public PathView(WallCollision wc) { BackgroundColor = UIColor.Clear; path = new CGPath(); wallCol = wc; }
protected override void OnCreate(Bundle savedInstanceState) { base.OnCreate(savedInstanceState); SetContentView(Resource.Layout.ScaleImage); // Register our sensor listener _sensorManager = (SensorManager) GetSystemService(SensorService); _sensorListener = new CustomListener(_sensorManager); _sensorListener.AccelerationProcessor.OnValueChanged += AccelerationProcessorOnValueChanged; _sensorListener.RotationProcessor.OnValueChanged += RotationProcessorOnValueChanged; // Class that will handle drawing of the map _mapMaker = new MapMaker(); _mapMaker.Initialize(Resources); var graphAsset = Assets.Open("dcsGroundFloor.xml"); var graphInstance = Graph.Load(graphAsset); _mapMaker.PathfindingGraph = graphInstance; _collision = new Collision(graphInstance, new StepDetector()); _collision.SetLocation(707.0f, 677.0f); _collision.PassHeading(90); _collision.PositionChanged += CollisionOnPositionChanged; _collision.StepDetector.OnStep += StepDetectorOnStep; collisionMap = BitmapFactory.DecodeResource(Resources,Resource.Drawable.dcsFloor); _walCol = new WallCollision((x,y)=>collisionMap.GetPixel(x,y)); _collision.WallCol = _walCol; pf = new Pathfinding.Pathfinding(new Dictionary<int, Stream>() { {0,Assets.Open("dcsGroundFloor.xml") }, {1,Assets.Open("dcsFloor1.xml") } },Assets.Open("Rooms.xml") ); pf.CurrentFloor = 0; while (true) { if (pf.Ready) break; Thread.Sleep(500); } var result = pf.FindPath(new GraphLocatable(609, 457, 1), new GraphLocatable(1256, 80, 0)); setUpUITabs(); }
public override void ViewDidLoad() { base.ViewDidLoad(); // For accelerometer readings motionManager = new CMMotionManager(); motionManager.AccelerometerUpdateInterval = 0.01; // 100Hz //To handle long presses and bring up path start/end menu var longPressManager = new UILongPressGestureRecognizer(); //Graph loading code //Graph loading code var assembly = Assembly.GetExecutingAssembly(); var asset = assembly.GetManifestResourceStream("Navigator.iOS.Resources.dcsfloorWideDoors.xml"); pf = new Pathfinding.Pathfinding(new Dictionary<int, Stream>() { {0,assembly.GetManifestResourceStream("Navigator.iOS.Resources.dcsfloorWideDoors.xml")}, {1,assembly.GetManifestResourceStream("Navigator.iOS.Resources.dcsFloor1.xml")} },assembly.GetManifestResourceStream("Navigator.iOS.Resources.Rooms.xml") ); pf.CurrentFloor = 0; while (true) { if (pf.Ready) break; Thread.Sleep(500); } //set up the search bar and prediction box var searchController = new CustomSearchController(this, SearchBar, SearchPredictionTable, pf.Rooms); floorPlanGraph = Graph.Load(asset); wallCollImg = UIImage.FromBundle("Images/dcsfloorWideDoors.png"); col = new Collision(floorPlanGraph, new StepDetector()); ((Collision)col).WallCol = new WallCollision ((x,y) => GetPixelColor(new PointF(x, y), wallCollImg)); wallColTest = new WallCollision ((x,y) => GetPixelColor(new PointF(x, y), wallCollImg)); pathView = new PathView (wallColTest); col.SetLocation(707.0f, 677.0f); col.PassHeading(90); col.PositionChanged += HandleStepsTaken; //Container for floorplan and any overlaid images var container = new UIView(); //Will contain floorplan images floorplanImageView = new UIImageView(); //Load floorplan images floorplanImageNoGrid = UIImage.FromBundle("Images/FinalDcsFloor1.png"); floorplanImageWithGrid = UIImage.FromBundle("Images/dcsFloorWideDoorsGrid.png"); //Initiate the location arrow locationArrow = new LocationArrowImageView(); locationArrow.ScaleFactor = floorplanView.ZoomScale; pathView.ScaleFactor = floorplanView.ZoomScale; setStartPoint(690.0f, 840.0f); //Set sizes for floorplan view and path view floorplanView.ContentSize = floorplanImageNoGrid.Size; pathView.Frame = new CGRect(new CGPoint(0, 0), floorplanImageNoGrid.Size); //Add subviews to the container (including pathview and floorplanview) container.AddSubview(floorplanImageView); container.AddSubview(locationArrow); floorplanImageView.AddSubview(pathView); changeFloorPlanImage(floorplanImageView, floorplanImageNoGrid); container.SizeToFit(); //Adjust scrolling and zooming properties for the floorplanView floorplanView.MaximumZoomScale = 1f; floorplanView.MinimumZoomScale = .25f; floorplanView.AddSubview(container); floorplanView.ViewForZoomingInScrollView += (UIScrollView sv) => { return floorplanImageView; }; //Variables needed to convert device acceleration to world z direction acceleration double accelX = 0, accelY = 0, accelZ = 0; //Scale location arrow and paths when zooming the floorplan floorplanView.DidZoom += (sender, e) => { locationArrow.ScaleFactor = floorplanView.ZoomScale; pathView.ScaleFactor = floorplanView.ZoomScale; }; //Pass acceleremoter values to the collision class motionManager.StartAccelerometerUpdates(NSOperationQueue.CurrentQueue, (data, error) => { accelX = data.Acceleration.X*9.8; accelY = data.Acceleration.Y*9.8; accelZ = Math.Sqrt(Math.Pow(accelX, 2) + Math.Pow(accelY, 2) + Math.Pow(data.Acceleration.Z*9.8, 2)); col.PassSensorReadings(CollisionSensorType.Accelometer, accelX, accelY, accelZ); //displayAccelVal((float)accelZ); }); /* motionManager.StartDeviceMotionUpdates(NSOperationQueue.CurrentQueue, (data, error) => { //data.Attitude.MultiplyByInverseOfAttitude(data.Attitude); var test = data.UserAcceleration.X; var accelRelZ = data.Attitude.RotationMatrix.m31 * accelX + data.Attitude.RotationMatrix.m32 * accelY + data.Attitude.RotationMatrix.m33 * accelZ; debugLabel.Text = "" + Math.Round(test, 2);//Math.Round(accelRelZ, 2); } ); */ //LongPressManager will cause the path input menu to appear after a stationary long press longPressManager.AllowableMovement = 0; longPressManager.AddTarget(() => handleLongPress(longPressManager, floorPlanGraph)); floorplanView.AddGestureRecognizer(longPressManager); //the location manager handles the phone heading locationManager = new CLLocationManager(); locationManager.DesiredAccuracy = CLLocation.AccuracyBest; locationManager.HeadingFilter = 1; locationManager.UpdatedHeading += HandleUpdatedHeading; locationManager.StartUpdatingHeading(); //Button currently used for testing purposes only //Another testing button simulationButton.TouchUpInside += delegate { col.StepTaken(false); }; returnButton.TouchUpInside += delegate{ returnToMenu(); }; }