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/**
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* Navit, a modular navigation system.
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* Copyright (C) 2005-2008 Navit Team
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* version 2 as published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the
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* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
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* Boston, MA 02110-1301, USA.
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*/
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#include <glib.h>
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#include <string.h>
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#include <time.h>
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#include <math.h>
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#include "item.h"
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#include "attr.h"
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#include "track.h"
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#include "debug.h"
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#include "transform.h"
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#include "coord.h"
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#include "route.h"
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#include "projection.h"
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#include "map.h"
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#include "mapset.h"
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#include "plugin.h"
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#include "vehicleprofile.h"
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#include "vehicle.h"
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#include "roadprofile.h"
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#include "util.h"
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#include "config.h"
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struct tracking_line
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{
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struct street_data *street;
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struct tracking_line *next;
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int angle[0];
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};
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/**
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* @brief Conatins a list of previous speeds
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*
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* This structure is used to hold a list of previously reported
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* speeds. This data is used by the CDF.
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*/
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struct cdf_speed {
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struct cdf_speed *next;
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int speed;
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time_t time;
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};
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/**
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* @brief Contains data for the CDF
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*
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* This structure holds all data needed by the
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* cumulative displacement filter.
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*/
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struct cdf_data {
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int extrapolating;
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int available;
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int first_pos;
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int poscount;
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int hist_size;
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struct cdf_speed *speed_hist;
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struct pcoord *pos_hist;
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int *dir_hist;
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double last_dist;
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struct pcoord last_out;
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int last_dir;
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};
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struct tracking {
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struct mapset *ms;
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struct route *rt;
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struct map *map;
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struct vehicle *vehicle;
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struct vehicleprofile *vehicleprofile;
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struct coord last_updated;
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struct tracking_line *lines;
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struct tracking_line *curr_line;
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int pos;
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struct coord curr[2], curr_in, curr_out;
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int curr_angle;
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struct coord last[2], last_in, last_out;
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struct cdf_data cdf;
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struct attr *attr;
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int valid;
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int time;
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double direction;
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double speed;
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int coord_geo_valid;
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struct coord_geo coord_geo;
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enum projection pro;
