public void setStartPoint(nfloat x, nfloat y, int roomFloor, bool shouldPf = true)
{
var test = this.pf.FloorGraphs [roomFloor].FindClosestNode((float)x, (float)y, 6);
if (test == null)
{
var okAlertController = UIAlertController.Create("Error!", "Please select a location within the floor plan.", UIAlertControllerStyle.Alert);
//Add Action
okAlertController.AddAction(UIAlertAction.Create("Ok", UIAlertActionStyle.Default, null));
// Present Alert
PresentViewController(okAlertController, true, null);
return;
}
locationArrow.setLocation((float)x, (float)y);
col.SetLocation((float)x, (float)y);
pathView.RemoveFromSuperview();
pathView = new PathView(wallColTest, this);
pathView.ScaleFactor = floorplanView.ZoomScale;
pathView.Frame = new CGRect(new CGPoint(0, 0), floorplanImageNoGrid.Size);
floorplanImageView.AddSubview(pathView);
SearchBar.ShowsCancelButton = false;
SearchBar.ResignFirstResponder();
directionCount = 0;
StartNavigationPosition = new GraphLocatable((float)x, (float)y, roomFloor);
if (shouldPf)
{
findUserPath();
}
drawUserPath();
}
private void removePath(bool removePath = false)
{
InvokeOnMainThread(() => {
Console.Out.WriteLine("DROPPING THE F*****G SHIT");
foreach (PathView subview in floorplanImageView.Subviews)
{
subview.RemoveFromSuperview();
}
if (removePath)
{
CurrentUserPath = new Dictionary <int, List <UndirEdge> >();
StartNavigationPosition = null;
EndNavgiationPosition = null;
}
pathView = new PathView(wallColTest, this);
pathView.ScaleFactor = floorplanView.ZoomScale;
pathView.Frame = new CGRect(new CGPoint(0, 0), floorplanImageNoGrid.Size);
floorplanImageView.AddSubview(pathView);
pathDisplayed = false;
directionCount = 0;
});
}
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(); };
}
public void setStartPoint(nfloat x, nfloat y) {
locationArrow.setLocation ((float)x, (float)y);
col.SetLocation ((float)x, (float)y);
pathView.RemoveFromSuperview ();
pathView = new PathView(wallColTest);
pathView.ScaleFactor = floorplanView.ZoomScale;
pathView.Frame = new CGRect(new CGPoint(0, 0), floorplanImageNoGrid.Size);
floorplanImageView.AddSubview(pathView);
SearchBar.ShowsCancelButton = false;
SearchBar.ResignFirstResponder();
}
private void removePath() {
pathView.RemoveFromSuperview ();
pathView = new PathView(wallColTest);
pathView.ScaleFactor = floorplanView.ZoomScale;
pathView.Frame = new CGRect(new CGPoint(0, 0), floorplanImageNoGrid.Size);
floorplanImageView.AddSubview(pathView);
pathDisplayed = false;
}
private void drawPathFromUser(float endX, float endY)
{
pathView.RemoveFromSuperview ();
pathView = new PathView(wallColTest);
pathView.ScaleFactor = floorplanView.ZoomScale;
pathView.Frame = new CGRect(new CGPoint(0, 0), floorplanImageNoGrid.Size);
floorplanImageView.AddSubview(pathView);
//Get nearest node to user location
var userNode = floorPlanGraph.FindClosestNode(locationArrow.X, locationArrow.Y, 6);
//Get x and y of this nearest node
var pathStart = floorPlanGraph.Vertices.First(x => x == userNode.ToPointString());
//Get nearest node to end location
var destinationNode = floorPlanGraph.FindClosestNode(endX, endY, 6);
//Get x and y of this node
var pathEnd = floorPlanGraph.Vertices.First(x => x == destinationNode.ToPointString());
//Calculate path
var path = floorPlanGraph.FindPath(pathStart, pathEnd);
//Get path length
var pathLength = path.Count();
//Extract node along path
var pathPoints = new CGPoint[pathLength];
//Iterate over all nodes and create a list of CGpoints
for (var i = 0; i < pathLength; i++)
{
var dash = path.ElementAt(i).Source.IndexOf("-");
var yVal = float.Parse(path.ElementAt(i).Source.Substring(dash + 1),
CultureInfo.InvariantCulture.NumberFormat);
var xVal = float.Parse(path.ElementAt(i).Source.Remove(dash), CultureInfo.InvariantCulture.NumberFormat);
pathPoints[i] = new CGPoint(xVal, yVal);
}
//Draw path on screen
pathView.setPoints(pathPoints);
}
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");
var asset2 = assembly.GetManifestResourceStream("Navigator.iOS.Resources.dcsFloor1.xml");
