.0, 0.0, 0.99, + 0.0, 0.0, 0.0, 0.0); + } + if ("library".equals(buildingName)) { + return new ActualMapAlignmentConfig(HorizontalAnchor.RIGHT, + 0.0, 0.0, 0.0, 0.985, + 0.0, 0.0, 0.0, 0.0); + } + if ("murchison_house".equals(buildingName)) { + return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER, + 0.0, 0.0, 0.0, 1.0, + 0.0, 0.0, 0.0, 0.0); + } + return new ActualMapAlignmentConfig(HorizontalAnchor.CENTER, + 0.0, 0.0, 0.0, 1.0, + 0.0, 0.0, 0.0, 0.0); + } - LatLng faraday1 = new LatLng(55.92242866264128, -3.1719553662011815); - LatLng faraday2 = new LatLng(55.9224966752294, -3.1717846714743474); - LatLng faraday3 = new LatLng(55.922271383074154, -3.1715191463437162); - LatLng faraday4 = new LatLng(55.92220124468304, -3.171705013935158); + private LatLngBounds applySavedCalibration(LatLngBounds baseBounds, String buildingKey, String floorDisplayName) { + if (baseBounds == null) { + return null; + } + OverlayCalibration calibration = loadOverlayCalibration(buildingKey, floorDisplayName); + double baseNorth = baseBounds.northeast.latitude; + double baseSouth = baseBounds.southwest.latitude; + double baseEast = baseBounds.northeast.longitude; + double baseWest = baseBounds.southwest.longitude; + double latSpan = baseNorth - baseSouth; + double lngSpan = baseEast - baseWest; + if (latSpan <= 0d || lngSpan <= 0d) { + return baseBounds; + } + double centerLat = ((baseNorth + baseSouth) / 2d) + latSpan * calibration.shiftLatRatio; + double centerLng = ((baseEast + baseWest) / 2d) + lngSpan * calibration.shiftLngRatio; + double adjustedLatSpan = latSpan * calibration.heightScale; + double adjustedLngSpan = lngSpan * calibration.widthScale; + double north = centerLat + adjustedLatSpan / 2d; + double south = centerLat - adjustedLatSpan / 2d; + double east = centerLng + adjustedLngSpan / 2d; + double west = centerLng - adjustedLngSpan / 2d; + return new LatLngBounds(new LatLng(south, west), new LatLng(north, east)); + } - PolygonOptions buildingPolygonOptions = new PolygonOptions() - .add(nucleus1, nucleus2, nucleus3, nucleus4, nucleus5) - .strokeColor(Color.RED) // Red border - .strokeWidth(10f) // Border width - //.fillColor(Color.argb(50, 255, 0, 0)) // Semi-transparent red fill - .zIndex(1); // Set a higher zIndex to ensure it appears above other overlays + private SharedPreferences getCalibrationPrefs() { + Context context = getContext(); + if (context == null) { + return null; + } + return context.getSharedPreferences(CALIBRATION_PREFS_NAME, Context.MODE_PRIVATE); + } - // Options for the new polygon - PolygonOptions buildingPolygonOptions2 = new PolygonOptions() - .add(nkml1, nkml2, nkml3, nkml4, nkml1) - .strokeColor(Color.BLUE) // Blue border - .strokeWidth(10f) // Border width - // .fillColor(Color.argb(50, 0, 0, 255)) // Semi-transparent blue fill - .zIndex(1); // Set a higher zIndex to ensure it appears above other overlays + private OverlayCalibration loadOverlayCalibration(String buildingKey, String floorDisplayName) { + OverlayCalibration defaults = getHardcodedCalibrationDefault(buildingKey, floorDisplayName); + SharedPreferences prefs = getCalibrationPrefs(); + if (prefs == null) { + return defaults; + } + String baseKey = getCalibrationPrefBaseKey(buildingKey, floorDisplayName); + return new OverlayCalibration( + prefs.getFloat(baseKey + "_shift_lat", defaults.shiftLatRatio), + prefs.getFloat(baseKey + "_shift_lng", defaults.shiftLngRatio), + prefs.getFloat(baseKey + "_width", defaults.widthScale), + prefs.getFloat(baseKey + "_height", defaults.heightScale) + ); + } - PolygonOptions buildingPolygonOptions3 = new PolygonOptions() - .add(fjb1, fjb2, fjb3, fjb4, fjb1) - .strokeColor(Color.GREEN) // Green border - .strokeWidth(10f) // Border width - //.fillColor(Color.argb(50, 0, 255, 0)) // Semi-transparent green fill - .zIndex(1); // Set a higher zIndex to ensure it appears above other overlays + private void saveOverlayCalibration(String buildingKey, String floorDisplayName, OverlayCalibration calibration) { + SharedPreferences prefs = getCalibrationPrefs(); + if (prefs == null) { + return; + } + String baseKey = getCalibrationPrefBaseKey(buildingKey, floorDisplayName); + prefs.edit() + .putFloat(baseKey + "_shift_lat", calibration.shiftLatRatio) + .putFloat(baseKey + "_shift_lng", calibration.shiftLngRatio) + .putFloat(baseKey + "_width", calibration.widthScale) + .putFloat(baseKey + "_height", calibration.heightScale) + .apply(); + } - PolygonOptions buildingPolygonOptions4 = new PolygonOptions() - .add(faraday1, faraday2, faraday3, faraday4, faraday1) - .strokeColor(Color.YELLOW) // Yellow border - .strokeWidth(10f) // Border width - //.fillColor(Color.argb(50, 255, 255, 0)) // Semi-transparent yellow fill - .zIndex(1); // Set a higher zIndex to ensure it appears above other overlays + private String getCalibrationPrefBaseKey(String buildingKey, String floorDisplayName) { + String normalizedBuilding = normalizeBuildingKey(buildingKey); + String normalizedFloor = canonicalFloorLabel(floorDisplayName); + return normalizedBuilding + "__" + normalizedFloor; + } + private OverlayCalibration getHardcodedCalibrationDefault(String buildingKey, String floorDisplayName) { + String normalizedBuilding = normalizeBuildingKey(buildingKey); + String normalizedFloor = canonicalFloorLabel(floorDisplayName); + + if ("nucleus_building".equals(normalizedBuilding)) { + switch (normalizedFloor) { + case "LG": return new OverlayCalibration(0.012f, -0.022f, 0.967f, 0.986f); + case "G": return new OverlayCalibration(0.029f, -0.052f, 0.958f, 0.942f); + case "1": return new OverlayCalibration(0.004f, 0.000f, 1.000f, 0.981f); + case "2": return new OverlayCalibration(0.005f, -0.005f, 1.000f, 1.000f); + case "3": return new OverlayCalibration(0.005f, 0.005f, 1.015f, 0.990f); + default: return OverlayCalibration.identity(); + } + } - // Remove the old polygon if it exists - if (buildingPolygon != null) { - buildingPolygon.remove(); + if ("library".equals(normalizedBuilding)) { + switch (normalizedFloor) { + case "G": return new OverlayCalibration(-0.072f, 0.018f, 0.965f, 1.098f); + case "1": return new OverlayCalibration(-0.053f, 0.019f, 0.945f, 1.050f); + case "2": return new OverlayCalibration(-0.075f, 0.025f, 0.950f, 1.070f); + case "3": return new OverlayCalibration(-0.070f, 0.025f, 0.960f, 1.065f); + default: return OverlayCalibration.identity(); + } } - // Add the polygon to the map - buildingPolygon = gMap.addPolygon(buildingPolygonOptions); - gMap.addPolygon(buildingPolygonOptions2); - gMap.addPolygon(buildingPolygonOptions3); - gMap.addPolygon(buildingPolygonOptions4); - Log.d(TAG, "Building polygon added, vertex count: " + buildingPolygon.getPoints().size()); + return OverlayCalibration.identity(); } - //region Auto-floor logic + private void logCalibration(String buildingKey, String floorKey, OverlayCalibration calibration, String event) { + Log.d(TAG, String.format(Locale.US, + "MAP_CALIBRATION %s building=%s floor=%s shiftLat=%.5f shiftLng=%.5f widthScale=%.5f heightScale=%.5f", + event, + normalizeBuildingKey(buildingKey), + canonicalFloorLabel(floorKey), + calibration.shiftLatRatio, + calibration.shiftLngRatio, + calibration.widthScale, + calibration.heightScale)); + } - /** - * Starts the periodic auto-floor evaluation task. Checks every second - * and applies floor changes only after the debounce window (3 seconds - * of consistent readings). - */ - private void startAutoFloor() { - if (autoFloorHandler == null) { - autoFloorHandler = new Handler(Looper.getMainLooper()); + private List getAvailableCalibrationTargets() { + List targets = new ArrayList<>(); + if (!actualMapVisible || selectedFloorplanBuilding == null) { + return targets; } - lastCandidateFloor = Integer.MIN_VALUE; - lastCandidateTime = 0; - // Immediately jump to the best-guess floor (skip debounce on first toggle) - applyImmediateFloor(); + String selectedKey = resolveKnownBuildingKey(selectedFloorplanBuilding, selectedFloorplanBuilding.getName()); + String selectedFloorLabel = canonicalFloorLabel(getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex)); - autoFloorTask = new Runnable() { - @Override - public void run() { - evaluateAutoFloor(); - autoFloorHandler.postDelayed(this, AUTO_FLOOR_CHECK_INTERVAL_MS); + if (resolveActualMapDrawable(selectedKey, selectedFloorLabel, currentFloorIndex) != 0) { + targets.add(selectedKey); + } + + if (shouldShowLinkedLibraryAndNucleus(selectedKey)) { + String linkedKey = "library".equals(selectedKey) ? "nucleus_building" : "library"; + int linkedIndex = resolveFallbackFloorIndexForKey(linkedKey, selectedFloorLabel, currentFloorIndex); + if (resolveActualMapDrawable(linkedKey, selectedFloorLabel, linkedIndex) != 0 && !targets.contains(linkedKey)) { + targets.add(linkedKey); } - }; - autoFloorHandler.post(autoFloorTask); - Log.d(TAG, "Auto-floor started"); + } + return targets; } - /** - * Applies the best-guess floor immediately without debounce. - * Called once when auto-floor is first toggled on, so the user - * sees an instant correction after manually browsing wrong floors. - */ - private void applyImmediateFloor() { - if (sensorFusion == null || indoorMapManager == null) return; - if (!indoorMapManager.getIsIndoorMapSet()) return; - - int candidateFloor; - if (sensorFusion.getLatLngWifiPositioning() != null) { - candidateFloor = sensorFusion.getWifiFloor(); - } else { - float elevation = sensorFusion.getElevation(); - float floorHeight = indoorMapManager.getFloorHeight(); - if (floorHeight <= 0) return; - candidateFloor = Math.round(elevation / floorHeight); + private void cycleCalibrationTarget() { + List targets = getAvailableCalibrationTargets(); + if (targets.isEmpty()) { + calibrationTargetBuildingKey = ""; + return; + } + int currentIndex = targets.indexOf(getEffectiveCalibrationTargetBuildingKey()); + if (currentIndex < 0) { + calibrationTargetBuildingKey = targets.get(0); + return; } + calibrationTargetBuildingKey = targets.get((currentIndex + 1) % targets.size()); + } - indoorMapManager.setCurrentFloor(candidateFloor, true); - updateFloorLabel(); - // Seed the debounce state so subsequent checks don't re-trigger immediately - lastCandidateFloor = candidateFloor; - lastCandidateTime = SystemClock.elapsedRealtime(); + private String getEffectiveCalibrationTargetBuildingKey() { + List targets = getAvailableCalibrationTargets(); + if (targets.isEmpty()) { + return ""; + } + if (targets.contains(calibrationTargetBuildingKey)) { + return calibrationTargetBuildingKey; + } + calibrationTargetBuildingKey = targets.get(0); + return calibrationTargetBuildingKey; } - /** - * Stops the periodic auto-floor evaluation and resets debounce state. - */ - private void stopAutoFloor() { - if (autoFloorHandler != null && autoFloorTask != null) { - autoFloorHandler.removeCallbacks(autoFloorTask); + private String getCurrentCalibrationFloorKey(String buildingKey) { + String selectedFloorLabel = selectedFloorplanBuilding == null + ? "" + : getFloorDisplayName(selectedFloorplanBuilding, currentFloorIndex); + String canonicalFloor = canonicalFloorLabel(selectedFloorLabel); + if ("library".equals(normalizeBuildingKey(buildingKey)) && "LG".equals(canonicalFloor)) { + return "LG"; } - lastCandidateFloor = Integer.MIN_VALUE; - lastCandidateTime = 0; - Log.d(TAG, "Auto-floor stopped"); + return canonicalFloor; } - /** - * Evaluates the current floor using WiFi positioning (priority) or - * barometric elevation (fallback). Applies a 3-second debounce window - * to prevent jittery floor switching. - */ - private void evaluateAutoFloor() { - if (sensorFusion == null || indoorMapManager == null) return; - if (!indoorMapManager.getIsIndoorMapSet()) return; + private void updateCalibrationUi() { + boolean canAdjust = actualMapVisible && selectedFloorplanBuilding != null; + if (btnToggleAdjustMap != null) { + btnToggleAdjustMap.setVisibility(canAdjust ? View.VISIBLE : View.GONE); + btnToggleAdjustMap.setText( + (calibrationPanel != null && calibrationPanel.getVisibility() == View.VISIBLE) + ? "Hide Adjust Map" + : "Adjust Map" + ); + } + if (!canAdjust) { + if (calibrationPanel != null) { + calibrationPanel.setVisibility(View.GONE); + } + return; + } - int candidateFloor; + String targetKey = getEffectiveCalibrationTargetBuildingKey(); + String floorKey = getCurrentCalibrationFloorKey(targetKey); + OverlayCalibration calibration = loadOverlayCalibration(targetKey, floorKey); - // Priority 1: WiFi-based floor (only if WiFi positioning has returned data) - if (sensorFusion.getLatLngWifiPositioning() != null) { - candidateFloor = sensorFusion.getWifiFloor(); - } else { - // Fallback: barometric elevation estimate - float elevation = sensorFusion.getElevation(); - float floorHeight = indoorMapManager.getFloorHeight(); - if (floorHeight <= 0) return; - candidateFloor = Math.round(elevation / floorHeight); - } - - // Debounce: require the same floor reading for AUTO_FLOOR_DEBOUNCE_MS - long now = SystemClock.elapsedRealtime(); - if (candidateFloor != lastCandidateFloor) { - lastCandidateFloor = candidateFloor; - lastCandidateTime = now; + if (calibrationTargetText != null) { + calibrationTargetText.setText("Target: " + prettyBuildingName(targetKey) + " / " + floorKey); + } + if (calibrationValueText != null) { + calibrationValueText.setText(String.format(Locale.US, + "x=%.3f y=%.3f w=%.3f h=%.3f", + calibration.shiftLngRatio, + calibration.shiftLatRatio, + calibration.widthScale, + calibration.heightScale)); + } + if (btnCalibrationTarget != null) { + btnCalibrationTarget.setVisibility(getAvailableCalibrationTargets().size() > 1 ? View.VISIBLE : View.GONE); + } + } + + private void refreshSelectedPolygonAppearance() { + if (selectedFloorplanPolygon == null) { return; } - if (now - lastCandidateTime >= AUTO_FLOOR_DEBOUNCE_MS) { - indoorMapManager.setCurrentFloor(candidateFloor, true); - updateFloorLabel(); - // Reset timer so we don't keep re-applying the same floor - lastCandidateTime = now; + if (indoorMapVisible) { + selectedFloorplanPolygon.setFillColor(Color.argb(10, 33, 150, 243)); + selectedFloorplanPolygon.setStrokeColor(Color.argb(180, 33, 150, 243)); + selectedFloorplanPolygon.setStrokeWidth(3f); + selectedFloorplanPolygon.setZIndex(19f); + } else { + selectedFloorplanPolygon.setFillColor(Color.argb(100, 33, 150, 243)); + selectedFloorplanPolygon.setStrokeColor(Color.argb(255, 25, 118, 210)); + selectedFloorplanPolygon.setStrokeWidth(5f); + selectedFloorplanPolygon.setZIndex(19f); } } - - //endregion -} +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java new file mode 100644 index 00000000..e68c4e59 --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryRenderer.java @@ -0,0 +1,564 @@ +package com.openpositioning.PositionMe.presentation.fragment; + +import android.content.Context; +import android.graphics.Color; + +import androidx.annotation.NonNull; +import androidx.annotation.Nullable; + +import com.google.android.gms.maps.CameraUpdateFactory; +import com.google.android.gms.maps.GoogleMap; +import com.google.android.gms.maps.model.BitmapDescriptorFactory; +import com.google.android.gms.maps.model.JointType; +import com.google.android.gms.maps.model.LatLng; +import com.google.android.gms.maps.model.Marker; +import com.google.android.gms.maps.model.MarkerOptions; +import com.google.android.gms.maps.model.Polyline; +import com.google.android.gms.maps.model.PolylineOptions; +import com.google.android.gms.maps.model.RoundCap; +import com.openpositioning.PositionMe.R; +import com.openpositioning.PositionMe.utils.UtilFunctions; + +import java.util.ArrayList; +import java.util.List; + +/** + * UI-only map drawing helper for the live / replay trajectory screen. + * + * This class owns: + * - current user marker + * - fused trajectory polyline + * - raw PDR observation polyline + * - GNSS and WiFi observation markers / trails + * - test point markers + * + * It intentionally does NOT own map-matching logic or particle-filter logic. + */ +class TrajectoryRenderer { + + private static final int TRAJECTORY_MAIN_COLOR = Color.RED; + private static final int TRAJECTORY_OUTLINE_COLOR = Color.WHITE; + private static final int TRAJECTORY_BLACK_OUTLINE_COLOR = Color.argb(210, 235, 235, 235); + + private static final int RAW_PDR_COLOR = Color.argb(170, 30, 136, 229); + private static final int WIFI_COLOR = Color.argb(190, 46, 125, 50); + private static final int GNSS_COLOR = Color.argb(200, 255, 167, 38); + + private static final float TRAJECTORY_WIDTH_MAIN_PX = 7f; + private static final float TRAJECTORY_WIDTH_OUTLINE_PX = 18f; + private static final float RAW_PDR_WIDTH_PX = 5f; + private static final float WIFI_WIDTH_PX = 6f; + private static final float GNSS_WIDTH_PX = 6f; + private static final float TRAJECTORY_Z_INDEX = 1000f; + + private static final int MAX_ABSOLUTE_HISTORY_POINTS = 20; + + @Nullable + private GoogleMap map; + + @Nullable + private Marker orientationMarker; + @Nullable + private Marker gnssMarker; + @Nullable + private Marker wifiMarker; + + @Nullable + private Polyline trajectoryOutline; + @Nullable + private Polyline trajectoryMain; + @Nullable + private Polyline rawPdrPolyline; + @Nullable + private Polyline gnssPolyline; + @Nullable + private Polyline wifiPolyline; + + @Nullable + private LatLng lastGnssLocation; + @Nullable + private LatLng lastWifiLocation; + + private final List testPointMarkers = new ArrayList<>(); + + private boolean useRedTrajectory = true; + private boolean showPdrObservations = true; + private boolean showWifiObservations = true; + private boolean showGnssObservations = true; + + /** + * Attach renderer to the map and recreate all visual objects. + */ + void attachToMap(@NonNull GoogleMap googleMap) { + map = googleMap; + resetMapArtifacts(); + } + + void setShowPdrObservations(boolean show) { + showPdrObservations = show; + if (rawPdrPolyline != null) { + rawPdrPolyline.setVisible(show); + } + } + + void setShowWifiObservations(boolean show) { + showWifiObservations = show; + applyWifiVisibility(); + } + + void setShowGnssObservations(boolean show) { + showGnssObservations = show; + applyGnssVisibility(); + } + + /** + * Update current user marker. + * + * @param matchedLocation fused or final displayed location + * @param orientationDeg heading in degrees for marker rotation + */ + void updateCurrentPosition(@NonNull Context context, + @NonNull LatLng matchedLocation, + float orientationDeg, + boolean shouldFollowCamera, + float initialZoom) { + if (map == null) { + return; + } + + if (orientationMarker == null) { + orientationMarker = map.addMarker(new MarkerOptions() + .position(matchedLocation) + .flat(true) + .rotation(orientationDeg) + .title("Current Position") + .icon(BitmapDescriptorFactory.fromBitmap( + UtilFunctions.getBitmapFromVector( + context, + R.drawable.ic_baseline_navigation_24 + ) + ))); + map.moveCamera(CameraUpdateFactory.newLatLngZoom(matchedLocation, initialZoom)); + return; + } + + orientationMarker.setPosition(matchedLocation); + orientationMarker.setRotation(orientationDeg); + + if (shouldFollowCamera) { + map.animateCamera(CameraUpdateFactory.newLatLng(matchedLocation)); + } + } + + /** + * Clears the currently displayed fused trajectory and starts a fresh one. + */ + void startNewLiveSegment() { + if (trajectoryOutline != null) { + trajectoryOutline.setPoints(new ArrayList<>()); + } + if (trajectoryMain != null) { + trajectoryMain.setPoints(new ArrayList<>()); + } + ensureTrajectoryStyling(); + applyTrajectoryColor(); + } + + /** + * Append one point to the fused/matched trajectory. + */ + void appendMatchedLocation(@Nullable LatLng oldLocation, @NonNull LatLng matchedLocation) { + if (trajectoryMain == null) { + return; + } + + List points = new ArrayList<>(trajectoryMain.getPoints()); + if (oldLocation == null || !oldLocation.equals(matchedLocation)) { + points.add(matchedLocation); + syncTrajectoryPolylinePoints(points); + } else { + ensureTrajectoryStyling(); + } + } + + /** + * Append one raw PDR observation point. + */ + void appendRawObservationPoint(@NonNull LatLng rawLocation) { + if (rawPdrPolyline == null) { + return; + } + + List rawPoints = new ArrayList<>(rawPdrPolyline.getPoints()); + if (rawPoints.isEmpty() || !rawPoints.get(rawPoints.size() - 1).equals(rawLocation)) { + rawPoints.add(rawLocation); + rawPdrPolyline.setPoints(rawPoints); + } + rawPdrPolyline.setVisible(showPdrObservations); + } + + void appendRawReplayPoint(@NonNull LatLng rawLocation) { + appendRawObservationPoint(rawLocation); + } + + void clearRawReplayPath() { + clearRawObservationPath(); + } + + void clearRawObservationPath() { + if (rawPdrPolyline != null) { + rawPdrPolyline.setPoints(new ArrayList<>()); + rawPdrPolyline.setVisible(showPdrObservations); + } + } + + /** + * Update GNSS marker and short GNSS breadcrumb trail. + */ + void updateGnss(@Nullable LatLng gnssLocation) { + if (map == null || gnssLocation == null) { + return; + } + + if (gnssMarker == null) { + gnssMarker = map.addMarker(new MarkerOptions() + .position(gnssLocation) + .title("GNSS Position") + .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_ORANGE))); + } else { + gnssMarker.setPosition(gnssLocation); + } + + if (lastGnssLocation == null || !lastGnssLocation.equals(gnssLocation)) { + appendAbsoluteHistoryPoint(gnssPolyline, gnssLocation); + lastGnssLocation = gnssLocation; + } + + applyGnssVisibility(); + } + + /** + * Fully clears GNSS marker and GNSS trail. + */ + void clearGnss() { + clearGnssMarker(); + lastGnssLocation = null; + + if (gnssPolyline != null) { + gnssPolyline.setPoints(new ArrayList<>()); + gnssPolyline.setVisible(showGnssObservations); + } + } + + /** + * Remove only GNSS marker. + */ + void clearGnssMarker() { + if (gnssMarker != null) { + gnssMarker.remove(); + gnssMarker = null; + } + } + + /** + * Update WiFi marker and short WiFi breadcrumb trail. + */ + void updateWifi(@Nullable LatLng wifiLocation) { + if (map == null || wifiLocation == null) { + return; + } + + if (wifiMarker == null) { + wifiMarker = map.addMarker(new MarkerOptions() + .position(wifiLocation) + .title("WiFi Position") + .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_GREEN))); + } else { + wifiMarker.setPosition(wifiLocation); + } + + if (lastWifiLocation == null || !lastWifiLocation.equals(wifiLocation)) { + appendAbsoluteHistoryPoint(wifiPolyline, wifiLocation); + lastWifiLocation = wifiLocation; + } + + applyWifiVisibility(); + } + + /** + * Fully clears WiFi marker and WiFi trail. + */ + void clearWifi() { + if (wifiMarker != null) { + wifiMarker.remove(); + wifiMarker = null; + } + + lastWifiLocation = null; + + if (wifiPolyline != null) { + wifiPolyline.setPoints(new ArrayList<>()); + wifiPolyline.setVisible(showWifiObservations); + } + } + + /** + * Add a numbered test point marker. + */ + void addTestPointMarker(int index, long timestampMs, @NonNull LatLng position) { + if (map == null) { + return; + } + + Marker marker = map.addMarker(new MarkerOptions() + .position(position) + .title("TP " + index) + .snippet("t=" + timestampMs)); + + if (marker != null) { + marker.showInfoWindow(); + testPointMarkers.add(marker); + } + } + + /** + * Clear only the fused/matched trajectory. + * + * Useful when the selected building changes but you do not want to remove + * GNSS/WiFi overlays or the current position marker. + */ + void clearMatchedTrajectoryOnly() { + if (trajectoryOutline != null) { + trajectoryOutline.setPoints(new ArrayList<>()); + } + if (trajectoryMain != null) { + trajectoryMain.setPoints(new ArrayList<>()); + } + ensureTrajectoryStyling(); + } + + /** + * Full visual reset for the whole renderer. + */ + void clearAll() { + resetMapArtifacts(); + } + + void toggleTrajectoryColor() { + useRedTrajectory = !useRedTrajectory; + applyTrajectoryColor(); + } + + boolean isUsingRedTrajectory() { + return useRedTrajectory; + } + + @Nullable + LatLng getOrientationPosition() { + return orientationMarker != null ? orientationMarker.getPosition() : null; + } + + /** + * Recreate all renderer-owned map objects. + */ + void resetMapArtifacts() { + removePolyline(trajectoryOutline); + trajectoryOutline = null; + + removePolyline(trajectoryMain); + trajectoryMain = null; + + removePolyline(rawPdrPolyline); + rawPdrPolyline = null; + + removePolyline(gnssPolyline); + gnssPolyline = null; + + removePolyline(wifiPolyline); + wifiPolyline = null; + + removeMarker(orientationMarker); + orientationMarker = null; + + removeMarker(gnssMarker); + gnssMarker = null; + + removeMarker(wifiMarker); + wifiMarker = null; + + lastGnssLocation = null; + lastWifiLocation = null; + + for (Marker marker : testPointMarkers) { + marker.remove(); + } + testPointMarkers.clear(); + + if (map == null) { + return; + } + + trajectoryOutline = map.addPolyline(buildTrajectoryOutlineOptions()); + trajectoryMain = map.addPolyline(buildTrajectoryMainOptions()); + rawPdrPolyline = map.addPolyline(buildRawPdrPolylineOptions()); + + gnssPolyline = map.addPolyline(new PolylineOptions() + .color(GNSS_COLOR) + .width(GNSS_WIDTH_PX) + .zIndex(TRAJECTORY_Z_INDEX - 16f) + .startCap(new RoundCap()) + .endCap(new RoundCap()) + .jointType(JointType.ROUND) + .add()); + + wifiPolyline = map.addPolyline(new PolylineOptions() + .color(WIFI_COLOR) + .width(WIFI_WIDTH_PX) + .zIndex(TRAJECTORY_Z_INDEX - 17f) + .startCap(new RoundCap()) + .endCap(new RoundCap()) + .jointType(JointType.ROUND) + .add()); + + if (rawPdrPolyline != null) { + rawPdrPolyline.setVisible(showPdrObservations); + } + + applyWifiVisibility(); + applyGnssVisibility(); + ensureTrajectoryStyling(); + applyTrajectoryColor(); + } + + private void ensureTrajectoryStyling() { + if (trajectoryOutline != null) { + trajectoryOutline.setWidth(TRAJECTORY_WIDTH_OUTLINE_PX); + trajectoryOutline.setZIndex(TRAJECTORY_Z_INDEX - 19f); + trajectoryOutline.setStartCap(new RoundCap()); + trajectoryOutline.setEndCap(new RoundCap()); + trajectoryOutline.setJointType(JointType.ROUND); + } + + if (trajectoryMain != null) { + trajectoryMain.setWidth(TRAJECTORY_WIDTH_MAIN_PX); + trajectoryMain.setZIndex(TRAJECTORY_Z_INDEX); + trajectoryMain.setStartCap(new RoundCap()); + trajectoryMain.setEndCap(new RoundCap()); + trajectoryMain.setJointType(JointType.ROUND); + } + + applyTrajectoryColor(); + } + + private void