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int street_direction;
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int no_gps;
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int tunnel;
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int angle_pref;
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int connected_pref;
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int nostop_pref;
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int offroad_limit_pref;
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int route_pref;
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int overspeed_pref;
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int overspeed_percent_pref;
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int tunnel_extrapolation;
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};
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static void
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tracking_init_cdf(struct cdf_data *cdf, int hist_size)
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{
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cdf->extrapolating = 0;
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cdf->available = 0;
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cdf->poscount = 0;
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cdf->last_dist = 0;
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cdf->hist_size = hist_size;
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cdf->pos_hist = g_new0(struct pcoord, hist_size);
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cdf->dir_hist = g_new0(int, hist_size);
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}
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// Variables for finetuning the CDF
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// Minimum average speed
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#define CDF_MINAVG 1.f
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// Maximum average speed
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#define CDF_MAXAVG 6.f // only ~ 20 km/h
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// We need a low value here because otherwise we would extrapolate whenever we are not accelerating
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// Mininum distance (square of it..), below which we ignore gps updates
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#define CDF_MINDIST 49 // 7 meters, I guess this value has to be changed for pedestrians.
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#if 0
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static void
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tracking_process_cdf(struct cdf_data *cdf, struct pcoord *pin, struct pcoord *pout, int dirin, int *dirout, int cur_speed, time_t fixtime)
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{
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struct cdf_speed *speed,*sc,*sl;
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double speed_avg;
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int speed_num,i;
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if (cdf->hist_size == 0) {
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dbg(1,"No CDF.\n");
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*pout = *pin;
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*dirout = dirin;
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return;
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}
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speed = g_new0(struct cdf_speed, 1);
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speed->speed = cur_speed;
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speed->time = fixtime;
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speed->next = cdf->speed_hist;
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cdf->speed_hist = speed;
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sc = speed;
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sl = NULL;
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speed_num = 0;
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speed_avg = 0;
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while (sc && ((fixtime - speed->time) < 4)) { // FIXME static maxtime
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speed_num++;
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speed_avg += sc->speed;
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sl = sc;
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sc = sc->next;
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}
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speed_avg /= (double)speed_num;
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if (sl) {
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sl->next = NULL;
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}
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while (sc) {
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sl = sc->next;
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g_free(sc);
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sc = sl;
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}
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if (speed_avg < CDF_MINAVG) {
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speed_avg = CDF_MINAVG;
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} else if (speed_avg > CDF_MAXAVG) {
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speed_avg = CDF_MAXAVG;
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}
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if (cur_speed >= speed_avg) {
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if (cdf->extrapolating) {
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cdf->poscount = 0;
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cdf->extrapolating = 0;
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}
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cdf->first_pos--;
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if (cdf->first_pos < 0) {
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cdf->first_pos = cdf->hist_size - 1;
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}
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if (cdf->poscount < cdf->hist_size) {