var assetSci = assembly.GetManifestResourceStream("Navigator.iOS.Resources.ConFloor.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") },
{ 2, assembly.GetManifestResourceStream("Navigator.iOS.Resources.ConFloor.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
SearchBar.TintColor = UIColor.White;
UITextView.AppearanceWhenContainedIn(typeof(UISearchBar)).BackgroundColor = UIColor.White;
UITextView.AppearanceWhenContainedIn(typeof(UISearchBar)).TintColor = UIColor.White;
UITextField.AppearanceWhenContainedIn(typeof(UISearchBar)).BackgroundColor = UIColor.White;
UITextField.AppearanceWhenContainedIn(typeof(UISearchBar)).TintColor = UIColor.White;
var shadowView = new UIView(SearchPredictionTable.Frame);
shadowView.BackgroundColor = UIColor.White;
shadowView.Layer.ShadowColor = UIColor.DarkGray.CGColor;
shadowView.Layer.ShadowOpacity = 1.0f;
shadowView.Layer.ShadowRadius = 6.0f;
shadowView.Layer.ShadowOffset = new System.Drawing.SizeF(0f, 3f);
shadowView.Layer.ShouldRasterize = true;
shadowView.Layer.MasksToBounds = false;
Add(shadowView);
var blur = UIBlurEffect.FromStyle(UIBlurEffectStyle.Dark);
topblurView = new UIVisualEffectView(blur)
{
Frame = new RectangleF(0, 0, (float)View.Frame.Width, 90)
};
bottomblurView = new UIVisualEffectView(blur)
{
Frame = new RectangleF(0, (float)View.Frame.Height - 70, (float)View.Frame.Width, 70)
};
View.Add(topblurView);
View.Add(bottomblurView);
View.BringSubviewToFront(SearchPredictionTable);
View.BringSubviewToFront(returnButton);
View.BringSubviewToFront(SearchBar);
View.BringSubviewToFront(directionsButton);
var searchController = new CustomSearchController(this, SearchBar, SearchPredictionTable, shadowView, pf.Rooms);
//var directionsController = new CustomDirectionsController (this, directionsTable, pf.Rooms);
floorPlanGraph = Graph.Load(asset);
floorplanWallCol = UIImage.FromBundle("Images/dcsfloorWideDoors.png");
wallCollImg = floorplanWallCol;
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, this);
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");
floorplanFirstFloorNoGrid = UIImage.FromBundle("Images/final2ndFloorDisplay.png");
floorplanSci = UIImage.FromBundle("Images/ConFloorGrid");
floorplanFirstFloorWallCol = UIImage.FromBundle("Images/dcsFloor1.png");
//Initiate the location arrow
locationArrow = new LocationArrowImageView();
locationArrow.ScaleFactor = floorplanView.ZoomScale;
pathView.ScaleFactor = floorplanView.ZoomScale;
setStartPoint(690.0f, 840.0f, this.floor);
//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;
};
floorplanView.DraggingStarted += (sender, e) =>
{
handleAnimate(topblurView, bottomblurView, true);
};
var tapGestureRecognizer = new UITapGestureRecognizer();
tapGestureRecognizer.NumberOfTapsRequired = 1;
tapGestureRecognizer.AddTarget(() => {
handleAnimate(topblurView, bottomblurView, false);
});
floorplanView.AddGestureRecognizer(tapGestureRecognizer);
//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();
//Another testing button
returnButton.TouchUpInside += delegate { returnToMenu(); };
directionsButton.TouchUpInside += delegate {
if (!initStep)
{
//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);
});
directionsButton.SetTitle("Change Floor", UIControlState.Normal);
initStep = true;
}
else if (floor == 0)
{
Console.Out.WriteLine("Changing to floor 1 ");
floor = 1;
changeFloorPlanImage(floorplanImageView, floorplanFirstFloorNoGrid);
setStartPoint(447.0f, 850.0f, this.floor, false);
wallCollImg = floorplanFirstFloorWallCol;
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, this);
col.SetLocation(447, 850);
col.PositionChanged += HandleStepsTaken;
}
else if (floor == 1)
{
Console.Out.WriteLine("Changing to floor 0 ");
floor = 0;
changeFloorPlanImage(floorplanImageView, floorplanImageNoGrid);
setStartPoint(486.0f, 980.0f, this.floor, false);
wallCollImg = floorplanWallCol;
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, this);
col.SetLocation(486, 980);
col.PositionChanged += HandleStepsTaken;
}
else
{
floor = 0;
}
};
}