applyTrajectoryColor() { + if (trajectoryMain != null) { + trajectoryMain.setColor(useRedTrajectory ? TRAJECTORY_MAIN_COLOR : Color.BLACK); + } + + if (trajectoryOutline != null) { + trajectoryOutline.setColor( + useRedTrajectory + ? TRAJECTORY_OUTLINE_COLOR + : TRAJECTORY_BLACK_OUTLINE_COLOR + ); + } + } + + private void syncTrajectoryPolylinePoints(@NonNull List points) { + if (trajectoryOutline != null) { + trajectoryOutline.setPoints(points); + } + if (trajectoryMain != null) { + trajectoryMain.setPoints(points); + } + ensureTrajectoryStyling(); + } + + @NonNull + private PolylineOptions buildTrajectoryOutlineOptions() { + return new PolylineOptions() + .color(TRAJECTORY_OUTLINE_COLOR) + .width(TRAJECTORY_WIDTH_OUTLINE_PX) + .startCap(new RoundCap()) + .endCap(new RoundCap()) + .jointType(JointType.ROUND) + .zIndex(TRAJECTORY_Z_INDEX - 19f) + .add(); + } + + @NonNull + private PolylineOptions buildTrajectoryMainOptions() { + return new PolylineOptions() + .color(TRAJECTORY_MAIN_COLOR) + .width(TRAJECTORY_WIDTH_MAIN_PX) + .startCap(new RoundCap()) + .endCap(new RoundCap()) + .jointType(JointType.ROUND) + .zIndex(TRAJECTORY_Z_INDEX) + .add(); + } + + @NonNull + private PolylineOptions buildRawPdrPolylineOptions() { + return new PolylineOptions() + .color(RAW_PDR_COLOR) + .width(RAW_PDR_WIDTH_PX) + .jointType(JointType.ROUND) + .startCap(new RoundCap()) + .endCap(new RoundCap()) + .zIndex(TRAJECTORY_Z_INDEX - 18f) + .add(); + } + + /** + * Append a point to GNSS/WiFi history but keep the history short. + */ + private void appendAbsoluteHistoryPoint(@Nullable Polyline polyline, @NonNull LatLng point) { + if (polyline == null) { + return; + } + + List points = new ArrayList<>(polyline.getPoints()); + if (points.isEmpty() || !points.get(points.size() - 1).equals(point)) { + points.add(point); + } + + if (points.size() > MAX_ABSOLUTE_HISTORY_POINTS) { + points = new ArrayList<>( + points.subList(points.size() - MAX_ABSOLUTE_HISTORY_POINTS, points.size()) + ); + } + + polyline.setPoints(points); + } + + private void applyWifiVisibility() { + if (wifiPolyline != null) { + wifiPolyline.setVisible(showWifiObservations); + } + if (wifiMarker != null) { + wifiMarker.setVisible(showWifiObservations && lastWifiLocation != null); + } + } + + private void applyGnssVisibility() { + if (gnssPolyline != null) { + gnssPolyline.setVisible(showGnssObservations); + } + if (gnssMarker != null) { + gnssMarker.setVisible(showGnssObservations && lastGnssLocation != null); + } + } + + private static void removeMarker(@Nullable Marker marker) { + if (marker != null) { + marker.remove(); + } + } + + private static void removePolyline(@Nullable Polyline polyline) { + if (polyline != null) { + polyline.remove(); + } + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java index 639fc5c2..4b39ded3 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java +++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorEventHandler.java @@ -6,6 +6,9 @@ import android.os.SystemClock; import android.util.Log; +import com.openpositioning.PositionMe.fusion.AdaptiveQsmfiHeadingCalibrator; +import com.openpositioning.PositionMe.fusion.FusedPose; +import com.openpositioning.PositionMe.fusion.ParticleFilterManager; import com.openpositioning.PositionMe.utils.PathView; import com.openpositioning.PositionMe.utils.PdrProcessing; @@ -23,12 +26,14 @@ public class SensorEventHandler { private static final float ALPHA = 0.8f; - private static final long LARGE_GAP_THRESHOLD_MS = 500; + private final SensorFusion sensorFusion; private final SensorState state; private final PdrProcessing pdrProcessing; private final PathView pathView; private final TrajectoryRecorder recorder; + private final ParticleFilterManager particleFilterManager; + private final AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator; // Timestamp tracking private final HashMap lastEventTimestamps = new HashMap<>(); @@ -39,39 +44,31 @@ public class SensorEventHandler { // Acceleration magnitude buffer between steps private final List accelMagnitude = new ArrayList<>(); - /** - * Creates a new SensorEventHandler. - * - * @param state shared sensor state holder - * @param pdrProcessing PDR processor for step-length and position calculation - * @param pathView path drawing view for trajectory visualisation - * @param recorder trajectory recorder for checking recording state and writing PDR data - * @param bootTime initial boot time offset - */ - public SensorEventHandler(SensorState state, PdrProcessing pdrProcessing, - PathView pathView, TrajectoryRecorder recorder, + public SensorEventHandler(SensorFusion sensorFusion, + SensorState state, + PdrProcessing pdrProcessing, + PathView pathView, + TrajectoryRecorder recorder, + ParticleFilterManager particleFilterManager, + AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator, long bootTime) { + this.sensorFusion = sensorFusion; this.state = state; this.pdrProcessing = pdrProcessing; this.pathView = pathView; this.recorder = recorder; + this.particleFilterManager = particleFilterManager; + this.adaptiveQsmfiHeadingCalibrator = adaptiveQsmfiHeadingCalibrator; this.bootTime = bootTime; } /** * Main dispatch method. Processes a sensor event and updates the shared {@link SensorState}. - * - * @param sensorEvent the sensor event to process */ public void handleSensorEvent(SensorEvent sensorEvent) { long currentTime = System.currentTimeMillis(); int sensorType = sensorEvent.sensor.getType(); - Long lastTimestamp = lastEventTimestamps.get(sensorType); - if (lastTimestamp != null) { - long timeGap = currentTime - lastTimestamp; - } - lastEventTimestamps.put(sensorType, currentTime); eventCounts.put(sensorType, eventCounts.getOrDefault(sensorType, 0) + 1); @@ -87,17 +84,32 @@ public void handleSensorEvent(SensorEvent sensorEvent) { if (recorder.isRecording()) { state.elevation = pdrProcessing.updateElevation( SensorManager.getAltitude( - SensorManager.PRESSURE_STANDARD_ATMOSPHERE, state.pressure) + SensorManager.PRESSURE_STANDARD_ATMOSPHERE, + state.pressure + ) ); + + if (particleFilterManager != null && particleFilterManager.isEnabled()) { + particleFilterManager.onVerticalContextSample( + SystemClock.uptimeMillis(), + state.elevation, + state.elevator + ); + } } break; - // NOTE: intentional fall-through from GYROSCOPE to LINEAR_ACCELERATION - // (existing behavior preserved during refactoring) + // Intentional fall-through from GYROSCOPE to LINEAR_ACCELERATION. case Sensor.TYPE_GYROSCOPE: state.angularVelocity[0] = sensorEvent.values[0]; state.angularVelocity[1] = sensorEvent.values[1]; state.angularVelocity[2] = sensorEvent.values[2]; + if (adaptiveQsmfiHeadingCalibrator != null) { + adaptiveQsmfiHeadingCalibrator.onGyro( + sensorEvent.values[2], + sensorEvent.timestamp + ); + } case Sensor.TYPE_LINEAR_ACCELERATION: state.filteredAcc[0] = sensorEvent.values[0]; @@ -105,23 +117,27 @@ public void handleSensorEvent(SensorEvent sensorEvent) { state.filteredAcc[2] = sensorEvent.values[2]; double accelMagFiltered = Math.sqrt( - Math.pow(state.filteredAcc[0], 2) + - Math.pow(state.filteredAcc[1], 2) + - Math.pow(state.filteredAcc[2], 2) + Math.pow(state.filteredAcc[0], 2) + + Math.pow(state.filteredAcc[1], 2) + + Math.pow(state.filteredAcc[2], 2) ); this.accelMagnitude.add(accelMagFiltered); - state.elevator = pdrProcessing.estimateElevator( - state.gravity, state.filteredAcc); + state.elevator = pdrProcessing.estimateElevator(state.gravity, state.filteredAcc); break; case Sensor.TYPE_GRAVITY: state.gravity[0] = sensorEvent.values[0]; state.gravity[1] = sensorEvent.values[1]; state.gravity[2] = sensorEvent.values[2]; - - state.elevator = pdrProcessing.estimateElevator( - state.gravity, state.filteredAcc); + if (adaptiveQsmfiHeadingCalibrator != null) { + adaptiveQsmfiHeadingCalibrator.onGravity( + sensorEvent.values[0], + sensorEvent.values[1], + sensorEvent.values[2] + ); + } + state.elevator = pdrProcessing.estimateElevator(state.gravity, state.filteredAcc); break; case Sensor.TYPE_LIGHT: @@ -136,6 +152,14 @@ public void handleSensorEvent(SensorEvent sensorEvent) { state.magneticField[0] = sensorEvent.values[0]; state.magneticField[1] = sensorEvent.values[1]; state.magneticField[2] = sensorEvent.values[2]; + if (adaptiveQsmfiHeadingCalibrator != null) { + adaptiveQsmfiHeadingCalibrator.onMagneticField( + sensorEvent.values[0], + sensorEvent.values[1], + sensorEvent.values[2], + sensorEvent.timestamp + ); + } break; case Sensor.TYPE_ROTATION_VECTOR: @@ -152,43 +176,66 @@ public void handleSensorEvent(SensorEvent sensorEvent) { Log.e("SensorFusion", "Ignoring step event, too soon after last step event:" + (currentTime - lastStepTime) + " ms"); break; + } + + lastStepTime = currentTime; + + if (accelMagnitude.isEmpty()) { + Log.e("SensorFusion", + "stepDetection triggered, but accelMagnitude is empty! " + + "This can cause updatePdr(...) to fail or return bad results."); } else { - lastStepTime = currentTime; - - if (accelMagnitude.isEmpty()) { - Log.e("SensorFusion", - "stepDetection triggered, but accelMagnitude is empty! " + - "This can cause updatePdr(...) to fail or return bad results."); - } else { - Log.d("SensorFusion", - "stepDetection triggered, accelMagnitude size = " - + accelMagnitude.size()); - } + Log.d("SensorFusion", + "stepDetection triggered, accelMagnitude size = " + accelMagnitude.size()); + } - float[] newCords = this.pdrProcessing.updatePdr( - stepTime, - this.accelMagnitude, - state.orientation[0] - ); + // Use the session-selected heading source. + // The adaptive calibrator may still keep updating internally even when disabled, + // but PDR/PF prediction only consumes it when the toggle is ON. + float headingForPdr = sensorFusion.getSelectedHeadingRad(); + + float[] newCords = this.pdrProcessing.updatePdr( + stepTime, + this.accelMagnitude, + headingForPdr + ); + this.accelMagnitude.clear(); + + if (adaptiveQsmfiHeadingCalibrator != null) { + adaptiveQsmfiHeadingCalibrator.onStepDetected(sensorEvent.timestamp); + } - this.accelMagnitude.clear(); + if (particleFilterManager != null && particleFilterManager.isEnabled()) { + particleFilterManager.step(); + } - if (recorder.isRecording()) { - this.pathView.drawTrajectory(newCords); - state.stepCounter++; - recorder.addPdrData( - SystemClock.uptimeMillis() - bootTime, - newCords[0], newCords[1]); + if (recorder.isRecording()) { + float[] pointToStoreAndDraw = newCords; + + if (particleFilterManager != null && particleFilterManager.isEnabled()) { + FusedPose fusedPose = particleFilterManager.getLatestFusedPose(); + if (fusedPose != null) { + pointToStoreAndDraw = new float[]{ + (float) fusedPose.getXMeters(), + (float) fusedPose.getYMeters() + }; + } } - break; + + this.pathView.drawTrajectory(pointToStoreAndDraw); + state.stepCounter++; + + recorder.addPdrData( + SystemClock.uptimeMillis() - bootTime, + pointToStoreAndDraw[0], + pointToStoreAndDraw[1] + ); } + break; } } - /** - * Utility function to log the event frequency of each sensor. - * Call this periodically for debugging purposes. - */ + /** Utility function to log the event frequency of each sensor. */ public void logSensorFrequencies() { for (int sensorType : eventCounts.keySet()) { Log.d("SensorFusion", "Sensor " + sensorType @@ -198,8 +245,6 @@ public void logSensorFrequencies() { /** * Resets the boot time offset. Called when a new recording starts. - * - * @param newBootTime the new boot time offset from {@link SystemClock#uptimeMillis()} */ void resetBootTime(long newBootTime) { this.bootTime = newBootTime; diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java index aeb6386a..6b62c0fb 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java +++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java @@ -11,20 +11,26 @@ import android.os.Handler; import android.os.Looper; import android.os.SystemClock; +import android.util.Log; import android.widget.Toast; import androidx.annotation.NonNull; +import androidx.annotation.Nullable; import androidx.preference.PreferenceManager; import com.google.android.gms.maps.model.LatLng; import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; -import com.openpositioning.PositionMe.presentation.activity.MainActivity; +import com.openpositioning.PositionMe.data.remote.ServerCommunications; +import com.openpositioning.PositionMe.fusion.FusedPose; +import com.openpositioning.PositionMe.fusion.ParticleFilterManager; import com.openpositioning.PositionMe.service.SensorCollectionService; import com.openpositioning.PositionMe.utils.PathView; import com.openpositioning.PositionMe.utils.PdrProcessing; import com.openpositioning.PositionMe.utils.TrajectoryValidator; -import com.openpositioning.PositionMe.data.remote.ServerCommunications; +import com.openpositioning.PositionMe.fusion.AdaptiveQsmfiHeadingCalibrator; +import java.io.File; +import java.io.IOException; import java.util.ArrayList; import java.util.HashMap; import java.util.List; @@ -33,38 +39,56 @@ import java.util.stream.Stream; /** - * The SensorFusion class is the main data gathering and processing class of the application. + * Main sensor/data fusion singleton for the application. * - *

