mapdemo.java

一个基于PlaceLab的室内和室外的智能导航系统

package org.placelab.demo.mapview;


import java.io.FileOutputStream;
import java.io.IOException;
import java.util.Enumeration;
import java.util.Hashtable;
import java.util.Vector;

import org.eclipse.jface.dialogs.MessageDialog;
import org.eclipse.swt.SWT;
import org.eclipse.swt.events.KeyAdapter;
import org.eclipse.swt.events.KeyEvent;
import org.eclipse.swt.events.SelectionEvent;
import org.eclipse.swt.events.SelectionListener;
import org.eclipse.swt.graphics.Point;
import org.eclipse.swt.graphics.Rectangle;
import org.eclipse.swt.layout.GridData;
import org.eclipse.swt.layout.GridLayout;
import org.eclipse.swt.widgets.Display;
import org.eclipse.swt.widgets.FileDialog;
import org.eclipse.swt.widgets.Menu;
import org.eclipse.swt.widgets.MenuItem;
import org.eclipse.swt.widgets.Shell;
import org.placelab.client.PlacelabWithProxy;
import org.placelab.client.tracker.CentroidTracker;
import org.placelab.client.tracker.Tracker;
import org.placelab.eventsystem.SWTEventSystem;
import org.placelab.mapper.CompoundMapper;
import org.placelab.mapper.Mapper;
import org.placelab.spotter.LogSpotter;
import org.placelab.spotter.PlacelabStumblerLogSpotter;
import org.placelab.spotter.Spotter;
import org.placelab.spotter.SpotterException;
import org.placelab.spotter.WiFiSpotter;
import org.placelab.util.Cmdline;

/**
 * A map application.
 */
public class MapDemo {
	protected PlacelabWithProxy daemon;
	
	protected Display display;
	protected Shell shell;
	protected TrackedMapView mapView;
	protected Menu bar;
	
	protected Vector placeItems;
	
	public WadData data;
	
	protected Spotter sp;
	
	
	protected Tracker createTracker(Mapper m) {
		Tracker t = new CentroidTracker(m);
		return t;
//		CompoundTracker ct = new CompoundTracker();
//		BeaconAndGPSParticleFilterTracker t = new BeaconAndGPSParticleFilterTracker(m, 1000, 10000);
//		t.getParticleFilter().setMotionModel(new WeightedMotionModel());
//		t.getParticleFilter().setSensorModel(new UniformSensorModel(m));
//		t.getParticleFilter().setSensorModel(new LogRRSensorModel(m));
//		BeaconAndGPSParticleFilterTracker t = new BeaconAndGPSParticleFilterTracker(m, 1000, 10000);
//		t.getParticleFilter().setMotionModel(new WeightedMotionModel());
//		ParticleFilterTracker t = new ParticleFilterTracker(m);
//		t.getParticleFilter().setSensorModel(new LogRRSensorModel(m));
//		t.getParticleFilter().setMotionModel(new WeightedMotionModel());
//		ParticleFilterTracker t = new ParticleFilterTracker(m);
		//t.getParticleFilter().setSensorModel(new The914MhzSensorModel(m));
//		t.getParticleFilter().setMotionModel(new HybridMotionModel());
//		ct.addTracker(t);
//		ct.addTracker(new PositionTracker());
//		return ct;
	}
	
	protected MapDemo() { }
	
	public MapDemo(String logfile, String mapArchive, String mapName, Mapper m) throws IOException {
		if (m==null) m = CompoundMapper.createDefaultMapper(true, true);
		buildShell();
		
		sp = null;
		if(logfile == null) {
			sp = new WiFiSpotter(250);
		} else {
			sp = LogSpotter.newSpotter(logfile);
		}
		
		/*if (logfile==null) {
			daemon = new PlacelabWithProxy(createTracker(m), m, -1); 
		} else {
			PlacelabStumblerLogSpotter sp = new PlacelabStumblerLogSpotter(logfile);
			sp.setOutputStumblerMeasurements(false);
//			Spotter sp = LogSpotter.newSpotter(logfile);
			daemon = new PlacelabWithProxy(sp, createTracker(m), m, -1); 
		}*/
		Tracker t = createTracker(m);
		if(sp != null) sp.addListener(t);
		mapView = new TrackedMapView(shell, SWT.NONE, t, m);
		mapView.getHolder().addKeyListener(new KeyAdapter() {
			public void keyPressed(KeyEvent e) {
				if((e.character == '+') || (e.character == '=')) {
					if(sp instanceof LogSpotter) {
						LogSpotter log = (LogSpotter)sp;
						if(log.getRate() < 1600) 
							((LogSpotter)sp).setRate(log.getRate() * 2);
					}
				} else if(e.character == '-') {
					if(sp instanceof LogSpotter) {
						LogSpotter log = (LogSpotter)sp;
						if(log.getRate() > 2) 
							((LogSpotter)sp).setRate(log.getRate() / 2);
					}
				}
			}
		});
		mapView.setLayoutData(new GridData(GridData.FILL_BOTH));
		mapView.setShowBeacons(false);

		loadWad(mapArchive, mapName);
		
		if(Cmdline.getArg("zoom") != null) {
			try {
				double zoom = Double.parseDouble(Cmdline.getArg("zoom"));
				if(zoom > 0) {
					mapView.setZoom(zoom);
				}
			} catch (NumberFormatException nfe) {
				mapView.setZoom(1.0);
			}
		}
		resize();
		shell.open();
	}
	