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cdf->poscount++;
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}
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cdf->pos_hist[cdf->first_pos] = *pin;
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cdf->dir_hist[cdf->first_pos] = dirin;
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*pout = *pin;
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*dirout = dirin;
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} else if (cdf->poscount > 0) {
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double mx,my; // Average position's x and y values
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double sx,sy; // Support vector
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double dx,dy; // Difference between average and current position
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double len; // Length of support vector
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double dist;
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mx = my = 0;
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sx = sy = 0;
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for (i = 0; i < cdf->poscount; i++) {
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mx += (double)cdf->pos_hist[((cdf->first_pos + i) % cdf->hist_size)].x / cdf->poscount;
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my += (double)cdf->pos_hist[((cdf->first_pos + i) % cdf->hist_size)].y / cdf->poscount;
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if (i != 0) {
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sx += cdf->pos_hist[((cdf->first_pos + i) % cdf->hist_size)].x - cdf->pos_hist[((cdf->first_pos + i - 1) % cdf->hist_size)].x;
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sy += cdf->pos_hist[((cdf->first_pos + i) % cdf->hist_size)].y - cdf->pos_hist[((cdf->first_pos + i - 1) % cdf->hist_size)].y;
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}
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}
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if (cdf->poscount > 1) {
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// Normalize the support vector
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len = sqrt(sx * sx + sy * sy);
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sx /= len;
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sy /= len;
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// Calculate the new direction
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*dirout = (int)rint(atan(sx / sy) / M_PI * 180 + 180);
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} else {
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// If we only have one position, we can't use differences of positions, but we have to use the reported
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// direction of that position
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sx = sin((double)cdf->dir_hist[cdf->first_pos] / 180 * M_PI);
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sy = cos((double)cdf->dir_hist[cdf->first_pos] / 180 * M_PI);
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*dirout = cdf->dir_hist[cdf->first_pos];
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}
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dx = pin->x - mx;
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dy = pin->y - my;
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dist = dx * sx + dy * sy;
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if (cdf->extrapolating && (dist < cdf->last_dist)) {
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dist = cdf->last_dist;
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}
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cdf->last_dist = dist;
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cdf->extrapolating = 1;
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pout->x = (int)rint(mx + sx * dist);
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pout->y = (int)rint(my + sy * dist);
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pout->pro = pin->pro;
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} else {
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// We should extrapolate, but don't have an old position available
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*pout = *pin;
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*dirout = dirin;
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}
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if (cdf->available) {
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int dx,dy;
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dx = pout->x - cdf->last_out.x;
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dy = pout->y - cdf->last_out.y;
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if ((dx*dx + dy*dy) < CDF_MINDIST) {
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*pout = cdf->last_out;
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*dirout = cdf->last_dir;
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}
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}
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cdf->last_out = *pout;
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cdf->last_dir = *dirout;
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cdf->available = 1;
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}
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#endif
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int
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tracking_get_angle(struct tracking *tr)
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{
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return tr->curr_angle;
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}
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struct coord *
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tracking_get_pos(struct tracking *tr)
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{
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return &tr->curr_out;
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}
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int
