private void DoSimpleReceiving(object sender, DoWorkEventArgs e)
{
if (!(e.Argument is CancellationToken))
{
throw new ArgumentException("e.Argument is CancellationToken");
}
var cancelToken = (CancellationToken)e.Argument;
//receiving loop as long as the subscrition is active or a chancelation is requested
while (_subscription.isActive())
{
var msg = _subscription.receiveMessage();
if (msg != null)
{
//Receiving Pedestrian GPS msg using Player service
var Stream = msg.getStreamID();
var datatype = (msg.getDataTypeID());
if (datatype == 16002349372918614042) //Datatype with GNSS Datatype
{
var gnss = (DioneData.Protobuf.GNSS.GlobalPositionData)ProtobufMessageConverter.MessageToProtobuf <DioneData.Protobuf.GNSS.GlobalPositionData>(msg);
// var gnss = new DioneData.Protobuf.GNSS.GlobalPositionData();
var lat_gps = gnss.Wgs84Latitude;
var lo_gps = gnss.Wgs84Longitude;
var height_gps = gnss.Wgs84Height;
var wg = new WGS84();
wg.Latitude = lat_gps;
wg.Longitude = lo_gps;
wg.Height = height_gps;
//Covert WGS-84 to UTM coordinates
var utm = UTM.FromWGS84(wg, 33);
var reader = new HDMapReader(utm, gpsCoordinate_previous);
//For storing previous coordinate HISTORIZATION
PointQ History_gps = new PointQ();
History_gps.X = utm.X;
History_gps.Y = utm.Y;
gpsCoordinate_previous = History_gps;
//gpsCoordinate_previous.Y = utm.Y;
//Console.WriteLine("time stamp: " + time.ToString() + "\t" + "vehicle velocity: " + vel);
// Console.WriteLine("WGS-Stream: " + Stream.ToString() + "\t" + "Pedestrian Latitude: " + lat);
// Console.WriteLine("WGS-Stream: " + Stream.ToString() + "\t" + "Pedestrian Longitude: " + lo);
// Console.WriteLine("WGS-Stream: " + Stream.ToString() + "\t" + "Pedestrian Altitude: " + al);
Console.WriteLine("UTM Coordinates of GPS: " + utm);
}
}
if (cancelToken.IsCancellationRequested)
{
break;
}
}
}
//Pedestrian GPS Point in Road Surface for current Road Surace Determination
public static bool IsPointInPolygon(List <PointQ> polygon, PointQ p)
{
double minX = polygon[0].X;
double maxX = polygon[0].X;
double minY = polygon[0].Y;
double maxY = polygon[0].Y;
for (int i = 1; i < polygon.Count; i++)
{
// Determine Minimum & Maximum boundary points of Road Surface
PointQ q = polygon[i];
minX = Math.Min(q.X, minX);
maxX = Math.Max(q.X, maxX);
minY = Math.Min(q.Y, minY);
maxY = Math.Max(q.Y, maxY);
}
//Jordan curve theorem
if (p.X < minX || p.X > maxX || p.Y < minY || p.Y > maxY)
{
return(false);
}
bool inside = false;
for (int i = 0, j = polygon.Count - 1; i < polygon.Count; j = i++)
{
if ((polygon[i].Y > p.Y) != (polygon[j].Y > p.Y) &&
p.X < (polygon[j].X - polygon[i].X) * (p.Y - polygon[i].Y) / (polygon[j].Y - polygon[i].Y) + polygon[i].X)
{
inside = !inside;
}
}
return(inside);
}
public ProbabilityMatrix(PointQ allEndPoints, bool isValid)
{
this.allEndPoints = allEndPoints;
this.isValid = isValid;
}
public HDMapReader(UTM utm, PointQ gpsCoordinate_previous)
{
//Reading HDMap.bin binary file from MapDatabase
_mapDatabase = MapDatabase.LoadFromFile("HDMap.bin");
//Extract Road Surfaces form MapDatabase
System.Collections.ObjectModel.ReadOnlyCollection <RoadSurface> rsurf = new System.Collections.ObjectModel.ReadOnlyCollection <RoadSurface>(_mapDatabase.GetRoadSurfaces());
//Initialize Pedestrian GPS coordinates of type PoinQ from Recorded Stream
PointQ gpsCoordinates = new PointQ {
X = utm.X, Y = utm.Y
};