It follows the singleton design pattern to ensure that every fragment and process has access - * to the same data and sensor instances. Internally it delegates to specialised modules:

+ *

This class owns: *

    - *
  • {@link SensorState} – shared sensor data holder
    • - *
  • {@link SensorEventHandler} – sensor event dispatch (switch logic)
    • - *
  • {@link TrajectoryRecorder} – recording lifecycle & protobuf construction
    • - *
  • {@link WifiPositionManager} – WiFi scan processing & positioning
    • + *
  • live sensor state
    • + *
  • PDR processing
    • + *
  • recording lifecycle
    • + *
  • GNSS / WiFi / BLE data collection
    • + *
  • particle filter wiring
    • *
* - *

The public API is unchanged – all external callers continue to use - * {@code SensorFusion.getInstance().method()}.

+ *

External callers should continue using {@code SensorFusion.getInstance()}.

*/ public class SensorFusion implements SensorEventListener { - //region Static variables + // Singleton private static final SensorFusion sensorFusion = new SensorFusion(); - //endregion - //region Instance variables + public static SensorFusion getInstance() { + return sensorFusion; + } + + private SensorFusion() { + this.locationListener = new MyLocationListener(); + } + + // Constants + public static final int TRAJECTORY_MODE_PDR = 0; + public static final int TRAJECTORY_MODE_PARTICLE_FILTER = 1; + + private static final String TAG = "SensorFusion"; + + // Core app state private Context appContext; - // Shared sensor state + /** + * Shared live sensor state container. + */ private final SensorState state = new SensorState(); // Internal modules private SensorEventHandler eventHandler; private TrajectoryRecorder recorder; private WifiPositionManager wifiPositionManager; + private ParticleFilterManager particleFilterManager; + + @Nullable + private FusedPose latestParticleFilterPose; - // Movement sensor instances (lifecycle managed here) + // Movement sensors private MovementSensor accelerometerSensor; private MovementSensor barometerSensor; private MovementSensor gyroscopeSensor; @@ -87,50 +111,35 @@ public class SensorFusion implements SensorEventListener { // PDR and path private PdrProcessing pdrProcessing; private PathView pathView; + private AdaptiveQsmfiHeadingCalibrator adaptiveQsmfiHeadingCalibrator; - // Sensor registration latency setting + /** + * Sensor batching latency configuration. + */ long maxReportLatencyNs = 0; - // Floorplan API cache (latest result from start-location step) - private final Map floorplanBuildingCache = - new HashMap<>(); - //endregion - - //region Initialisation + // Floorplan / building cache /** - * Private constructor for implementing singleton design pattern. + * Latest building metadata returned by the floorplan API. + * Cached by building id for later fragments and PF use. */ - private SensorFusion() { - this.locationListener = new MyLocationListener(); - } + private final Map floorplanBuildingCache = + new HashMap<>(); - /** - * Static function to access singleton instance of SensorFusion. - * - * @return singleton instance of SensorFusion class. - */ - public static SensorFusion getInstance() { - return sensorFusion; - } + // Recording mode state + + private int recordingTrajectoryMode = TRAJECTORY_MODE_PDR; + private boolean useAdaptiveQsmfiHeading = false; + // Initialisation /** - * Initialisation function for the SensorFusion instance. - * - *

Initialises all movement sensor instances, creates internal modules, and prepares - * the system for data collection.

- * - * @param context application context for permissions and device access. - * - * @see MovementSensor handling all SensorManager based data collection devices. - * @see ServerCommunications handling communication with the server. - * @see GNSSDataProcessor for location data processing. - * @see WifiDataProcessor for network data processing. + * Initialises SensorFusion and all dependent modules. */ public void setContext(Context context) { this.appContext = context.getApplicationContext(); - // Initialise movement sensors + // Movement sensors this.accelerometerSensor = new MovementSensor(context, Sensor.TYPE_ACCELEROMETER); this.barometerSensor = new MovementSensor(context, Sensor.TYPE_PRESSURE); this.gyroscopeSensor = new MovementSensor(context, Sensor.TYPE_GYROSCOPE); @@ -142,118 +151,232 @@ public void setContext(Context context) { this.gravitySensor = new MovementSensor(context, Sensor.TYPE_GRAVITY); this.linearAccelerationSensor = new MovementSensor(context, Sensor.TYPE_LINEAR_ACCELERATION); - // Initialise non-sensor data sources + // External data sources this.gnssProcessor = new GNSSDataProcessor(context, locationListener); ServerCommunications serverCommunications = new ServerCommunications(context); - // Initialise utilities + // Utilities SharedPreferences settings = PreferenceManager.getDefaultSharedPreferences(context); this.pdrProcessing = new PdrProcessing(context); this.pathView = new PathView(context, null); WiFiPositioning wiFiPositioning = new WiFiPositioning(context); - // Create internal modules + // Recorder this.recorder = new TrajectoryRecorder(appContext, state, serverCommunications, settings); this.recorder.setSensorReferences( - accelerometerSensor, gyroscopeSensor, magnetometerSensor, - barometerSensor, lightSensor, proximitySensor, rotationSensor); - + accelerometerSensor, + gyroscopeSensor, + magnetometerSensor, + barometerSensor, + lightSensor, + proximitySensor, + rotationSensor + ); + + // WiFi positioning manager this.wifiPositionManager = new WifiPositionManager(wiFiPositioning, recorder); + // Particle filter manager + this.particleFilterManager = new ParticleFilterManager(this, context); + this.particleFilterManager.setEnabled(isParticleFilterTrajectoryMode()); + + this.adaptiveQsmfiHeadingCalibrator = new AdaptiveQsmfiHeadingCalibrator(); + + // Event handler long bootTime = SystemClock.uptimeMillis(); this.eventHandler = new SensorEventHandler( - state, pdrProcessing, pathView, recorder, bootTime); - - // Register WiFi observer on WifiPositionManager (not on SensorFusion) + this, + state, + pdrProcessing, + pathView, + recorder, + particleFilterManager, + adaptiveQsmfiHeadingCalibrator, + bootTime + ); + + // WiFi scanner this.wifiProcessor = new WifiDataProcessor(context); wifiProcessor.registerObserver(wifiPositionManager); - // Initialise BLE scanner and register observer for trajectory recording + // BLE scanner this.bleProcessor = new BleDataProcessor(context); bleProcessor.registerObserver(new Observer() { @Override public void update(Object[] objList) { List bleList = Stream.of(objList) - .map(o -> (BleDevice) o).collect(Collectors.toList()); + .map(o -> (BleDevice) o) + .collect(Collectors.toList()); recorder.addBleFingerprint(bleList); } }); - // Initialise WiFi RTT manager and register as WiFi scan observer + // WiFi RTT this.rttManager = new RttManager(appContext, recorder, wifiProcessor); wifiProcessor.registerObserver(rttManager); - // Initialise BLE RTT estimator and register on BLE scan updates + // BLE RTT this.bleRttManager = new BleRttManager(recorder); bleProcessor.registerObserver(bleRttManager); if (!rttManager.isRttSupported()) { new Handler(Looper.getMainLooper()).post(() -> - Toast.makeText(appContext, + Toast.makeText( + appContext, "WiFi RTT is not supported on this device", - Toast.LENGTH_LONG).show()); + Toast.LENGTH_LONG + ).show() + ); } } + public void setAdaptiveHeadingCalibratorEnabled(boolean enabled) { + this.useAdaptiveQsmfiHeading = enabled; + + if (adaptiveQsmfiHeadingCalibrator != null) { + adaptiveQsmfiHeadingCalibrator.reset(); + } + + Log.d(TAG, "adaptiveHeadingCalibratorEnabled = " + enabled); + } - //endregion + public void setUseAdaptiveQsmfiHeading(boolean enabled) { + setAdaptiveHeadingCalibratorEnabled(enabled); + } - //region SensorEventListener + public boolean isAdaptiveHeadingEnabled() { + return isUseAdaptiveQsmfiHeading(); + } + // Particle filter wiring /** - * {@inheritDoc} + * Returns the latest local PDR movement estimate in metres. + */ + public float[] getLatestPdrMovement() { + return pdrProcessing.getPDRMovement(); + } + + /** + * Advances the particle filter by one live update step. * - *

Delegates to {@link SensorEventHandler#handleSensorEvent(SensorEvent)}.

+ *

This should be called after the latest sensor values have already been updated. + * The PF manager will internally: + *

    + *
  • try GNSS initialisation if not yet initialised
    • + *
  • read live PDR motion
    • + *
  • read GNSS / WiFi / matched pose observations
    • + *
  • produce fused/raw PF outputs
    • + *
*/ + public void stepParticleFilter() { + if (particleFilterManager == null || !isParticleFilterTrajectoryMode()) { + return; + } + + particleFilterManager.step(); + latestParticleFilterPose = particleFilterManager.getLatestFusedPose(); + } + + + /** + * Resets the particle filter for a new recording session. + */ + public void resetParticleFilterForRecording() { + if (particleFilterManager != null) { + particleFilterManager.reset(); + } + latestParticleFilterPose = null; + } + + + + /** + * Returns the latest fused PF pose. + */ + @Nullable + public FusedPose getLatestFusedPose() { + if (!isParticleFilterTrajectoryMode()) { + return null; + } + + if (particleFilterManager != null) { + FusedPose managerPose = particleFilterManager.getLatestFusedPose(); + if (managerPose != null) { + latestParticleFilterPose = managerPose; + } + } + + return latestParticleFilterPose; + } + + + /** + * Allows PF-related classes to push the latest fused pose back into SensorFusion. + */ + public void setLatestFusedPose(@Nullable FusedPose fusedPose) { + this.latestParticleFilterPose = fusedPose; + } + + /** + * Lets the PF evaluate lift / floor-change transitions even when there is no + * walking step, such as while standing in a lift. + */ + public void evaluateParticleFilterFloorChangeWithoutStep() { + if (particleFilterManager == null || !isParticleFilterTrajectoryMode()) { + return; + } + + particleFilterManager.evaluateFloorChangeWithoutStep(); + latestParticleFilterPose = particleFilterManager.getLatestFusedPose(); + } + + + // SensorEventListener @Override public void onSensorChanged(SensorEvent sensorEvent) { eventHandler.handleSensorEvent(sensorEvent); } - /** {@inheritDoc} */ @Override - public void onAccuracyChanged(Sensor sensor, int i) {} - - //endregion - - //region Start/Stop listening + public void onAccuracyChanged(Sensor sensor, int i) { + // No-op + } + // Start/stop listening /** - * Registers all device listeners and enables updates with the specified sampling rate. - * - *

Should be called from {@link MainActivity} when resuming the application.

+ * Registers all listeners and resumes live collection. */ public void resumeListening() { - accelerometerSensor.sensorManager.registerListener(this, - accelerometerSensor.sensor, 10000, (int) maxReportLatencyNs); - accelerometerSensor.sensorManager.registerListener(this, - linearAccelerationSensor.sensor, 10000, (int) maxReportLatencyNs); - accelerometerSensor.sensorManager.registerListener(this, - gravitySensor.sensor, 10000, (int) maxReportLatencyNs); - barometerSensor.sensorManager.registerListener(this, - barometerSensor.sensor, (int) 1e6); - gyroscopeSensor.sensorManager.registerListener(this, - gyroscopeSensor.sensor, 10000, (int) maxReportLatencyNs); - lightSensor.sensorManager.registerListener(this, - lightSensor.sensor, (int) 1e6); - proximitySensor.sensorManager.registerListener(this, - proximitySensor.sensor, (int) 1e6); - magnetometerSensor.sensorManager.registerListener(this, - magnetometerSensor.sensor, 10000, (int) maxReportLatencyNs); - stepDetectionSensor.sensorManager.registerListener(this, - stepDetectionSensor.sensor, SensorManager.SENSOR_DELAY_NORMAL); - rotationSensor.sensorManager.registerListener(this, - rotationSensor.sensor, (int) 1e6); + accelerometerSensor.sensorManager.registerListener( + this, accelerometerSensor.sensor, 10000, (int) maxReportLatencyNs); + accelerometerSensor.sensorManager.registerListener( + this, linearAccelerationSensor.sensor, 10000, (int) maxReportLatencyNs); + accelerometerSensor.sensorManager.registerListener( + this, gravitySensor.sensor, 10000, (int) maxReportLatencyNs); + barometerSensor.sensorManager.registerListener( + this, barometerSensor.sensor, (int) 1e6); + gyroscopeSensor.sensorManager.registerListener( + this, gyroscopeSensor.sensor, 10000, (int) maxReportLatencyNs); + lightSensor.sensorManager.registerListener( + this, lightSensor.sensor, (int) 1e6); + proximitySensor.sensorManager.registerListener( + this, proximitySensor.sensor, (int) 1e6); + magnetometerSensor.sensorManager.registerListener( + this, magnetometerSensor.sensor, 10000, (int) maxReportLatencyNs); + stepDetectionSensor.sensorManager.registerListener( + this, stepDetectionSensor.sensor, SensorManager.SENSOR_DELAY_NORMAL); + rotationSensor.sensorManager.registerListener( + this, rotationSensor.sensor, (int) 1e6); + // Foreground service owns WiFi/BLE scanning during recording. if (!recorder.isRecording()) { startWirelessCollectors(); } + gnssProcessor.startLocationUpdates(); } /** - * Un-registers all device listeners and pauses data collection. - * - *

Should be called from {@link MainActivity} when pausing the application.