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tracking_get_street_direction(struct tracking *tr)
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{
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return tr->street_direction;
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}
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int
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tracking_get_segment_pos(struct tracking *tr)
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{
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return tr->pos;
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}
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struct street_data *
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tracking_get_street_data(struct tracking *tr)
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{
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if (tr->curr_line)
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return tr->curr_line->street;
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return NULL;
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}
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int
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tracking_get_attr(struct tracking *_this, enum attr_type type, struct attr *attr, struct attr_iter *attr_iter)
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{
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struct item *item;
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struct map_rect *mr;
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int result=0;
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dbg(1,"enter %s\n",attr_to_name(type));
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if (_this->attr) {
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attr_free(_this->attr);
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_this->attr=NULL;
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}
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switch (type) {
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case attr_position_valid:
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attr->u.num=_this->valid;
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return 1;
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case attr_position_direction:
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attr->u.numd=&_this->direction;
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return 1;
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case attr_position_speed:
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attr->u.numd=&_this->speed;
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return 1;
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case attr_directed:
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attr->u.num=_this->street_direction;
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return 1;
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case attr_position_coord_geo:
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if (!_this->coord_geo_valid) {
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struct coord c;
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c.x=_this->curr_out.x;
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c.y=_this->curr_out.y;
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transform_to_geo(_this->pro, &c, &_this->coord_geo);
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_this->coord_geo_valid=1;
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}
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attr->u.coord_geo=&_this->coord_geo;
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return 1;
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case attr_current_item:
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if (! _this->curr_line || ! _this->curr_line->street)
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return 0;
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attr->u.item=&_this->curr_line->street->item;
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return 1;
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default:
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if (! _this->curr_line || ! _this->curr_line->street)
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return 0;
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item=&_this->curr_line->street->item;
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mr=map_rect_new(item->map,NULL);
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item=map_rect_get_item_byid(mr, item->id_hi, item->id_lo);
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if (item_attr_get(item, type, attr)) {
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_this->attr=attr_dup(attr);
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*attr=*_this->attr;
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result=1;
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}
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map_rect_destroy(mr);
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return result;
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}
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}
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struct item *
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tracking_get_current_item(struct tracking *_this)
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{
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if (! _this->curr_line || ! _this->curr_line->street)
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return NULL;
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return &_this->curr_line->street->item;
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}
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int *
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tracking_get_current_flags(struct tracking *_this)
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{
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if (! _this->curr_line || ! _this->curr_line->street)
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return NULL;
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return &_this->curr_line->street->flags;
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}