Console.WriteLine();
foreach (RoadSurface rs in rsurf)
{
//Initialize Polygon List
List <PointQ> polygon = new List <PointQ>();
//Initialize a list of type PointQ with all possible end points/coordinates
List <PointQ> allEndPoints = new List <PointQ>();
//Extract Accessors from Road Surfaces
System.Collections.ObjectModel.ReadOnlyCollection <Accessor> accessors = new System.Collections.ObjectModel.ReadOnlyCollection <Accessor>(rs.GetAccessors());
foreach (Accessor a in accessors)
{
//Console.WriteLine("Id: " + a.Id.ToString());
// Console.WriteLine("LeftRoadSurface: " + a.LeftRoadSurface.ToString());
// Console.WriteLine("Line: " + a.Line.ToString());
// Console.WriteLine("Point A:" + a.Line.Begin.ToString());
// Console.WriteLine("Point B:" + a.Line.End.ToString());
// Console.WriteLine("RightRoadSurface: " + a.RightRoadSurface);
// Console.WriteLine("StartingConnections: " + a.StartingConnections.ToString());
//Creat Road surface points using Accessors as boundary points
PointQ strt = new PointQ();
strt.X = a.Line.Begin.X;
strt.Y = a.Line.Begin.Y;
PointQ finish = new PointQ();
finish.X = a.Line.End.X;
finish.Y = a.Line.End.Y;
polygon.Add(strt);
polygon.Add(finish);
//Extract Lanes Types
System.Collections.Generic.IList <Lane> lane = new List <Lane>(rs.GetLanes());
foreach (Lane l in lane)
{
}
}
//Extract Borders
System.Collections.Generic.IList <Border> border = new List <Border>(rs.GetBorders());
System.Collections.Generic.IList <IParametricCurve> outline = new List <IParametricCurve>(rs.GetOutline());
//Extract Connections
System.Collections.Generic.IList <TUC.Data.HDMap.Connection> connections = new List <TUC.Data.HDMap.Connection>(rs.GetConnections());
foreach (Connection c in connections)
{
// Console.WriteLine("Connection 1 Begin Point: " + ((TUC.Data.HDMap.QuinticHermiteCurve)c.CenterCurve).Begin.ToString());
// Console.WriteLine("Connection 1 End Point: " + ((TUC.Data.HDMap.QuinticHermiteCurve)c.CenterCurve).End.ToString());
//Inialize Connection Points
PointQ begin = new PointQ();
begin.X = ((QuinticHermiteCurve)c.CenterCurve).Begin.X;
begin.Y = ((QuinticHermiteCurve)c.CenterCurve).Begin.Y;
PointQ end = new PointQ();
end.X = ((QuinticHermiteCurve)c.CenterCurve).End.X;
end.Y = ((QuinticHermiteCurve)c.CenterCurve).End.Y;
//List<PointQ> allBeginPoints = new List<PointQ>();
// List<PointQ> allEndPoints = new List<PointQ>();
allEndPoints.Add(begin);
allEndPoints.Add(end);
// Console.WriteLine("All Points:" + allEndPoints.ToString());
//allEndPoints.Add(Connection.endpoint); // add all connection end points like this
//AlgorithProbabailty(gpsCoordinates, allPoints);
// allEndPoints.Add((TUC.Data.HDMap.QuinticHermiteCurve)c.CenterCurve).Begin;
// allEndPoints.Add((QuinticHermiteCurve)c.CenterCurve).Begin;
// allEndPoints.Add((TUC.Data.HDMap.QuinticHermiteCurve)c.CenterCurve).
}
//
bool x = IsPointInPolygon(polygon, new PointQ {
X = utm.X, Y = utm.Y
});
if (x == true)
{
Console.WriteLine("Pedestriian is Inside of Surface ID: " + rs.Id.ToString());
Console.ReadLine();
predictTrajectory(gpsCoordinates, allEndPoints, gpsCoordinate_previous);
}
else
{
Console.WriteLine("Pedestrian is outside of surface ID: " + rs.Id.ToString());
Console.ReadLine();
}
// TrajectoryPredictor tp = new TrajectoryPredictor();
// tp.predictTrajectory(gpsCoordinates, allEndPoints);
// tp.gpsCoordinate_previous = gpsCoordinates;
}
}