+ * Unregisters listeners and pauses live collection. */ public void stopListening() { if (!recorder.isRecording()) { @@ -267,23 +390,16 @@ public void stopListening() { rotationSensor.sensorManager.unregisterListener(this); linearAccelerationSensor.sensorManager.unregisterListener(this); gravitySensor.sensorManager.unregisterListener(this); + stopWirelessCollectors(); - this.gnssProcessor.stopUpdating(); + gnssProcessor.stopUpdating(); } } - /** - * Called by {@link SensorCollectionService} when foreground collection starts. - * Moves WiFi/BLE scanning responsibility into the service lifecycle while recording. - */ public void onCollectionServiceStarted() { startWirelessCollectors(); } - /** - * Called by {@link SensorCollectionService} when foreground collection stops. - * Stops WiFi/BLE scans that were started for recording continuity. - */ public void onCollectionServiceStopped() { stopWirelessCollectors(); } @@ -303,118 +419,303 @@ private void stopWirelessCollectors() { wifiProcessor.stopListening(); } } catch (Exception e) { - System.err.println("WiFi stop failed"); + Log.w(TAG, "WiFi stop failed", e); } + try { if (bleProcessor != null) { bleProcessor.stopListening(); } } catch (Exception e) { - System.err.println("BLE stop failed"); + Log.w(TAG, "BLE stop failed", e); } } - //endregion - - //region Recording lifecycle (delegated to TrajectoryRecorder) - /** - * Enables saving sensor values to the trajectory object. - * Also starts the foreground service to keep data collection alive in the background. + * Starts trajectory recording and foreground collection. + * + * Start-anchor policy: + * - use the preferred session start anchor if already known + * - use the preferred session building if already known * - * @see TrajectoryRecorder#startRecording(PdrProcessing) - * @see SensorCollectionService + * This keeps StartLocationFragment, RecordingFragment, and PF initialisation + * aligned to one source of truth. */ public void startRecording() { + LatLng preferredStart = resolvePreferredStartAnchor(); + if (preferredStart != null) { + setStartGNSSLatitude(new float[]{ + (float) preferredStart.latitude, + (float) preferredStart.longitude + }); + } + + String preferredBuildingId = resolvePreferredStartBuildingId(); + if (preferredBuildingId != null && !preferredBuildingId.isEmpty()) { + setSelectedBuildingId(preferredBuildingId); + } + recorder.startRecording(pdrProcessing); eventHandler.resetBootTime(recorder.getBootTime()); - // Handover WiFi/BLE scan lifecycle from activity callbacks to foreground service. - stopWirelessCollectors(); + latestParticleFilterPose = null; - if (appContext != null) { - SensorCollectionService.start(appContext); + if (adaptiveQsmfiHeadingCalibrator != null) { + adaptiveQsmfiHeadingCalibrator.reset(); } } /** - * Disables saving sensor values to the trajectory object. - * Also stops the foreground service since background collection is no longer needed. + * Stops trajectory recording and resets session-scoped live PF state. * - * @see TrajectoryRecorder#stopRecording() - * @see SensorCollectionService + * Important: + * auto-floor preference is reset here so a fresh session does not accidentally + * inherit the previous session's live floor switching state. */ public void stopRecording() { recorder.stopRecording(); + + latestParticleFilterPose = null; + liveAutoFloorEnabled = false; + + if (particleFilterManager != null) { + particleFilterManager.reset(); + } + if (appContext != null) { SensorCollectionService.stop(appContext); } } + @Nullable + private LatLng manualStartAnchorLatLng = null; + + @Nullable + private Integer manualStartAnchorFloorIndex = null; + + @Nullable + private String manualStartAnchorBuildingId = null; + + /** True when live PF floor changes are allowed for this session. */ + private boolean liveAutoFloorEnabled = false; + /** - * Validates the current trajectory against quality thresholds before upload. + * Stores the user-confirmed manual start anchor. * - * @return validation result with errors and warnings - * @see TrajectoryValidator + * This also mirrors the chosen start position into the session start anchor + * immediately so both raw-PDR and PF init can read the same location. */ - public TrajectoryValidator.ValidationResult validateTrajectory() { - return recorder.validateTrajectory(); + public void setManualStartAnchor(@NonNull LatLng latLng, + @Nullable Integer floorIndex, + @Nullable String buildingId) { + this.manualStartAnchorLatLng = latLng; + this.manualStartAnchorFloorIndex = floorIndex; + this.manualStartAnchorBuildingId = buildingId; + + setStartGNSSLatitude(new float[]{ + (float) latLng.latitude, + (float) latLng.longitude + }); + + if (buildingId != null && !buildingId.isEmpty()) { + setSelectedBuildingId(buildingId); + } + } + @Nullable + public LatLng getManualStartAnchorLatLng() { + return manualStartAnchorLatLng; + } + + @Nullable + public Integer getManualStartAnchorFloorIndex() { + return manualStartAnchorFloorIndex; + } + + @Nullable + public String getManualStartAnchorBuildingId() { + return manualStartAnchorBuildingId; + } + + public void clearManualStartAnchor() { + manualStartAnchorLatLng = null; + manualStartAnchorFloorIndex = null; + manualStartAnchorBuildingId = null; } /** - * Send the trajectory object to servers. + * Returns whether live PF floor transitions are allowed in this session. * - * @see TrajectoryRecorder#sendTrajectoryToCloud() + * This is controlled by the Auto Floor switch in the map fragment. */ - public void sendTrajectoryToCloud() { - recorder.sendTrajectoryToCloud(); + public boolean isLiveAutoFloorEnabled() { + return liveAutoFloorEnabled; } /** - * Sets the trajectory name/ID for the current recording session. + * Enables or disables live PF floor transitions for this session. + */ + public void setLiveAutoFloorEnabled(boolean enabled) { + this.liveAutoFloorEnabled = enabled; + } + + /** + * Resolves the preferred session start floor index. * - * @param id trajectory name entered by the user + * Priority: + * 1. user-confirmed manual floor + * 2. WiFi floor if WiFi positioning exists + * 3. ground/default floor 0 */ - public void setTrajectoryId(String id) { - recorder.setTrajectoryId(id); + public int resolvePreferredStartFloorIndex() { + if (manualStartAnchorFloorIndex != null) { + return manualStartAnchorFloorIndex; + } + + LatLng wifiLatLng = getLatLngWifiPositioning(); + if (wifiLatLng != null + && !(Math.abs(wifiLatLng.latitude) < 1e-6 && Math.abs(wifiLatLng.longitude) < 1e-6)) { + return getWifiFloor(); + } + + return 0; } /** - * Gets the trajectory name/ID for the current recording session. + * Resolves the preferred session building id. * - * @return trajectory name string, or null if not set + * Priority: + * 1. manual start building + * 2. currently selected building id */ - public String getTrajectoryId() { - return recorder.getTrajectoryId(); + @Nullable + public String resolvePreferredStartBuildingId() { + if (manualStartAnchorBuildingId != null && !manualStartAnchorBuildingId.isEmpty()) { + return manualStartAnchorBuildingId; + } + + String selectedBuildingId = getSelectedBuildingId(); + if (selectedBuildingId != null && !selectedBuildingId.isEmpty()) { + return selectedBuildingId; + } + + return null; } /** - * Sets the selected building identifier for the current recording session. - * Used to determine the campaign name when uploading the trajectory. + * Pushes a UI/manual floor choice into the live PF state. * - * @param buildingId building name from the floorplan API (e.g. "nucleus_building") + * This is important when the user changes floor manually, because otherwise + * the UI floor and PF floor can diverge and the next fused update will snap + * the display back. */ - public void setSelectedBuildingId(String buildingId) { - recorder.setSelectedBuildingId(buildingId); + public void setParticleFilterFloorOverride(int floorIndex) { + if (particleFilterManager != null) { + particleFilterManager.forceActiveFloor(floorIndex); + latestParticleFilterPose = particleFilterManager.getLatestFusedPose(); + } } /** - * Gets the selected building identifier for the current recording session. + * Initialises the particle filter once a valid start anchor exists, + * then refreshes the cached latest fused pose. * - * @return building name string, or null if no building was selected + * This is used so the red fused arrow can appear before the first step. */ + public void initialiseParticleFilterIfNeeded() { + if (particleFilterManager == null) { + return; + } + + particleFilterManager.initialiseIfNeeded(); + latestParticleFilterPose = particleFilterManager.getLatestFusedPose(); + } + + /** + * Selects whether this recording session uses standard PDR or PF trajectory mode. + */ + public void setRecordingTrajectoryMode(int mode) { + if (mode != TRAJECTORY_MODE_PARTICLE_FILTER) { + mode = TRAJECTORY_MODE_PDR; + } + + this.recordingTrajectoryMode = mode; + + Log.d(TAG, "SensorFusion mode set = " + + (mode == TRAJECTORY_MODE_PARTICLE_FILTER + ? "PARTICLE_FILTER" + : "STANDARD_PDR")); + + if (particleFilterManager != null) { + boolean enableParticleFilter = (mode == TRAJECTORY_MODE_PARTICLE_FILTER); + particleFilterManager.setEnabled(enableParticleFilter); + + if (!enableParticleFilter) { + particleFilterManager.reset(); + latestParticleFilterPose = null; + } + } + } + + public int getRecordingTrajectoryMode() { + return recordingTrajectoryMode; + } + + public boolean isParticleFilterTrajectoryMode() { + return recordingTrajectoryMode == TRAJECTORY_MODE_PARTICLE_FILTER; + } + + public TrajectoryValidator.ValidationResult validateTrajectory() { + return recorder.validateTrajectory(); + } + + public void sendTrajectoryToCloud() { + recorder.sendTrajectoryToCloud(); + } + + public void setTrajectoryId(String id) { + recorder.setTrajectoryId(id); + } + + public String getTrajectoryId() { + return recorder.getTrajectoryId(); + } + + public void saveTestPointToCSV(File file) throws IOException { + recorder.saveTestPointToCsv(file); + } + + public void saveRecordingToJSON(File file) throws IOException { + recorder.saveTrajectoryToJson(file); + } + + public void setSelectedBuildingId(String buildingId) { + recorder.setSelectedBuildingId(buildingId); + } + public String getSelectedBuildingId() { return recorder.getSelectedBuildingId(); } /** - * Caches floorplan API building payloads for use in later fragments. - * - * @param buildings buildings returned by floorplan API + * Writes the current initial metadata into the protobuf recording. */ + public void writeInitialMetadata() { + recorder.writeInitialMetadata(); + } + + /** + * Adds a user test point to the recording protobuf. + */ + public void addTestPointToProto(long pressTimestampMs, double lat, double lng) { + recorder.addTestPoint(pressTimestampMs, lat, lng); + } + + // Floorplan cache public void setFloorplanBuildings(List buildings) { floorplanBuildingCache.clear(); - if (buildings == null) return; + if (buildings == null) { + return; + } for (FloorplanApiClient.BuildingInfo building : buildings) { if (building == null || building.getName() == null || building.getName().isEmpty()) { @@ -424,12 +725,7 @@ public void setFloorplanBuildings(List building } } - /** - * Returns a cached floorplan entry by building id. - * - * @param buildingId building name from floorplan API - * @return cached building info, or null if not present - */ + @Nullable public FloorplanApiClient.BuildingInfo getFloorplanBuilding(String buildingId) { if (buildingId == null || buildingId.isEmpty()) { return null; @@ -437,39 +733,22 @@ public FloorplanApiClient.BuildingInfo getFloorplanBuilding(String buildingId) { return floorplanBuildingCache.get(buildingId); } - /** - * Returns all cached floorplan entries. - * - * @return list copy of cached building info objects - */ + @NonNull public List getFloorplanBuildings() { return new ArrayList<>(floorplanBuildingCache.values()); } - /** - * Writes the initial position and heading into the trajectory protobuf. - * Should be called after startRecording() and setStartGNSSLatitude(). - */ - public void writeInitialMetadata() { - recorder.writeInitialMetadata(); - } - - /** - * Adds