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static void
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tracking_get_angles(struct tracking_line *tl)
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{
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401 |
int i;
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struct street_data *sd=tl->street;
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for (i = 0 ; i < sd->count-1 ; i++)
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tl->angle[i]=transform_get_angle_delta(&sd->c[i], &sd->c[i+1], 0);
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}
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406 |
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static int
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street_data_within_selection(struct street_data *sd, struct map_selection *sel)
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{
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410 |
struct coord_rect r;
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struct map_selection *curr;
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int i;
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413 |
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if (!sel)
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return 1;
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r.lu=sd->c[0];
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417 |
r.rl=sd->c[0];
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418 |
for (i = 1 ; i < sd->count ; i++) {
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419 |
if (r.lu.x > sd->c[i].x)
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420 |
r.lu.x=sd->c[i].x;
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if (r.rl.x < sd->c[i].x)
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422 |
r.rl.x=sd->c[i].x;
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if (r.rl.y > sd->c[i].y)
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r.rl.y=sd->c[i].y;
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425 |
if (r.lu.y < sd->c[i].y)
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426 |
r.lu.y=sd->c[i].y;
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427 |
}
|
428 |
curr=sel;
|
429 |
while (curr) {
|
430 |
struct coord_rect *sr=&curr->u.c_rect;
|
431 |
if (r.lu.x <= sr->rl.x && r.rl.x >= sr->lu.x &&
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432 |
r.lu.y >= sr->rl.y && r.rl.y <= sr->lu.y)
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433 |
return 1;
|
434 |
curr=curr->next;
|
435 |
}
|
436 |
return 0;
|
437 |
}
|
438 |
|
439 |
|
440 |
static void
|
441 |
tracking_doupdate_lines(struct tracking *tr, struct coord *pc, enum projection pro)
|
442 |
{
|
443 |
int max_dist=1000;
|
444 |
struct map_selection *sel;
|
445 |
struct mapset_handle *h;
|
446 |
struct map *m;
|
447 |
struct map_rect *mr;
|
448 |
struct item *item;
|
449 |
struct street_data *street;
|
450 |
struct tracking_line *tl;
|
451 |
struct coord_geo g;
|
452 |
struct coord cc;
|
453 |
|
454 |
dbg(1,"enter\n");
|
455 |
h=mapset_open(tr->ms);
|
456 |
while ((m=mapset_next(h,2))) {
|
457 |
cc.x = pc->x;
|
458 |
cc.y = pc->y;
|
459 |
if (map_projection(m) != pro) {
|
460 |
transform_to_geo(pro, &cc, &g);
|
461 |
transform_from_geo(map_projection(m), &g, &cc);
|
462 |
}
|
463 |
sel = route_rect(18, &cc, &cc, 0, max_dist);
|
464 |
mr=map_rect_new(m, sel);
|
465 |
if (!mr)
|
466 |
continue;
|
467 |
while ((item=map_rect_get_item(mr))) {
|
468 |
if (item_get_default_flags(item->type)) {
|
469 |
street=street_get_data(item);
|
470 |
if (street_data_within_selection(street, sel)) {
|
471 |
tl=g_malloc(sizeof(struct tracking_line)+(street->count-1)*sizeof(int));
|
472 |
tl->street=street;
|
473 |
tracking_get_angles(tl);
|
474 |
tl->next=tr->lines;
|
475 |
tr->lines=tl;
|
476 |
} else
|
477 |
street_data_free(street);
|
478 |
}
|
479 |
}
|
480 |
map_selection_destroy(sel);
|
481 |
map_rect_destroy(mr);
|
482 |
}
|
483 |
mapset_close(h);
|
484 |
dbg(1, "exit\n");
|
485 |
}
|
486 |
|
487 |
|
488 |
void
|
489 |
tracking_flush(struct tracking *tr)
|
490 |
{
|
491 |
struct tracking_line *tl=tr->lines,*next;
|
492 |
dbg(1,"enter(tr=%p)\n", tr);
|
493 |
|
494 |
while (tl) {
|
495 |
next=tl->next;
|
496 |
street_data_free(tl->street);
|
497 |
g_free(tl);
|
498 |
tl=next;
|
499 |
}
|
500 |
tr->lines=NULL;
|
501 |
tr->curr_line = NULL;
|
502 |
}
|
503 |
|
504 |
static int
|
505 |
tracking_angle_diff(int a1, int a2, int full)
|
506 |
{
|
507 |
int ret=(a1-a2)%full;
|
508 |
if (ret > full/2)
|
509 |
ret-=full;
|
510 |
if (ret < -full/2)
|
511 |
ret+=full;
|
512 |
return ret;
|
513 |
}
|
514 |
|
515 |
static int
|
516 |
tracking_angle_abs_diff(int a1, int a2, int full)
|
517 |
{
|
518 |
int ret=tracking_angle_diff(a1, a2, full);
|
519 |
if (ret < 0)
|
520 |
ret=-ret;
|
521 |
return ret;
|
522 |
}
|
523 |
|
524 |
static int
|
525 |
tracking_angle_delta(struct tracking *tr, int vehicle_angle, int street_angle, int flags)
|
526 |
{
|
527 |
int full=180,ret=360,fwd=0,rev=0;
|
528 |
struct vehicleprofile *profile=tr->vehicleprofile;
|
529 |
|
530 |
if (profile) {
|
531 |
fwd=((flags & profile->flags_forward_mask) == profile->flags);
|
532 |
rev=((flags & profile->flags_reverse_mask) == profile->flags);
|
533 |
}
|
534 |
if (fwd || rev) {
|
535 |
if (!fwd || !rev) {
|
536 |
full=360;
|
537 |
if (rev)
|
538 |
street_angle=(street_angle+180)%360;
|
539 |
}
|
540 |
ret=tracking_angle_abs_diff(vehicle_angle, street_angle, full);
|
541 |
}
|
542 |
return ret*ret;
|
543 |
}
|
544 |
|
545 |
static int
|
546 |
tracking_is_connected(struct tracking *tr, struct coord *c1, struct coord *c2)
|
547 |
{
|
548 |
if (c1[0].x == c2[0].x && c1[0].y == c2[0].y)
|
549 |
return 0;
|
550 |
if (c1[0].x == c2[1].x && c1[0].y == c2[1].y)
|
551 |
return 0;
|
552 |
if (c1[1].x == c2[0].x && c1[1].y == c2[0].y)
|
553 |
return 0;
|
554 |
if (c1[1].x == c2[1].x && c1[1].y == c2[1].y)
|
555 |
return 0;
|
556 |
return tr->connected_pref;
|
557 |
}
|
558 |
|
559 |
static int
|
560 |
tracking_is_no_stop(struct tracking *tr, struct coord *c1, struct coord *c2)
|
561 |
{
|
562 |
if (c1->x == c2->x && c1->y == c2->y)
|
563 |
return tr->nostop_pref;
|
564 |
return 0;
|
565 |
}
|
566 |
|
567 |
static int
|
568 |