	protected void loadWad() {
		loadWad(null, null);
	}
	
	protected void loadWad(String path, String mapName) {
		WadData temp;
		if(path == null) {
			path = askUserForFile();
			// if path is still null, user doesn't want to
			// load a wad.  so be it.
			if(path == null) {
				buildMenu();	
				return; 
			} 
		}
		try {
			temp = new WadData(path);
		} catch (Exception e) {
			errorDialog("Couldn't load mapwad", e);
			return;
		}
		MapBacking mapBack = null;
		if (mapName != null) {
			mapBack = temp.getMap(mapName);
			if (mapBack == null) {
				// print this stuff on the console since its only going to result
				// from incorrect cmdline args
				System.out.println("Map: " + mapName + " not found. Available maps are:\n");
				for (Enumeration en = temp.getMaps().keys(); en.hasMoreElements();) {
					System.out.println("  - " + en.nextElement().toString());
				}
				//System.exit(1);
				System.out.println("Choosing an arbitrary map instead");
				mapName = null;
			}
		if(mapName == null)
			mapBack = temp.getDefaultMap();
		}
		Hashtable defaultPlaces = temp.getDefaultPlaceSets();
		if(mapBack == null) {
			// render the first map if there is no default
			try {
				mapBack = (MapBacking)temp.getMaps().elements().nextElement();
			} catch (java.util.NoSuchElementException e) {
				errorDialog("That mapwad doesn't have any maps!");
				return;
			}
		}
		if(mapBack == null) {
			errorDialog("That mapwad doesn't have any maps!");
			return;
		}
		if(defaultPlaces == null) defaultPlaces = new Hashtable();
		data = temp;
		
		mapView.setMapData(mapBack);
		mapView.setPlaceSets(defaultPlaces);
		// XXX: hacked regions in here
		RegionOverlay ro = new RegionOverlay(mapView);
		ro.addRegions(data.getRegions());
		shell.setText(mapBack.getName());
		buildMenu();
	}
	
	protected String askUserForFile() {
		FileDialog fd = new FileDialog(shell, SWT.OPEN);
		String path = fd.open();
		return path;
	}
	
	protected void errorDialog(String msg) {
		errorDialog(msg, null);
	}
	protected void errorDialog(String msg, Throwable e) {
	    if(e != null) e.printStackTrace();
		MessageDialog d = new MessageDialog(shell,
				e == null ? "Error" : msg, null, 
				e == null ? msg : e.toString(), MessageDialog.ERROR,
				new String[]{"OK"}, 0);
		d.open();
	}
	
	protected void buildShell() {
		int flag = SWT.SHELL_TRIM;
		if(System.getProperty("os.name").equalsIgnoreCase
				("Windows CE")) flag = SWT.NO_TRIM;
		Display.setAppName("Placelab XMapDemo");
		display = Display.getCurrent();
		if(display == null) display = new Display();
		shell = new Shell(display, flag);
		GridLayout layout = new GridLayout();
		layout.marginWidth = layout.marginHeight = 0;
		shell.setLayout(layout);
	}
	protected void buildMenu() {
		// building menus by hand is a crime
		// but alas, this is how its done in swt
		int commandKey = SWT.CONTROL;
		if(BrowserControl.isMacPlatform()) commandKey = SWT.COMMAND;
		bar = new Menu(shell, SWT.BAR);
		shell.setMenuBar(bar);
		
		// build file menu
		MenuItem fileItem = new MenuItem(bar, SWT.CASCADE);
		fileItem.setText("File");
		Menu fileMenu = new Menu(bar);
		MenuItem openItem = new MenuItem(fileMenu, SWT.PUSH);
		openItem.setText("Open...");
		openItem.setAccelerator(commandKey | 'O');
		openItem.addSelectionListener(new SelectionListener() {
			public void widgetSelected(SelectionEvent e) {
				loadWad();
			}
			public void widgetDefaultSelected(SelectionEvent e) {
				loadWad();
			}
		});
		MenuItem saveItem = new MenuItem(fileMenu, SWT.PUSH);
		saveItem.setText("Save");
		saveItem.setAccelerator(commandKey | 'S');
		saveItem.addSelectionListener(new SelectionListener() {
			public void widgetSelected(SelectionEvent e) {
				saveWad();
			}
			public void widgetDefaultSelected(SelectionEvent e) {
				saveWad();
			}
		});
		MenuItem saveAsItem = new MenuItem(fileMenu, SWT.PUSH);
		saveAsItem.setText("Save As...");
		saveAsItem.setAccelerator(commandKey | SWT.SHIFT | 'S');
		saveAsItem.addSelectionListener(new SelectionListener() {
			public void widgetSelected(SelectionEvent e) {
				saveAsWad();
			}
			public void widgetDefaultSelected(SelectionEvent e) {
				saveAsWad();
			}
		});
		if(!BrowserControl.isMacPlatform()) {
			MenuItem exitItem = new MenuItem(fileMenu, SWT.PUSH);
			exitItem.setText("Exit");
			exitItem.setAccelerator(SWT.ALT | SWT.F4);
			exitItem.addSelectionListener(new SelectionListener() {
				public void widgetSelected(SelectionEvent e) {
					shutdown();
				}