a test point (user ground truth marker) to the trajectory. - */ - public void addTestPointToProto(long pressTimestampMs, double lat, double lng) { - recorder.addTestPoint(pressTimestampMs, lat, lng); + @NonNull + public String getParticleFilterDebugSummary() { + if (particleFilterManager == null) { + return "pf=unavailable"; + } + return particleFilterManager.getLiveDebugSummary(); } - //endregion - - //region Getters/Setters - + // Getters / setters /** - * Getter function for core location data. - * - * @param start set true to get the initial location - * @return longitude and latitude data in a float[2]. + * Returns current GNSS or recording start GNSS. */ public float[] getGNSSLatitude(boolean start) { float[] latLong = new float[2]; @@ -482,10 +761,31 @@ public float[] getGNSSLatitude(boolean start) { return latLong; } + @Nullable + public ParticleFilterManager getParticleFilterManager() { + return particleFilterManager; + } + + public boolean isUseAdaptiveQsmfiHeading() { + return useAdaptiveQsmfiHeading; + } + + public void setAdaptiveHeadingEnabled(boolean enabled) { + setAdaptiveHeadingCalibratorEnabled(enabled); + } + + public float getSelectedHeadingRad() { + if (useAdaptiveQsmfiHeading + && adaptiveQsmfiHeadingCalibrator != null + && adaptiveQsmfiHeadingCalibrator.isInitialised()) { + return adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad(); + } + return state.orientation[0]; + } + /** - * Setter function for core location data. - * - * @param startPosition contains the initial location set by the user + * Sets the recording start GNSS anchor. + * @param startPosition contains the initial autonomous anchor chosen by the app */ public void setStartGNSSLatitude(float[] startPosition) { state.startLocation[0] = startPosition[0]; @@ -493,36 +793,28 @@ public void setStartGNSSLatitude(float[] startPosition) { } /** - * Function to redraw path in corrections fragment. - * - * @param scalingRatio new size of path due to updated step length + * Redraws path using a corrected stride scaling ratio. */ public void redrawPath(float scalingRatio) { pathView.redraw(scalingRatio); } /** - * Getter function for average step length. - * - * @return average step length of total PDR. + * Returns average step length from PDR. */ public float passAverageStepLength() { return pdrProcessing.getAverageStepLength(); } /** - * Getter function for device orientation. - * - * @return orientation of device in radians. + * Returns current device heading in radians. */ public float passOrientation() { - return state.orientation[0]; + return getSelectedHeadingRad(); } /** - * Return most recent sensor readings. - * - * @return Map of {@link SensorTypes} to float array of most recent values. + * Returns latest live sensor values. */ public Map getSensorValueMap() { Map sensorValueMap = new HashMap<>(); @@ -538,106 +830,146 @@ public Map getSensorValueMap() { return sensorValueMap; } - /** - * Return the most recent list of WiFi names and levels. - * - * @return list of Wifi objects. - */ public List getWifiList() { return wifiPositionManager.getWifiList(); } - /** - * Get information about all the sensors registered in SensorFusion. - * - * @return List of SensorInfo objects containing name, resolution, power, etc. - */ public List getSensorInfos() { List sensorInfoList = new ArrayList<>(); - sensorInfoList.add(this.accelerometerSensor.sensorInfo); - sensorInfoList.add(this.barometerSensor.sensorInfo); - sensorInfoList.add(this.gyroscopeSensor.sensorInfo); - sensorInfoList.add(this.lightSensor.sensorInfo); - sensorInfoList.add(this.proximitySensor.sensorInfo); - sensorInfoList.add(this.magnetometerSensor.sensorInfo); + sensorInfoList.add(accelerometerSensor.sensorInfo); + sensorInfoList.add(barometerSensor.sensorInfo); + sensorInfoList.add(gyroscopeSensor.sensorInfo); + sensorInfoList.add(lightSensor.sensorInfo); + sensorInfoList.add(proximitySensor.sensorInfo); + sensorInfoList.add(magnetometerSensor.sensorInfo); return sensorInfoList; } - /** - * Registers the caller observer to receive updates from the server instance. - * - * @param observer Instance implementing {@link Observer} who wants to be notified of - * events relating to sending and receiving trajectories. - */ public void registerForServerUpdate(Observer observer) { recorder.getServerCommunications().registerObserver(observer); } - /** - * Get the estimated elevation value in meters calculated by the PDR class. - * - * @return float of the estimated elevation in meters. - */ public float getElevation() { return state.elevation; } - /** - * Get an estimate whether the user is currently taking an elevator. - * - * @return true if the PDR estimates the user is in an elevator, false otherwise. - */ public boolean getElevator() { return state.elevator; } /** - * Estimates position of the phone based on proximity and light sensors. - * - * @return int 1 if the phone is by the ear, int 0 otherwise. + * Returns true only when PF mode is active and a fused PF pose exists. */ + public boolean shouldDrawLatestParticleFilterPose() { + return isParticleFilterTrajectoryMode() + && particleFilterManager != null + && particleFilterManager.getLatestFusedPose() != null; + } + public int getHoldMode() { - int proximityThreshold = 1, lightThreshold = 100; - if (state.proximity < proximityThreshold && state.light > lightThreshold) { - return 1; - } else { - return 0; - } + int proximityThreshold = 1; + int lightThreshold = 100; + return (state.proximity < proximityThreshold && state.light > lightThreshold) ? 1 : 0; } - /** - * Returns the user position obtained using WiFi positioning. - * - * @return {@link LatLng} corresponding to user's position. - */ + @Nullable public LatLng getLatLngWifiPositioning() { - return wifiPositionManager.getLatLngWifiPositioning(); + return wifiPositionManager != null ? wifiPositionManager.getLatLngWifiPositioning() : null; } - /** - * Returns the current floor the user is on, obtained using WiFi positioning. - * - * @return current floor number. - */ public int getWifiFloor() { - return wifiPositionManager.getWifiFloor(); + return wifiPositionManager != null ? wifiPositionManager.getWifiFloor() : 0; + } + + public boolean hasManualStartAnchor() { + return manualStartAnchorLatLng != null; } /** - * Utility function to log the event frequency of each sensor. + * Resolve the session start anchor in priority order: + * manual corrected start > stored session start > WiFi > GNSS. */ + @Nullable + public LatLng resolvePreferredStartAnchor() { + if (manualStartAnchorLatLng != null) { + return manualStartAnchorLatLng; + } + + float[] storedStart = getGNSSLatitude(true); + if (storedStart != null + && storedStart.length >= 2 + && !(Math.abs(storedStart[0]) < 1e-6 && Math.abs(storedStart[1]) < 1e-6)) { + return new LatLng(storedStart[0], storedStart[1]); + } + + LatLng wifiLatLng = getLatLngWifiPositioning(); + if (wifiLatLng != null + && !(Math.abs(wifiLatLng.latitude) < 1e-6 && Math.abs(wifiLatLng.longitude) < 1e-6)) { + return wifiLatLng; + } + + float[] gnss = getGNSSLatitude(false); + if (gnss != null + && gnss.length >= 2 + && !(Math.abs(gnss[0]) < 1e-6 && Math.abs(gnss[1]) < 1e-6)) { + return new LatLng(gnss[0], gnss[1]); + } + + return null; + } + + public float passAdaptiveQsmfiHeading() { + return adaptiveQsmfiHeadingCalibrator != null + ? adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad() + : state.orientation[0]; + } + + public boolean isHeadingReliable() { + return adaptiveQsmfiHeadingCalibrator != null + && adaptiveQsmfiHeadingCalibrator.isHeadingReliable(); + } + + public String getLastHeadingCorrectionSource() { + return adaptiveQsmfiHeadingCalibrator != null + ? adaptiveQsmfiHeadingCalibrator.getLastCorrectionSource() + : "none"; + } + + public float getFusedHeadingRad(){ + return adaptiveQsmfiHeadingCalibrator.getFusedHeadingRad(); + } + + public float getCompassHeadingRad(){ + return adaptiveQsmfiHeadingCalibrator.getCompassHeadingRad(); + } + + public float getGyroHeadingRad(){ + return adaptiveQsmfiHeadingCalibrator.getGyroHeadingRad(); + } + + public boolean getIsTurning(){ + return adaptiveQsmfiHeadingCalibrator.getIsTurning(); + } + + public boolean getIsCompassStable(){ + return adaptiveQsmfiHeadingCalibrator.getCompassStable(); + } + + public boolean getIsGyroStable(){ + return adaptiveQsmfiHeadingCalibrator.getGyroStable(); + } + public void logSensorFrequencies() { eventHandler.logSensorFrequencies(); } - //endregion - - //region Location listener + public Context getContext() { + return appContext; + } + // GNSS listener /** - * Location listener class to receive updates from the location manager. - * Writes position data to {@link SensorState} and GNSS readings to - * {@link TrajectoryRecorder}. + * GNSS listener that updates live SensorState and records GNSS samples. */ class MyLocationListener implements LocationListener { @Override @@ -647,6 +979,4 @@ public void onLocationChanged(@NonNull Location location) { recorder.addGnssData(location); } } - - //endregion -} +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/TrajectoryRecorder.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/TrajectoryRecorder.java index 8c771758..7f28db5b 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/sensors/TrajectoryRecorder.java +++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/TrajectoryRecorder.java @@ -7,6 +7,7 @@ import android.os.PowerManager; import android.os.SystemClock; +import com.google.protobuf.util.JsonFormat; import com.openpositioning.PositionMe.Traj; import com.openpositioning.PositionMe.data.remote.ServerCommunications; import com.openpositioning.PositionMe.utils.PdrProcessing; @@ -14,6 +15,9 @@ import com.google.protobuf.ByteString; +import java.io.File; +import java.io.FileWriter; +import java.io.IOException; import java.util.HashSet; import java.util.List; import java.util.Set; @@ -575,5 +579,52 @@ public void run() { } } + /** + * Saves the recorded trajectory to a JSON file. + * + * @param file File Path + * @throws IOException if writing fails + */ + public void saveTrajectoryToJson(File file) throws IOException { + if (trajectory == null) return; + + Traj.Trajectory built = trajectory.build(); + + String json = JsonFormat.printer() + .includingDefaultValueFields() + .print(built); + + FileWriter writer = new FileWriter(file); + writer.write(json); + writer.flush(); + writer.close(); + } + + /** + * Saves the recorded test points to a CSV file. + * + * @param file File Path + * @throws IOException if writing fails + */ + public void saveTestPointToCsv(File file) throws IOException { + if (trajectory == null) return; + + Traj.Trajectory built = trajectory.build(); + FileWriter writer = new FileWriter(file); + // Header + writer.append("type,timestamp,Latitude,Longitude,Altitude\n"); + + // TEST POINTS + for (Traj.GNSSPosition tp : built.getTestPointsList()) { + writer.append("TEST_POINT,") + .append(String.valueOf(tp.getRelativeTimestamp())).append(",") + .append(String.valueOf(tp.getLatitude())).append(",") + .append(String.valueOf(tp.getLongitude())).append(",") + .append(String.valueOf(tp.getAltitude())).append(",\n"); + } + writer.flush(); + writer.close(); + } + //endregion } diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/WifiPositionManager.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/WifiPositionManager.java index 1edfd68a..0de81eab 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/sensors/WifiPositionManager.java +++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/WifiPositionManager.java @@ -51,7 +51,7 @@ public WifiPositionManager(WiFiPositioning wiFiPositioning, public void update(Object[] wifiList) { this.wifiList = Stream.of(wifiList).map(o -> (Wifi) o).collect(Collectors.toList()); recorder.addWifiFingerprint(this.wifiList); - createWifiPositioningRequest(); + createWifiPositionRequestCallback(); } /** @@ -72,7 +72,11 @@ private void createWifiPositioningRequest() { } /** - * Creates a WiFi positioning request using the Volley callback pattern. + * Creates a Wi-Fi positioning request using the Volley callback pattern. + * + *