tracking_is_on_route(struct tracking *tr, struct route *rt, struct item *item)
|
569 |
{
|
570 |
#ifdef USE_ROUTING
|
571 |
if (! rt)
|
572 |
return 0;
|
573 |
if (route_contains(rt, item))
|
574 |
return 0;
|
575 |
return tr->route_pref;
|
576 |
#else
|
577 |
return 0;
|
578 |
#endif
|
579 |
}
|
580 |
|
581 |
static int
|
582 |
tracking_value(struct tracking *tr, struct tracking_line *t, int offset, struct coord *lpnt, int min, int flags)
|
583 |
{
|
584 |
int value=0;
|
585 |
struct street_data *sd=t->street;
|
586 |
dbg(2, "%d: (0x%x,0x%x)-(0x%x,0x%x)\n", offset, sd->c[offset].x, sd->c[offset].y, sd->c[offset+1].x, sd->c[offset+1].y);
|
587 |
if (flags & 1) {
|
588 |
struct coord c1, c2, cp;
|
589 |
c1.x = sd->c[offset].x;
|
590 |
c1.y = sd->c[offset].y;
|
591 |
c2.x = sd->c[offset+1].x;
|
592 |
c2.y = sd->c[offset+1].y;
|
593 |
cp.x = tr->curr_in.x;
|
594 |
cp.y = tr->curr_in.y;
|
595 |
value+=transform_distance_line_sq(&c1, &c2, &cp, lpnt);
|
596 |
}
|
597 |
if (value >= min)
|
598 |
return value;
|
599 |
if (flags & 2)
|
600 |
value += tracking_angle_delta(tr, tr->curr_angle, t->angle[offset], sd->flags)*tr->angle_pref>>4;
|
601 |
if (value >= min)
|
602 |
return value;
|
603 |
if ((flags & 4) && tr->connected_pref)
|
604 |
value += tracking_is_connected(tr, tr->last, &sd->c[offset]);
|
605 |
if ((flags & 8) && tr->nostop_pref)
|
606 |
value += tracking_is_no_stop(tr, lpnt, &tr->last_out);
|
607 |
if (value >= min)
|
608 |
return value;
|
609 |
if ((flags & 16) && tr->route_pref)
|
610 |
value += tracking_is_on_route(tr, tr->rt, &sd->item);
|
611 |
if ((flags & 32) && tr->overspeed_percent_pref && tr->overspeed_pref ) {
|
612 |
struct roadprofile *roadprofile=g_hash_table_lookup(tr->vehicleprofile->roadprofile_hash, (void *)t->street->item.type);
|
613 |
if (roadprofile && tr->speed > roadprofile->speed * tr->overspeed_percent_pref/ 100)
|
614 |
value += tr->overspeed_pref;
|
615 |
}
|
616 |
return value;
|
617 |
}
|
618 |
|
619 |
|
620 |
void
|
621 |
tracking_update(struct tracking *tr, struct vehicle *v, struct vehicleprofile *vehicleprofile, enum projection pro)
|
622 |
{
|
623 |
struct tracking_line *t;
|
624 |
int i,value,min,time;
|
625 |
struct coord lpnt;
|
626 |
struct coord cin;
|
627 |
struct attr valid,speed_attr,direction_attr,coord_geo,lag,time_attr,static_speed,static_distance;
|
628 |
double speed, direction;
|
629 |
if (v)
|
630 |
tr->vehicle=v;
|
631 |
if (vehicleprofile)
|
632 |
tr->vehicleprofile=vehicleprofile;
|
633 |
|
634 |
if (! tr->vehicle)
|
635 |
return;
|
636 |
if (!vehicle_get_attr(tr->vehicle, attr_position_valid, &valid, NULL))
|
637 |
valid.u.num=attr_position_valid_valid;
|
638 |
if (valid.u.num == attr_position_valid_invalid) {
|
639 |
tr->valid=valid.u.num;
|
640 |
return;
|
641 |
}
|
642 |
if (!vehicle_get_attr(tr->vehicle, attr_position_speed, &speed_attr, NULL) ||
|
643 |
!vehicle_get_attr(tr->vehicle, attr_position_direction, &direction_attr, NULL) ||
|
644 |
!vehicle_get_attr(tr->vehicle, attr_position_coord_geo, &coord_geo, NULL) ||
|
645 |
!vehicle_get_attr(tr->vehicle, attr_position_time_iso8601, &time_attr, NULL)) {
|
646 |
dbg(0,"failed to get position data %d %d %d %d\n",
|
647 |
vehicle_get_attr(tr->vehicle, attr_position_speed, &speed_attr, NULL),
|
648 |
vehicle_get_attr(tr->vehicle, attr_position_direction, &direction_attr, NULL),
|
649 |
vehicle_get_attr(tr->vehicle, attr_position_coord_geo, &coord_geo, NULL),
|
650 |
vehicle_get_attr(tr->vehicle, attr_position_time_iso8601, &time_attr, NULL));
|
651 |
return;
|
652 |
}
|
653 |
if (!vehicleprofile_get_attr(vehicleprofile,attr_static_speed,&static_speed,NULL) || !vehicleprofile_get_attr(vehicleprofile,attr_static_distance,&static_distance,NULL)) {
|
654 |
static_speed.u.num=3;
|
655 |
static_distance.u.num=10;
|
656 |
dbg(1,"Using defaults for static position detection\n");
|
657 |
}
|
658 |
dbg(2,"Static speed: %u, static distance: %u\n",static_speed.u.num, static_distance.u.num);
|
659 |
time=iso8601_to_secs(time_attr.u.str);
|
660 |
speed=*speed_attr.u.numd;
|
661 |
direction=*direction_attr.u.numd;
|
662 |
tr->valid=attr_position_valid_valid;
|
663 |
transform_from_geo(pro, coord_geo.u.coord_geo, &tr->curr_in);
|
664 |
if ((speed < static_speed.u.num && transform_distance(pro, &tr->last_in, &tr->curr_in) < static_distance.u.num )) {
|
665 |
dbg(1,"static speed %f coord 0x%x,0x%x vs 0x%x,0x%x\n",speed,tr->last_in.x,tr->last_in.y, tr->curr_in.x, tr->curr_in.y);
|
666 |
tr->valid=attr_position_valid_static;
|
667 |
tr->speed=0;
|
668 |
return;
|
669 |
}
|
670 |
if (vehicle_get_attr(tr->vehicle, attr_lag, &lag, NULL) && lag.u.num > 0) {
|
671 |
double espeed;
|
672 |
int edirection;
|
673 |
if (time-tr->time == 1) {
|
674 |
dbg(1,"extrapolating speed from %f and %f (%f)\n",tr->speed, speed, speed-tr->speed);
|
675 |
espeed=speed+(speed-tr->speed)*lag.u.num/10;
|
676 |
dbg(1,"extrapolating angle from %f and %f (%d)\n",tr->direction, direction, tracking_angle_diff(direction,tr->direction,360));
|
677 |
edirection=direction+tracking_angle_diff(direction,tr->direction,360)*lag.u.num/10;
|
678 |
} else {
|
679 |
dbg(1,"no speed and direction extrapolation\n");
|
680 |
espeed=speed;
|
681 |
edirection=direction;
|
682 |
}
|
683 |
dbg(1,"lag %d speed %f direction %d\n",lag.u.num,espeed,edirection);
|
684 |
dbg(1,"old 0x%x,0x%x\n",tr->curr_in.x, tr->curr_in.y);
|
685 |
transform_project(pro, &tr->curr_in, espeed*lag.u.num/36, edirection, &tr->curr_in);
|
686 |
dbg(1,"new 0x%x,0x%x\n",tr->curr_in.x, tr->curr_in.y);
|
687 |
}
|
688 |
tr->time=time;
|
689 |
tr->pro=pro;
|
690 |
#if 0
|
691 |
|
692 |
tracking_process_cdf(&tr->cdf, pc, &pcf, angle, &anglef, speed, fixtime);
|
693 |
#endif
|
694 |
tr->curr_angle=tr->direction=direction;
|
695 |
tr->speed=speed;
|
696 |
tr->last_in=tr->curr_in;
|
697 |
tr->last_out=tr->curr_out;
|
698 |
tr->last[0]=tr->curr[0];
|
699 |
tr->last[1]=tr->curr[1];
|
700 |
if (!tr->lines || transform_distance(pro, &tr->last_updated, &tr->curr_in) > 500) {
|
701 |
dbg(1, "update\n");
|
702 |
tracking_flush(tr);
|
703 |
tracking_doupdate_lines(tr, &tr->curr_in, pro);
|
704 |
tr->last_updated=tr->curr_in;
|
705 |
dbg(1,"update end\n");
|
706 |
}
|
707 |
|
708 |
tr->street_direction=0;
|
709 |
t=tr->lines;
|
710 |
tr->curr_line=NULL;
|
711 |
min=INT_MAX/2;
|
712 |
while (t) {
|
713 |
struct street_data *sd=t->street;