The latest Wi-Fi position and floor are stored internally by {@link WiFiPositioning} + * when the request succeeds. This method primarily exists so that the request path used + * during live positioning is explicit and easier to maintain.

*/ private void createWifiPositionRequestCallback() { try { @@ -80,21 +84,24 @@ private void createWifiPositionRequestCallback() { for (Wifi data : this.wifiList) { wifiAccessPoints.put(String.valueOf(data.getBssid()), data.getLevel()); } - JSONObject wifiFingerPrint = new JSONObject(); - wifiFingerPrint.put(WIFI_FINGERPRINT, wifiAccessPoints); - this.wiFiPositioning.request(wifiFingerPrint, new WiFiPositioning.VolleyCallback() { + + JSONObject wifiFingerprint = new JSONObject(); + wifiFingerprint.put(WIFI_FINGERPRINT, wifiAccessPoints); + + this.wiFiPositioning.request(wifiFingerprint, new WiFiPositioning.VolleyCallback() { @Override public void onSuccess(LatLng wifiLocation, int floor) { - // Handle the success response + Log.d("WifiPositionManager", + "Wi-Fi location updated: " + wifiLocation + ", floor=" + floor); } @Override public void onError(String message) { - // Handle the error response + Log.e("WifiPositionManager", "Wi-Fi positioning failed: " + message); } }); } catch (JSONException e) { - Log.e("jsonErrors", "Error creating json object" + e.toString()); + Log.e("WifiPositionManager", "Error creating Wi-Fi positioning request", e); } } diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java index f8058603..ebea607c 100644 --- a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java +++ b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java @@ -1,7 +1,9 @@ package com.openpositioning.PositionMe.utils; import android.graphics.Color; -import android.util.Log; + +import androidx.annotation.Nullable; +import androidx.annotation.NonNull; import com.google.android.gms.maps.GoogleMap; import com.google.android.gms.maps.model.LatLng; @@ -10,405 +12,476 @@ import com.google.android.gms.maps.model.Polyline; import com.google.android.gms.maps.model.PolylineOptions; import com.openpositioning.PositionMe.data.remote.FloorplanApiClient; -import com.openpositioning.PositionMe.sensors.SensorFusion; import java.util.ArrayList; import java.util.List; /** - * Manages indoor floor map display for all supported buildings - * (Nucleus, Library, Murchison). Uses vector shape data from the floorplan API - * to dynamically draw walls, rooms, and other indoor features on the Google Map. - * Provides unified floor indexing, floor switching, and building detection. + * Manages indoor vector floor overlays for the selected building. * - * @see BuildingPolygon Describes the bounds of buildings and the methods to check if a point is - * within a building - * @see FloorplanApiClient.FloorShapes Per-floor vector shape data + * This class is only responsible for: + * - storing the current selected building + * - storing the current floor index + * - drawing vector indoor shapes on the map + * - converting between logical floors and floor-shape indices */ public class IndoorMapManager { - private static final String TAG = "IndoorMapManager"; - - /** Building identifiers for tracking which building the user is in. */ public static final int BUILDING_NONE = 0; public static final int BUILDING_NUCLEUS = 1; public static final int BUILDING_LIBRARY = 2; public static final int BUILDING_MURCHISON = 3; - private GoogleMap gMap; + public static final float NUCLEUS_FLOOR_HEIGHT = 4.2F; + public static final float LIBRARY_FLOOR_HEIGHT = 3.6F; + public static final float MURCHISON_FLOOR_HEIGHT = 4.0F; + + private static final int WALL_STROKE = Color.argb(255, 34, 34, 34); + private static final int ROOM_STROKE = Color.argb(255, 60, 60, 60); + private static final int ROOM_FILL = Color.argb(18, 0, 0, 0); + private static final int STAIRS_STROKE = Color.argb(255, 220, 20, 60); + private static final int STAIRS_FILL = Color.argb(90, 255, 0, 0); + private static final int LIFT_STROKE = Color.argb(255, 200, 0, 0); + private static final int LIFT_FILL = Color.argb(70, 255, 0, 0); + private static final int DEFAULT_STROKE = Color.argb(255, 50, 50, 50); + + private final GoogleMap gMap; + + @Nullable private LatLng currentLocation; + private boolean isIndoorMapSet = false; - private int currentFloor; + private int currentFloor = 0; private int currentBuilding = BUILDING_NONE; - private float floorHeight; + private float floorHeight = 0f; - // Vector shapes currently drawn on the map (cleared on floor switch or exit) private final List drawnPolygons = new ArrayList<>(); private final List drawnPolylines = new ArrayList<>(); - // Per-floor vector shape data for the current building + @Nullable private List currentFloorShapes; - // Average floor heights per building (meters), used for barometric auto-floor - public static final float NUCLEUS_FLOOR_HEIGHT = 4.2F; - public static final float LIBRARY_FLOOR_HEIGHT = 3.6F; - public static final float MURCHISON_FLOOR_HEIGHT = 4.0F; + private boolean vectorBaseplateEnabled = false; - // Colours for different indoor feature types - private static final int WALL_STROKE = Color.argb(200, 80, 80, 80); - private static final int ROOM_STROKE = Color.argb(180, 33, 150, 243); - private static final int ROOM_FILL = Color.argb(40, 33, 150, 243); - private static final int DEFAULT_STROKE = Color.argb(150, 100, 100, 100); + @Nullable + public FloorplanApiClient.FloorShapes getFloorShapesForIndex(int floorIndex) { + if (currentFloorShapes == null || currentFloorShapes.isEmpty()) { + return null; + } + int safe = clampFloorIndex(floorIndex); + return currentFloorShapes.get(safe); + } + + @Nullable + public FloorplanApiClient.FloorShapes getFloorShapesForLogicalFloor(int logicalFloor) { + if (currentFloorShapes == null || currentFloorShapes.isEmpty()) { + return null; + } + return getFloorShapesForIndex(logicalFloorToIndex(logicalFloor)); + } + + @NonNull + public List getCurrentFloorShapesList() { + return currentFloorShapes == null ? new ArrayList<>() : new ArrayList<>(currentFloorShapes); + } - /** - * Constructor to set the map instance. - * - * @param map the map on which the indoor floor map shapes are drawn - */ public IndoorMapManager(GoogleMap map) { this.gMap = map; } - /** - * Updates the current location of the user and displays the indoor map - * if the user is in a building with indoor maps available. - * - * @param currentLocation new location of user - */ - public void setCurrentLocation(LatLng currentLocation) { + public void setCurrentLocation(@Nullable LatLng currentLocation) { this.currentLocation = currentLocation; - setBuildingOverlay(); } - /** - * Returns the current building's floor height. - * - * @return the floor height of the current building the user is in - */ public float getFloorHeight() { return floorHeight; } - /** - * Returns whether an indoor floor map is currently being displayed. - * - * @return true if an indoor map is visible to the user, false otherwise - */ public boolean getIsIndoorMapSet() { return isIndoorMapSet; } - /** - * Returns the identifier of the building the user is currently in. - * - * @return one of {@link #BUILDING_NONE}, {@link #BUILDING_NUCLEUS}, - * {@link #BUILDING_LIBRARY}, or {@link #BUILDING_MURCHISON} - */ public int getCurrentBuilding() { return currentBuilding; } - /** - * Returns the current floor index being displayed. - * - * @return the current floor index in the active building's floor list - */ public int getCurrentFloor() { return currentFloor; } - /** - * Returns the display name for the current floor (e.g. "LG", "G", "1"). - * Falls back to the numeric index if no display name is available. - * - * @return human-readable floor label - */ public String getCurrentFloorDisplayName() { if (currentFloorShapes != null && currentFloor >= 0 && currentFloor < currentFloorShapes.size()) { - return currentFloorShapes.get(currentFloor).getDisplayName(); + String displayName = currentFloorShapes.get(currentFloor).getDisplayName(); + if (displayName == null || displayName.isEmpty()) { + return String.valueOf(currentFloor); + } + return formatFloorLabelForDisplay(displayName); } return String.valueOf(currentFloor); } /** - * Returns the auto-floor bias for the current building. Buildings with a - * lower-ground floor at index 0 need a +1 bias so that WiFi/barometric - * floor 0 (ground) maps to the correct floor index. - * - * @return the floor index offset for auto-floor conversion + * Building-dependent bias used when a direct floor label match is not found. */ public int getAutoFloorBias() { switch (currentBuilding) { case BUILDING_NUCLEUS: case BUILDING_MURCHISON: - return 1; // LG at index 0, so G = index 1 + return 1; case BUILDING_LIBRARY: default: - return 0; // G at index 0 + return 0; } } /** - * Sets the floor to display. When called from auto-floor, the floor number - * is a logical floor (0=G, -1=LG, 1=Floor 1, etc.) and the building bias - * is applied. When called manually, the floor number is the direct index. + * Convert logical floor to the API floor-shape index. * - * @param newFloor the floor the user is at - * @param autoFloor true if called by auto-floor feature + * Examples: + * -1 -> LG + * 0 -> G + * 1 -> F1 + * 2 -> F2 */ - public void setCurrentFloor(int newFloor, boolean autoFloor) { - if (currentFloorShapes == null || currentFloorShapes.isEmpty()) return; - - if (autoFloor) { - newFloor += getAutoFloorBias(); + public int logicalFloorToIndex(int logicalFloor) { + String targetFloorLabel; + if (logicalFloor <= -1) { + targetFloorLabel = "LG"; + } else if (logicalFloor == 0) { + targetFloorLabel = "G"; + } else { + targetFloorLabel = String.valueOf(logicalFloor); } - if (newFloor >= 0 && newFloor < currentFloorShapes.size() - && newFloor != this.currentFloor) { - this.currentFloor = newFloor; - drawFloorShapes(newFloor); + int matchingIndex = findFloorIndexByCanonicalLabel(targetFloorLabel); + if (matchingIndex >= 0) { + return matchingIndex; } + + return clampFloorIndex(logicalFloor + getAutoFloorBias()); } /** - * Increments the current floor and changes to a higher floor's map - * (if a higher floor exists). + * Converts a building floor index into a logical floor: + * LG -> -1 + * G -> 0 + * 1 -> 1 + * 2 -> 2 + * 3 -> 3 + * + * This is important because map matching often uses floor indices, + * while the particle filter works better with logical floors. */ - public void increaseFloor() { - this.setCurrentFloor(currentFloor + 1, false); + public int indexToLogicalFloor(int floorIndex) { + if (currentFloorShapes == null || currentFloorShapes.isEmpty()) { + return floorIndex; + } + + int safeIndex = clampFloorIndex(floorIndex); + String displayName = currentFloorShapes.get(safeIndex).getDisplayName(); + String canonical = canonicalFloorLabel(displayName); + + switch (canonical) { + case "LG": + return -1; + case "G": + return 0; + case "1": + return 1; + case "2": + return 2; + case "3": + return 3; + default: + return safeIndex - getAutoFloorBias(); + } + } + + public int clampFloorIndex(int floorIndex) { + if (currentFloorShapes == null || currentFloorShapes.isEmpty()) { + return 0; + } + return Math.max(0, Math.min(floorIndex, currentFloorShapes.size() - 1)); + } + + public void setVectorBaseplateEnabled(boolean enabled) { + if (this.vectorBaseplateEnabled != enabled) { + this.vectorBaseplateEnabled = enabled; + + if (isIndoorMapSet + && currentFloorShapes != null + && currentFloor >= 0 + && currentFloor < currentFloorShapes.size()) { + drawFloorShapes(currentFloor); + } + } } /** - * Decrements the current floor and changes to the lower floor's map - * (if a lower floor exists). + * Set the current selected building and load its floor shapes. */ - public void decreaseFloor() { - this.setCurrentFloor(currentFloor - 1, false); + public void setSelectedBuilding(@Nullable FloorplanApiClient.BuildingInfo building) { + clearDrawnShapes(); + + if (building == null) { + clearIndoorMap(); + return; + } + + currentBuilding = resolveBuildingType(building.getName()); + currentFloorShapes = building.getFloorShapesList(); + currentFloor = -1; + isIndoorMapSet = currentFloorShapes != null && !currentFloorShapes.isEmpty(); + + switch (currentBuilding) { + case BUILDING_NUCLEUS: + floorHeight = NUCLEUS_FLOOR_HEIGHT; + break; + case BUILDING_LIBRARY: + floorHeight = LIBRARY_FLOOR_HEIGHT; + break; + case BUILDING_MURCHISON: + floorHeight = MURCHISON_FLOOR_HEIGHT; + break; + default: + floorHeight = 0f; + break; + } + } + + public void clearIndoorMap() { + clearDrawnShapes(); + isIndoorMapSet = false; + currentBuilding = BUILDING_NONE; + currentFloor = 0; + currentFloorShapes = null; + floorHeight = 0f; } /** - * Sets the map overlay for the building if the user's current location is - * inside a building and the overlay is not already set. Removes the overlay - * if the user leaves all buildings. + * Set current floor and redraw if needed. * - *

Detection priority: floorplan API real polygon outlines first, - * then legacy hard-coded rectangular boundaries as fallback.

+ * @param autoFloor if true, input is treated as logical floor */ - private void setBuildingOverlay() { - try { - int detected = detectCurrentBuilding(); - boolean inAnyBuilding = (detected != BUILDING_NONE); - - if (inAnyBuilding && !isIndoorMapSet) { - currentBuilding = detected; - String apiName; - - switch (detected) { - case BUILDING_NUCLEUS: - apiName = "nucleus_building"; - currentFloor = 1; - floorHeight = NUCLEUS_FLOOR_HEIGHT; - break; - case BUILDING_LIBRARY: - apiName = "library"; - currentFloor = 0; - floorHeight = LIBRARY_FLOOR_HEIGHT; - break; - case BUILDING_MURCHISON: - apiName = "murchison_house"; - currentFloor = 1; - floorHeight = MURCHISON_FLOOR_HEIGHT; - break; - default: - return; - } + public void setCurrentFloor(int newFloor, boolean autoFloor) { + if (currentFloorShapes == null || currentFloorShapes.isEmpty()) { + return; + } - // Load floor shapes from cached API data - FloorplanApiClient.BuildingInfo building = - SensorFusion.getInstance().getFloorplanBuilding(apiName); - if (building != null) { - currentFloorShapes = building.getFloorShapesList(); - } + if (autoFloor) { + newFloor = logicalFloorToIndex(newFloor); + } else { + newFloor = clampFloorIndex(newFloor); + } - if (currentFloorShapes != null && !currentFloorShapes.isEmpty()) { - drawFloorShapes(currentFloor); - isIndoorMapSet = true; - } + if (newFloor != this.currentFloor || (drawnPolygons.isEmpty() && drawnPolylines.isEmpty())) { + this.currentFloor = newFloor; + drawFloorShapes(newFloor); + } + } - } else if (!inAnyBuilding && isIndoorMapSet) { - clearDrawnShapes(); - isIndoorMapSet = false; - currentBuilding = BUILDING_NONE; - currentFloor = 0; - currentFloorShapes = null; + public void increaseFloor() { + setCurrentFloor(currentFloor + 1, false); + } + + public void decreaseFloor() { + setCurrentFloor(currentFloor - 1, false); + } + + private int findFloorIndexByCanonicalLabel(String targetFloorLabel) { + if (currentFloorShapes == null || currentFloorShapes.isEmpty()) { + return -1; + } + + String canonicalTarget = canonicalFloorLabel(targetFloorLabel); + for (int i = 0; i < currentFloorShapes.size(); i++) { + String candidateDisplayName = currentFloorShapes.get(i).getDisplayName(); + if (canonicalTarget.equals(canonicalFloorLabel(candidateDisplayName))) { + return i; } - } catch (Exception ex) { - Log.e(TAG, "Error with overlay: " + ex.toString()); + } + return -1; + } + + private String formatFloorLabelForDisplay(String rawFloorLabel) { + String canonicalFloor = canonicalFloorLabel(rawFloorLabel); + switch (canonicalFloor) { + case "LG": + return "LG"; + case "G": + return "G"; + case "1": + return "F1"; + case "2": + return "F2"; + case "3": + return "F3"; + default: + return rawFloorLabel == null ? "" : rawFloorLabel; + } + } + + private String canonicalFloorLabel(String rawFloorLabel) { + if (rawFloorLabel == null) { + return ""; + } + + String normalized = rawFloorLabel.trim().toUpperCase().replace(" ", ""); + switch (normalized) { + case "LG": + case "LOWERGROUND": + case "LOWERG": + case "B1": + case "BASEMENT1": + return "LG"; + case "G": + case "GF": + case "GROUND": + case "GROUNDFLOOR": + case "0": + return "G"; + case "1": + case "F1": + case "FIRST": + case "FIRSTFLOOR": + return "1"; + case "2": + case "F2": + case "SECOND": + case "SECONDFLOOR": + return "2"; + case "3": + case "F3": + case "THIRD": + case "THIRDFLOOR": + return "3"; + default: + return normalized; } } /** - * Draws all vector shapes for the given floor index on the Google Map. - * Clears any previously drawn shapes before drawing the new floor. - * - * @param floorIndex the floor index (0-based, matching FloorShapes list order) + * Draw all shapes for one floor. */ private void drawFloorShapes(int floorIndex) { clearDrawnShapes(); - if (currentFloorShapes == null || floorIndex < 0 - || floorIndex >= currentFloorShapes.size()) return; + if (currentFloorShapes == null || floorIndex < 0 || floorIndex >= currentFloorShapes.size()) { + return; + } FloorplanApiClient.FloorShapes floor = currentFloorShapes.get(floorIndex); + for (FloorplanApiClient.MapShapeFeature feature : floor.getFeatures()) { String geoType = feature.getGeometryType(); String indoorType = feature.getIndoorType(); if ("MultiPolygon".equals(geoType) || "Polygon".equals(geoType)) { for (List ring : feature.getParts()) { - if (ring.size() < 3) continue; + if (ring.size() < 3) { + continue; + } + + if (vectorBaseplateEnabled) { + Polygon underlay = gMap.addPolygon(new PolygonOptions() + .addAll(ring) + .strokeColor(Color.argb(0, 255, 255, 255)) + .strokeWidth(0f) + .fillColor(Color.argb(0, 255, 255, 255)) + .zIndex(6f)); + drawnPolygons.add(underlay); + } + Polygon p = gMap.addPolygon(new PolygonOptions() .addAll(ring) .strokeColor(getStrokeColor(indoorType)) - .strokeWidth(5f) - .fillColor(getFillColor(indoorType))); + .strokeWidth(4f) + .fillColor(getFillColor(indoorType)) + .zIndex(10f)); drawnPolygons.add(p); } - } else if ("MultiLineString".equals(geoType) - || "LineString".equals(geoType)) { + } else if ("MultiLineString".equals(geoType) || "LineString".equals(geoType)) { for (List line : feature.getParts()) { - if (line.size() < 2) continue; + if (line.size() < 2) { + continue; + } + + if (vectorBaseplateEnabled) { + Polyline underlay = gMap.addPolyline(new PolylineOptions() + .addAll(line) + .color(Color.argb(0, 255, 255, 255)) + .width(0f) + .zIndex(6f)); + drawnPolylines.add(underlay); + } + Polyline pl = gMap.addPolyline(new PolylineOptions() .addAll(line) .color(getStrokeColor(indoorType)) - .width(6f)); + .width(4.5f) + .zIndex(10f)); drawnPolylines.add(pl); } } } } - /** - * Removes all vector shapes currently drawn on the map. - */ private void clearDrawnShapes() { - for (Polygon p : drawnPolygons) p.remove(); - for (Polyline p : drawnPolylines) p.remove(); + for (Polygon p : drawnPolygons) { + p.remove(); + } + for (Polyline p : drawnPolylines) { + p.remove(); + } drawnPolygons.clear(); drawnPolylines.clear(); } - /** - * Returns the stroke colour for a given indoor feature type. - * - * @param indoorType the indoor_type property value - * @return ARGB colour value - */ private int getStrokeColor(String indoorType) { - if ("wall".equals(indoorType)) return WALL_STROKE; - if ("room".equals(indoorType)) return ROOM_STROKE; + if ("wall".equals(indoorType)) { + return WALL_STROKE; + } + if ("room".equals(indoorType)) { + return ROOM_STROKE; + } + if ("stairs".equals(indoorType)) { + return STAIRS_STROKE; + } + if ("lift".equals(indoorType)) { + return LIFT_STROKE; + } return DEFAULT_STROKE; } - /** - * Returns the fill colour for a given indoor feature type. - * - * @param indoorType the indoor_type property value - * @return ARGB colour value - */ private int getFillColor(String indoorType) { - if ("room".equals(indoorType)) return ROOM_FILL; - return Color.TRANSPARENT; - } - - /** - * Detects which building the user is currently in. - * Checks floorplan API outline polygons first; falls back to legacy - * hard-coded rectangular boundaries if no API match is found. - * - * @return building type constant, or {@link #BUILDING_NONE} - */ - private int detectCurrentBuilding() { - // Phase 1: API real polygon outlines - List apiBuildings = - SensorFusion.getInstance().getFloorplanBuildings(); - for (FloorplanApiClient.BuildingInfo building : apiBuildings) { - List outline = building.getOutlinePolygon(); - if (outline != null && outline.size() >= 3 - && BuildingPolygon.pointInPolygon(currentLocation, outline)) { - int type = resolveBuildingType(building.getName()); - if (type != BUILDING_NONE) return type; - } + if ("room".equals(indoorType)) { + return ROOM_FILL; } - - // Phase 2: legacy hard-coded fallback - if (BuildingPolygon.inNucleus(currentLocation)) return BUILDING_NUCLEUS; - if (BuildingPolygon.inLibrary(currentLocation)) return BUILDING_LIBRARY; - if (BuildingPolygon.inMurchison(currentLocation)) return BUILDING_MURCHISON; - - return BUILDING_NONE; - } - - /** - * Maps a floorplan API building name to a building type constant. - * - * @param apiName building name from API (e.g. "nucleus_building") - * @return building type constant, or {@link #BUILDING_NONE} if unrecognised - */ - private int resolveBuildingType(String apiName) { - if (apiName == null) return BUILDING_NONE; - switch (apiName) { - case "nucleus_building": return BUILDING_NUCLEUS; - case "murchison_house": return BUILDING_MURCHISON; - case "library": return BUILDING_LIBRARY; - default: return BUILDING_NONE; + if ("stairs".equals(indoorType)) { + return STAIRS_FILL; } + if ("lift".equals(indoorType)) { + return LIFT_FILL; + } + return Color.TRANSPARENT; } - /** - * Draws green polyline indicators around all buildings with available - * indoor floor maps. Uses floorplan API outlines when available, - * falls back to legacy hard-coded polygons otherwise. - */ - public void setIndicationOfIndoorMap() { - List apiBuildings = - SensorFusion.getInstance().getFloorplanBuildings(); - - boolean nucleusDrawn = false, libraryDrawn = false, murchisonDrawn = false; - - // Phase 1: draw API outlines - for (FloorplanApiClient.BuildingInfo building : apiBuildings) { - List outline = building.getOutlinePolygon(); - if (outline == null || outline.size() < 3) continue; - - List closed = new ArrayList<>(outline); - closed.add(closed.get(0)); - gMap.addPolyline(new PolylineOptions().color(Color.GREEN).addAll(closed)); - - switch (building.getName()) { - case "nucleus_building": nucleusDrawn = true; break; - case "library": libraryDrawn = true; break; - case "murchison_house": murchisonDrawn = true; break; - } + private int resolveBuildingType(String apiName) { + if (apiName == null) { + return BUILDING_NONE; } - // Phase 2: fallback for buildings not covered by API - if (!nucleusDrawn) { - List pts = new ArrayList<>(BuildingPolygon.NUCLEUS_POLYGON); - pts.add(pts.get(0)); - gMap.addPolyline(new PolylineOptions().color(Color.GREEN).addAll(pts)); - } - if (!libraryDrawn) { - List pts = new ArrayList<>(BuildingPolygon.LIBRARY_POLYGON); - pts.add(pts.get(0)); - gMap.addPolyline(new PolylineOptions().color(Color.GREEN).addAll(pts)); - } - if (!murchisonDrawn) { - List pts = new ArrayList<>(BuildingPolygon.MURCHISON_POLYGON); - pts.add(pts.get(0)); - gMap.addPolyline(new PolylineOptions().color(Color.GREEN).addAll(pts)); + switch (apiName) { + case "nucleus_building": + return BUILDING_NUCLEUS; + case "murchison_house": + return BUILDING_MURCHISON; + case "library": + return BUILDING_LIBRARY; + default: + return BUILDING_NONE; } } -} +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/TcpClient.java b/app/src/main/java/com/openpositioning/PositionMe/utils/TcpClient.java new file mode 100644 index 00000000..dbf6262b --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/utils/TcpClient.java @@ -0,0 +1,53 @@ +package com.openpositioning.PositionMe.utils; + +import android.util.Log; +import java.io.PrintWriter; +import java.net.Socket; +import java.util.concurrent.ExecutorService; +import java.util.concurrent.Executors; + +public class TcpClient { + private Socket socket; + private PrintWriter writer; + // Single thread executor to handle all network I/O in order + private final ExecutorService executor = Executors.newSingleThreadExecutor(); + + public TcpClient(String serverIp, int port) { + executor.execute(() -> { + try { + Log.d("TCP", "Attempting to connect to " + serverIp); + socket = new Socket(serverIp, port); + writer = new PrintWriter(socket.getOutputStream(), true); + Log.d("TCP", "Connected successfully!"); + } catch (Exception e) { + Log.e("TCP", "Connection failed", e); + } + }); + } + + public void send(String msg) { + // Run the network write on the background thread + executor.execute(() -> { + if (writer != null) { + writer.print(msg); + writer.flush(); // Ensure it's pushed out immediately + } else { + // Optional: Log that we are dropping data because not connected yet + Log.w("TCP", "Writer null, message dropped"); + } + }); + } + + public void stopClient() { + executor.execute(() -> { + try { + if (writer != null) writer.close(); + if (socket != null) socket.close(); + executor.shutdown(); + Log.d("TCP", "Client stopped"); + } catch (Exception e) { + Log.e("TCP", "Error closing client", e); + } + }); + } +} \ No newline at end of file diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/TcpPacketSender.java b/app/src/main/java/com/openpositioning/PositionMe/utils/TcpPacketSender.java new file mode 100644 index 00000000..3dcf676c --- /dev/null +++ b/app/src/main/java/com/openpositioning/PositionMe/utils/TcpPacketSender.java @@ -0,0 +1,160 @@ +package com.openpositioning.PositionMe.utils; + +import android.util.Log; + +import com.google.android.gms.maps.model.LatLng; +import com.openpositioning.PositionMe.sensors.SensorFusion; +import com.openpositioning.PositionMe.sensors.SensorTypes; +import com.openpositioning.PositionMe.sensors.Wifi; + +import org.json.JSONArray; +import org.json.JSONException; +import org.json.JSONObject; + +import java.util.List; +import java.util.Map; +import com.openpositioning.PositionMe.fusion.CoordinateConverter; + +/** + * Builds newline-delimited JSON packets from the current live sensor state and + * sends them through the existing {@link TcpClient}. + * + *

The packet is designed to match the current Python GUI server, which expects + * "pdr", "imu", and "wifi" sections in each JSON object.

+ */ +public class TcpPacketSender { + + private static final String TAG = "TcpPacketSender"; + + private final SensorFusion sensorFusion; + private final TcpClient tcpClient; + private CoordinateConverter coordinateConverter; + + /** + * Creates a TCP packet sender for live JSON streaming. + * + * @param sensorFusion shared sensor fusion singleton providing live sensor data + * @param tcpClient TCP client used to send the packets + */ + public TcpPacketSender(SensorFusion sensorFusion, TcpClient tcpClient) { + this.sensorFusion = sensorFusion; + this.tcpClient = tcpClient; + } + + /** + * Builds a JSON packet from the latest live data and sends it to the TCP server. + * + *

Each packet is newline-delimited so that the Python server can split and + * decode it correctly.

+ */ + public void sendLatestPacket() { + try { + JSONObject packet = buildPacket(); + tcpClient.send(packet.toString() + "\n"); + } catch (JSONException e) { + Log.e(TAG, "Failed to build TCP JSON packet", e); + } + } + + /** + * Initialises the coordinate converter using the best available absolute reference. + * + *

Wi-Fi is preferred. If Wi-Fi is unavailable, GNSS is used instead.

+ */ + private void initialiseConverterIfNeeded() { + if (coordinateConverter != null) { + return; + } + + LatLng reference = sensorFusion.getLatLngWifiPositioning(); + + if (reference == null) { + float[] gnss = sensorFusion.getGNSSLatitude(false); + if (gnss != null && gnss.length >= 2) { + reference = new LatLng(gnss[0], gnss[1]); + } + } + + if (reference != null) { + coordinateConverter = new CoordinateConverter(reference.latitude, reference.longitude); + } + } + + /** + * Builds the current JSON packet from PDR, IMU, and Wi-Fi data. + * + * @return packet ready to be serialized and sent + * @throws JSONException if JSON building fails + */ + private JSONObject buildPacket() throws JSONException { + JSONObject packet = new JSONObject(); + packet.put("timestamp", System.currentTimeMillis()); + + Map sensorValues = sensorFusion.getSensorValueMap(); + + // PDR block + float[] pdr = sensorValues.get(SensorTypes.PDR); + JSONObject pdrObject = new JSONObject(); + pdrObject.put("x", pdr != null && pdr.length > 0 ? pdr[0] : 0.0); + pdrObject.put("y", pdr != null && pdr.length > 1 ? pdr[1] : 0.0); + packet.put("pdr", pdrObject); + + // IMU block: accelerometer + gyroscope + float[] accel = sensorValues.get(SensorTypes.ACCELEROMETER); + float[] gyro = sensorValues.get(SensorTypes.GYRO); + + JSONObject imuObject = new JSONObject(); + imuObject.put("accel_x", accel != null && accel.length > 0 ? accel[0] : 0.0); + imuObject.put("accel_y", accel != null && accel.length > 1 ? accel[1] : 0.0); + imuObject.put("accel_z", accel != null && accel.length > 2 ? accel[2] : 0.0); + + imuObject.put("gyro_x", gyro != null && gyro.length > 0 ? gyro[0] : 0.0); + imuObject.put("gyro_y", gyro != null && gyro.length > 1 ? gyro[1] : 0.0); + imuObject.put("gyro_z", gyro != null && gyro.length > 2 ? gyro[2] : 0.0); + + packet.put("imu", imuObject); + + // Wi-Fi block + initialiseConverterIfNeeded(); + + JSONObject wifiObject = new JSONObject(); + //Raw Wi-Fi AP List + JSONArray wifiArray = new JSONArray(); + List wifiList = sensorFusion.getWifiList(); + if (wifiList != null) { + for (Wifi wifi : wifiList) { + JSONObject ap = new JSONObject(); + ap.put("bssid", wifi.getBssid()); + ap.put("rssi", wifi.getLevel()); + wifiArray.put(ap); + } + } + wifiObject.put("access_points",wifiArray); + + //Wi-Fi positioning result + LatLng wifiLatLng = sensorFusion.getLatLngWifiPositioning(); + if (wifiLatLng != null) { + wifiObject.put("lat", wifiLatLng.latitude); + wifiObject.put("lng", wifiLatLng.longitude); + + if (coordinateConverter != null) { + double[] wifiLocal = coordinateConverter.latLngToLocal(wifiLatLng); + wifiObject.put("x", wifiLocal[0]); + wifiObject.put("y", wifiLocal[1]); + } else { + wifiObject.put("x", JSONObject.NULL); + wifiObject.put("y", JSONObject.NULL); + } + } else { + wifiObject.put("lat", JSONObject.NULL); + wifiObject.put("lng", JSONObject.NULL); + wifiObject.put("x", JSONObject.NULL); + wifiObject.put("y", JSONObject.NULL); + } + wifiObject.put("floor",sensorFusion.getWifiFloor()); + + packet.put("wifi", wifiObject); + + return packet; + } +} \ No newline at end of file diff --git a/app/src/main/res/layout/fragment_startlocation.xml b/app/src/main/res/layout/fragment_startlocation.xml index fa9b0931..f5d2ace7 100644 --- a/app/src/main/res/layout/fragment_startlocation.xml +++ b/app/src/main/res/layout/fragment_startlocation.xml @@ -1,87 +1,265 @@ - + android:layout_height="match_parent" + android:background="@android:color/black"> + android:layout_width="0dp" + android:layout_height="0dp" + tools:context=".presentation.fragment.StartLocationFragment" + app:layout_constraintTop_toTopOf="parent" + app:layout_constraintBottom_toBottomOf="parent" + app:layout_constraintStart_toStartOf="parent" + app:layout_constraintEnd_toEndOf="parent" /> - + - + android:layout_height="wrap_content" + android:orientation="vertical" + android:paddingStart="18dp" + android:paddingTop="16dp" + android:paddingEnd="18dp" + android:paddingBottom="16dp" + android:background="@color/md_theme_surface"> - - - - - - - + + + + + + + + + + + + + - - - - -