|
714 |
for (i = 0; i < sd->count-1 ; i++) {
|
715 |
value=tracking_value(tr,t,i,&lpnt,min,-1);
|
716 |
if (value < min) {
|
717 |
struct coord lpnt_tmp;
|
718 |
int angle_delta=tracking_angle_abs_diff(tr->curr_angle, t->angle[i], 360);
|
719 |
tr->curr_line=t;
|
720 |
tr->pos=i;
|
721 |
tr->curr[0]=sd->c[i];
|
722 |
tr->curr[1]=sd->c[i+1];
|
723 |
dbg(1,"lpnt.x=0x%x,lpnt.y=0x%x pos=%d %d+%d+%d+%d=%d\n", lpnt.x, lpnt.y, i,
|
724 |
transform_distance_line_sq(&sd->c[i], &sd->c[i+1], &cin, &lpnt_tmp),
|
725 |
tracking_angle_delta(tr, tr->curr_angle, t->angle[i], 0)*tr->angle_pref,
|
726 |
tracking_is_connected(tr, tr->last, &sd->c[i]) ? tr->connected_pref : 0,
|
727 |
lpnt.x == tr->last_out.x && lpnt.y == tr->last_out.y ? tr->nostop_pref : 0,
|
728 |
value
|
729 |
);
|
730 |
tr->curr_out.x=lpnt.x;
|
731 |
tr->curr_out.y=lpnt.y;
|
732 |
tr->coord_geo_valid=0;
|
733 |
if (angle_delta < 70)
|
734 |
tr->street_direction=1;
|
735 |
else if (angle_delta > 110)
|
736 |
tr->street_direction=-1;
|
737 |
else
|
738 |
tr->street_direction=0;
|
739 |
min=value;
|
740 |
}
|
741 |
}
|
742 |
t=t->next;
|
743 |
}
|
744 |
dbg(1,"tr->curr_line=%p min=%d\n", tr->curr_line, min);
|
745 |
if (!tr->curr_line || min > tr->offroad_limit_pref) {
|
746 |
tr->curr_out=tr->curr_in;
|
747 |
tr->coord_geo_valid=0;
|
748 |
tr->street_direction=0;
|
749 |
}
|
750 |
if (tr->curr_line && (tr->curr_line->street->flags & AF_UNDERGROUND)) {
|
751 |
//dbg(0,"AF_UNDERGROUND 1");
|
752 |
if (tr->no_gps)
|
753 |
tr->tunnel=1;
|
754 |
} else if (tr->tunnel) {
|
755 |
//dbg(0,"AF_UNDERGROUND 2");
|
756 |
tr->speed=0;
|
757 |
}
|
758 |
dbg(1,"found 0x%x,0x%x\n", tr->curr_out.x, tr->curr_out.y);
|
759 |
}
|
760 |
|
761 |
static int
|
762 |
tracking_set_attr_do(struct tracking *tr, struct attr *attr, int initial)
|
763 |
{
|
764 |
switch (attr->type) {
|
765 |
case attr_angle_pref:
|
766 |
tr->angle_pref=attr->u.num;
|
767 |
return 1;
|
768 |
case attr_connected_pref:
|
769 |
tr->connected_pref=attr->u.num;
|
770 |
return 1;
|
771 |
case attr_nostop_pref:
|
772 |
tr->nostop_pref=attr->u.num;
|
773 |
return 1;
|
774 |
case attr_offroad_limit_pref:
|
775 |
tr->offroad_limit_pref=attr->u.num;
|
776 |
return 1;
|
777 |
case attr_route_pref:
|
778 |
tr->route_pref=attr->u.num;
|
779 |
return 1;
|
780 |
case attr_overspeed_pref:
|
781 |
tr->overspeed_pref=attr->u.num;
|
782 |
return 1;
|
783 |
case attr_overspeed_percent_pref:
|
784 |
tr->overspeed_percent_pref=attr->u.num;
|
785 |
return 1;
|
786 |
case attr_tunnel_extrapolation:
|
787 |
tr->tunnel_extrapolation=attr->u.num;
|
788 |
return 1;
|
789 |
default:
|
790 |
return 0;
|
791 |
}
|
792 |
}
|
793 |
|
794 |
int
|
795 |
tracking_set_attr(struct tracking *tr, struct attr *attr)
|
796 |
{
|
797 |
return tracking_set_attr_do(tr, attr, 0);
|
798 |
}
|
799 |
|
800 |
struct tracking *
|
801 |
tracking_new(struct attr *parent, struct attr **attrs)
|
802 |
{
|
803 |
struct tracking *this=g_new0(struct tracking, 1);
|
804 |
struct attr hist_size;
|
805 |
this->angle_pref=10;
|
806 |
this->connected_pref=10;
|
807 |
this->nostop_pref=10;
|
808 |
this->offroad_limit_pref=5000;
|
809 |
this->route_pref=300;
|
810 |
|
811 |
|
812 |
if (! attr_generic_get_attr(attrs, NULL, attr_cdf_histsize, &hist_size, NULL)) {
|
813 |
hist_size.u.num = 0;
|
814 |
}
|
815 |
if (attrs) {
|
816 |
for (;*attrs; attrs++)
|
817 |
tracking_set_attr_do(this, *attrs, 1);
|
818 |
}
|
819 |
|
820 |
tracking_init_cdf(&this->cdf, hist_size.u.num);
|
821 |
|
822 |
return this;
|
823 |
}
|
824 |
|
825 |
void
|
826 |
tracking_set_mapset(struct tracking *this, struct mapset *ms)
|
827 |
{
|
828 |
this->ms=ms;
|
829 |
}
|
830 |
|
831 |
void
|
832 |
tracking_set_route(struct tracking *this, struct route *rt)
|
833 |
{
|
834 |
this->rt=rt;
|
835 |
}
|
836 |
|
837 |
void
|
838 |
tracking_destroy(struct tracking *tr)
|
839 |
{
|
840 |
if (tr->attr)
|
841 |
attr_free(tr->attr);
|
842 |
tracking_flush(tr);
|
843 |
g_free(tr);
|
844 |
}
|
845 |
|
846 |
struct map *
|
847 |
tracking_get_map(struct tracking *this_)
|
848 |
{
|
849 |
struct attr *attrs[5];
|
850 |
struct attr type,navigation,data,description;
|
851 |
type.type=attr_type;
|
852 |
type.u.str="tracking";
|
853 |
navigation.type=attr_trackingo;
|
854 |
navigation.u.tracking=this_;
|
855 |
data.type=attr_data;
|
856 |
data.u.str="";
|
857 |
description.type=attr_description;
|
858 |
description.u.str="Tracking";
|
859 |
|
860 |
attrs[0]=&type;
|
861 |
attrs[1]=&navigation;
|
862 |
attrs[2]=&data;
|
863 |
attrs[3]=&description;
|
864 |
attrs[4]=NULL;
|
865 |
if (! this_->map)
|
866 |
this_->map=map_new(NULL, attrs);
|
867 |
return this_->map;
|
868 |
}
|
869 |
|
870 |
|
871 |
struct map_priv {
|
872 |
struct tracking *tracking;
|
873 |
};
|
874 |
|
875 |
struct map_rect_priv {
|
876 |
struct tracking *tracking;
|
877 |
struct item item;
|
878 |
struct tracking_line *curr,*next;
|
879 |
int coord;
|
880 |
enum attr_type attr_next;
|
881 |
int ccount;
|
882 |
int debug_idx;
|
883 |
char *str;
|
884 |
};
|
885 |
|
886 |
static int
|
887 |
tracking_map_item_coord_get(void *priv_data, struct coord *c, int count)
|
888 |
{
|
889 |
struct map_rect_priv *this=priv_data;
|
890 |
enum projection pro;
|
891 |
int ret=0;
|
892 |
dbg(1,"enter\n");
|
893 |
while (this->ccount < 2 && count > 0) {
|
894 |
pro = map_projection(this->curr->street->item.map);
|
895 |
if (projection_mg != pro) {
|
896 |
transform_from_to(&this->curr->street->c[this->ccount+this->coord],
|
897 |
pro,
|
898 |
c ,projection_mg);
|
899 |
} else
|
900 |
*c=this->curr->street->c[this->ccount+this->coord];
|
901 |
dbg(1,"coord %d 0x%x,0x%x\n",this->ccount,c->x,c->y);
|
902 |
this->ccount++;
|
903 |
ret++;
|
904 |
c++;
|
905 |
count--;
|
906 |
}
|
907 |
return ret;
|
908 |
}
|
909 |
|
910 |
static int
|
911 |
tracking_map_item_attr_get(void *priv_data, enum attr_type attr_type, struct attr *attr)
|
912 |
{
|
913 |
struct map_rect_priv *this_=priv_data;
|
914 |
struct coord lpnt,*c;
|
915 |
struct tracking *tr=this_->tracking;
|
916 |
int value;
|
917 |
attr->type=attr_type;
|
918 |
|
919 |
if (this_->str) {
|
920 |
g_free(this_->str);
|
921 |
this_->str=NULL;
|
922 |
}
|
923 |
|
924 |
switch(attr_type) {
|
925 |
case attr_debug:
|
926 |
switch(this_->debug_idx) {
|
927 |
case 0:
|
928 |
this_->debug_idx++;
|
929 |
this_->str=attr->u.str=g_strdup_printf("overall: %d (limit %d)",tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX/2, -1), tr->offroad_limit_pref);
|
930 |
return 1;
|
931 |
case 1:
|
932 |
this_->debug_idx++;
|
933 |
c=&this_->curr->street->c[this_->coord];
|
934 |
value=tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX/2, 1);
|
935 |
this_->str=attr->u.str=g_strdup_printf("distance: (0x%x,0x%x) from (0x%x,0x%x)-(0x%x,0x%x) at (0x%x,0x%x) %d",
|
936 |
tr->curr_in.x, tr->curr_in.y,
|
937 |
c[0].x, c[0].y, c[1].x, c[1].y,
|
938 |
lpnt.x, lpnt.y, value);
|
939 |
return 1;
|
940 |
case 2:
|
941 |
this_->debug_idx++;
|
942 |
this_->str=attr->u.str=g_strdup_printf("angle: %d to %d (flags %d) %d",
|
943 |
tr->curr_angle, this_->curr->angle[this_->coord], this_->curr->street->flags & 3,
|
944 |
tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX/2, 2));
|
945 |
return 1;
|
946 |
case 3:
|
947 |
this_->debug_idx++;
|
948 |
this_->str=attr->u.str=g_strdup_printf("connected: %d", tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX/2, 4));
|
949 |
return 1;
|
950 |
case 4:
|
951 |
this_->debug_idx++;
|
952 |
this_->str=attr->u.str=g_strdup_printf("no_stop: %d", tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX/2, 8));
|
953 |
return 1;
|
954 |
case 5:
|
955 |
this_->debug_idx++;
|
956 |
this_->str=attr->u.str=g_strdup_printf("route: %d", tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX/2, 16));
|
957 |
return 1;
|
958 |
case 6:
|
959 |
this_->debug_idx++;
|
960 |
this_->str=attr->u.str=g_strdup_printf("overspeed: %d", tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX/2, 32));
|
961 |
return 1;
|
962 |
case 7:
|
963 |
this_->debug_idx++;
|
964 |
this_->str=attr->u.str=g_strdup_printf("line %p", this_->curr);
|
965 |
return 1;
|
966 |
default:
|
967 |
this_->attr_next=attr_none;
|
968 |
return 0;
|
969 |
}
|
970 |
case attr_any:
|
971 |
while (this_->attr_next != attr_none) {
|
972 |
if (tracking_map_item_attr_get(priv_data, this_->attr_next, attr))
|
973 |
return 1;
|
974 |
}
|
975 |
return 0;
|
976 |
default:
|
977 |
attr->type=attr_none;
|
978 |
return 0;
|
979 |
}
|
980 |
}
|
981 |
|
982 |
static struct item_methods tracking_map_item_methods = {
|
983 |
NULL,
|
984 |
tracking_map_item_coord_get,
|
985 |
NULL,
|
986 |
tracking_map_item_attr_get,
|
987 |
};
|
988 |
|
989 |
|
990 |
static void
|
991 |
tracking_map_destroy(struct map_priv *priv)
|
992 |
{
|
993 |
g_free(priv);
|
994 |
}
|
995 |
|
996 |
static void
|
997 |
tracking_map_rect_init(struct map_rect_priv *priv)
|
998 |
{
|
999 |
priv->next=priv->tracking->lines;
|
1000 |
priv->curr=NULL;
|
1001 |
priv->coord=0;
|
1002 |
priv->item.id_lo=0;
|
1003 |
priv->item.id_hi=0;
|
1004 |
}
|
1005 |
|
1006 |
static struct map_rect_priv *
|
1007 |
tracking_map_rect_new(struct map_priv *priv, struct map_selection *sel)
|
1008 |
{
|
1009 |
struct tracking *tracking=priv->tracking;
|
1010 |
struct map_rect_priv *ret=g_new0(struct map_rect_priv, 1);
|
1011 |
ret->tracking=tracking;
|
1012 |
tracking_map_rect_init(ret);
|
1013 |
ret->item.meth=&tracking_map_item_methods;
|
1014 |
ret->item.priv_data=ret;
|
1015 |
ret->item.type=type_tracking_100;
|
1016 |
return ret;
|
1017 |
}
|
1018 |
|
1019 |
static void
|
1020 |
tracking_map_rect_destroy(struct map_rect_priv *priv)
|
1021 |
{
|
1022 |
g_free(priv);
|
1023 |
}
|
1024 |
|
1025 |
static struct item *
|
1026 |
tracking_map_get_item(struct map_rect_priv *priv)
|
1027 |
{
|
1028 |
struct item *ret=&priv->item;
|
1029 |
int value;
|
1030 |
struct coord lpnt;
|
1031 |
|
1032 |
if (!priv->next)
|
1033 |
return NULL;
|
1034 |
if (! priv->curr || priv->coord + 2 >= priv->curr->street->count) {
|
1035 |
priv->curr=priv->next;
|
1036 |
priv->next=priv->curr->next;
|
1037 |
priv->coord=0;
|
1038 |
priv->item.id_lo=0;
|
1039 |
priv->item.id_hi++;
|
1040 |
} else {
|
1041 |
priv->coord++;
|
1042 |
priv->item.id_lo++;
|
1043 |
}
|
1044 |
value=tracking_value(priv->tracking, priv->curr, priv->coord, &lpnt, INT_MAX/2, -1);
|
1045 |
if (value < 64)
|
1046 |
priv->item.type=type_tracking_100;
|
1047 |
else if (value < 128)
|
1048 |
priv->item.type=type_tracking_90;
|
1049 |
else if (value < 256)
|
1050 |
priv->item.type=type_tracking_80;
|
1051 |
else if (value < 512)
|
1052 |
priv->item.type=type_tracking_70;
|
1053 |
else if (value < 1024)
|
1054 |
priv->item.type=type_tracking_60;
|
1055 |
else if (value < 2048)
|
1056 |
priv->item.type=type_tracking_50;
|
1057 |
else if (value < 4096)
|
1058 |
priv->item.type=type_tracking_40;
|
1059 |
else if (value < 8192)
|
1060 |
priv->item.type=type_tracking_30;
|
1061 |
else if (value < 16384)
|
1062 |
priv->item.type=type_tracking_20;
|
1063 |
else if (value < 32768)
|
1064 |
priv->item.type=type_tracking_10;
|
1065 |
else
|
1066 |
priv->item.type=type_tracking_0;
|
1067 |
dbg(1,"item %d %d points\n", priv->coord, priv->curr->street->count);
|
1068 |
priv->ccount=0;
|
1069 |
priv->attr_next=attr_debug;
|
1070 |
priv->debug_idx=0;
|
1071 |
return ret;
|
1072 |
}
|
1073 |
|
1074 |
static struct item *
|
1075 |
tracking_map_get_item_byid(struct map_rect_priv *priv, int id_hi, int id_lo)
|
1076 |
{
|
1077 |
struct item *ret;
|
1078 |
tracking_map_rect_init(priv);
|
1079 |
while ((ret=tracking_map_get_item(priv))) {
|
1080 |
if (ret->id_hi == id_hi && ret->id_lo == id_lo)
|
1081 |
return ret;
|
1082 |
}
|
1083 |
return NULL;
|
1084 |
}
|
1085 |
|
1086 |
static struct map_methods tracking_map_meth = {
|
1087 |
projection_mg,
|
1088 |
"utf-8",
|
1089 |
tracking_map_destroy,
|
1090 |
tracking_map_rect_new,
|
1091 |
tracking_map_rect_destroy,
|
1092 |
tracking_map_get_item,
|
1093 |
tracking_map_get_item_byid,
|
1094 |
NULL,
|
1095 |
NULL,
|
1096 |
NULL,
|
1097 |
};
|
1098 |
|
1099 |
static struct map_priv *
|
1100 |
tracking_map_new(struct map_methods *meth, struct attr **attrs, struct callback_list *cbl)
|
1101 |
{
|
1102 |
struct map_priv *ret;
|
1103 |
struct attr *tracking_attr;
|
1104 |
|
1105 |
tracking_attr=attr_search(attrs, NULL, attr_trackingo);
|
1106 |
if (! tracking_attr)
|
1107 |
return NULL;
|
1108 |
ret=g_new0(struct map_priv, 1);
|
1109 |
*meth=tracking_map_meth;
|
1110 |
ret->tracking=tracking_attr->u.tracking;
|
1111 |
|
1112 |
return ret;
|
1113 |
}
|
1114 |
|
1115 |
|
1116 |
void
|
1117 |
tracking_init(void)
|
1118 |
{
|
1119 |
plugin_register_map_type("tracking", tracking_map_new);
|
1120 |
}
|