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/**
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* ZANavi, Zoff Android Navigation system.
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* Copyright (C) 2011-2012 Zoff <zoff@zoff.cc>
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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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/**
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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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{
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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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{
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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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{
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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 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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{
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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))
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{ // 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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{
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sl->next = NULL;
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}
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while (sc)
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{
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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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{
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speed_avg = CDF_MINAVG;
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}
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else if (speed_avg > CDF_MAXAVG)
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{
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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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{
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if (cdf->extrapolating)
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{
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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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{
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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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{
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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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}
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else if (cdf->poscount > 0)
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{
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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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{
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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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{
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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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{
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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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}
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else
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{
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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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{
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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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}
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else
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{
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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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{
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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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316 |
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if ((dx*dx + dy*dy) < CDF_MINDIST)
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{
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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 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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341 |
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int 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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346 |
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int 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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355 |
if (tr->curr_line)
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return tr->curr_line->street;
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return NULL;
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358 |
}
|
359 |
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360 |
int tracking_get_attr(struct tracking *_this, enum attr_type type, struct attr *attr, struct attr_iter *attr_iter)
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361 |
{
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362 |
struct item *item;
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363 |
struct map_rect *mr;
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364 |
int result = 0;
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365 |
// dbg(1,"enter %s\n",attr_to_name(type));
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366 |
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367 |
if (_this->attr)
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368 |
{
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369 |
attr_free(_this->attr);
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370 |
_this->attr = NULL;
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371 |
}
|
372 |
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373 |
switch (type)
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374 |
{
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375 |
case attr_position_valid:
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376 |
attr->u.num = _this->valid;
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377 |
return 1;
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378 |
case attr_position_direction:
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379 |
attr->u.numd = &_this->direction;
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380 |
return 1;
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381 |
case attr_position_speed:
|
382 |
attr->u.numd = &_this->speed;
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383 |
return 1;
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384 |
case attr_directed:
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385 |
attr->u.num = _this->street_direction;
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386 |
return 1;
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387 |
case attr_position_coord_geo:
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388 |
if (!_this->coord_geo_valid)
|
389 |
{
|
390 |
struct coord c;
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391 |
c.x = _this->curr_out.x;
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392 |
c.y = _this->curr_out.y;
|
393 |
transform_to_geo(_this->pro, &c, &_this->coord_geo);
|
394 |
_this->coord_geo_valid = 1;
|
395 |
}
|
396 |
attr->u.coord_geo = &_this->coord_geo;
|
397 |
return 1;
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398 |
case attr_current_item:
|
399 |
if (!_this->curr_line || !_this->curr_line->street)
|
400 |
return 0;
|
401 |
attr->u.item = &_this->curr_line->street->item;
|
402 |
return 1;
|
403 |
default:
|
404 |
if (!_this->curr_line || !_this->curr_line->street)
|
405 |
return 0;
|
406 |
item = &_this->curr_line->street->item;
|
407 |
mr = map_rect_new(item->map, NULL);
|
408 |
item = map_rect_get_item_byid(mr, item->id_hi, item->id_lo);
|
409 |
if (item_attr_get(item, type, attr))
|
410 |
{
|
411 |
_this->attr = attr_dup(attr);
|
412 |
*attr = *_this->attr;
|
413 |
result = 1;
|
414 |
}
|
415 |
map_rect_destroy(mr);
|
416 |
return result;
|
417 |
}
|
418 |
}
|
419 |
|
420 |
struct item *
|
421 |
tracking_get_current_item(struct tracking *_this)
|
422 |
{
|
423 |
if (!_this->curr_line || !_this->curr_line->street)
|
424 |
return NULL;
|
425 |
return &_this->curr_line->street->item;
|
426 |
}
|
427 |
|
428 |
int *
|
429 |
tracking_get_current_flags(struct tracking *_this)
|
430 |
{
|
431 |
if (!_this->curr_line || !_this->curr_line->street)
|
432 |
return NULL;
|
433 |
return &_this->curr_line->street->flags;
|
434 |
}
|
435 |
|
436 |
static void tracking_get_angles(struct tracking_line *tl)
|
437 |
{
|
438 |
int i;
|
439 |
struct street_data *sd = tl->street;
|
440 |
for (i = 0; i < sd->count - 1; i++)
|
441 |
tl->angle[i] = transform_get_angle_delta(&sd->c[i], &sd->c[i + 1], 0);
|
442 |
}
|
443 |
|
444 |
static int street_data_within_selection(struct street_data *sd, struct map_selection *sel)
|
445 |
{
|
446 |
struct coord_rect r;
|
447 |
struct map_selection *curr;
|
448 |
int i;
|
449 |
|
450 |
if (!sel)
|
451 |
return 1;
|
452 |
r.lu = sd->c[0];
|
453 |
r.rl = sd->c[0];
|
454 |
for (i = 1; i < sd->count; i++)
|
455 |
{
|
456 |
if (r.lu.x > sd->c[i].x)
|
457 |
r.lu.x = sd->c[i].x;
|
458 |
if (r.rl.x < sd->c[i].x)
|
459 |
r.rl.x = sd->c[i].x;
|
460 |
if (r.rl.y > sd->c[i].y)
|
461 |
r.rl.y = sd->c[i].y;
|
462 |
if (r.lu.y < sd->c[i].y)
|
463 |
r.lu.y = sd->c[i].y;
|
464 |
}
|
465 |
curr = sel;
|
466 |
while (curr)
|
467 |
{
|
468 |
struct coord_rect *sr = &curr->u.c_rect;
|
469 |
if (r.lu.x <= sr->rl.x && r.rl.x >= sr->lu.x && r.lu.y >= sr->rl.y && r.rl.y <= sr->lu.y)
|
470 |
return 1;
|
471 |
curr = curr->next;
|
472 |
}
|
473 |
return 0;
|
474 |
}
|
475 |
|
476 |
static void tracking_doupdate_lines(struct tracking *tr, struct coord *pc, enum projection pro)
|
477 |
{
|
478 |
int max_dist = 1000;
|
479 |
struct map_selection *sel;
|
480 |
struct mapset_handle *h;
|
481 |
struct map *m;
|
482 |
struct map_rect *mr;
|
483 |
struct item *item;
|
484 |
struct street_data *street;
|
485 |
struct tracking_line *tl;
|
486 |
struct coord_geo g;
|
487 |
struct coord cc;
|
488 |
|
489 |
//dbg(1,"enter\n");
|
490 |
h = mapset_open(tr->ms);
|
491 |
while ((m = mapset_next(h, 2)))
|
492 |
{
|
493 |
cc.x = pc->x;
|
494 |
cc.y = pc->y;
|
495 |
if (map_projection(m) != pro)
|
496 |
{
|
497 |
transform_to_geo(pro, &cc, &g);
|
498 |
transform_from_geo(map_projection(m), &g, &cc);
|
499 |
}
|
500 |
sel = route_rect(18, &cc, &cc, 0, max_dist);
|
501 |
mr = map_rect_new(m, sel);
|
502 |
if (!mr)
|
503 |
continue;
|
504 |
while ((item = map_rect_get_item(mr)))
|
505 |
{
|
506 |
if (item_get_default_flags(item->type))
|
507 |
{
|
508 |
street = street_get_data(item);
|
509 |
if (street_data_within_selection(street, sel))
|
510 |
{
|
511 |
tl = g_malloc(sizeof(struct tracking_line) + (street->count - 1) * sizeof(int));
|
512 |
tl->street = street;
|
513 |
tracking_get_angles(tl);
|
514 |
tl->next = tr->lines;
|
515 |
tr->lines = tl;
|
516 |
}
|
517 |
else
|
518 |
street_data_free(street);
|
519 |
}
|
520 |
}
|
521 |
map_selection_destroy(sel);
|
522 |
map_rect_destroy(mr);
|
523 |
}
|
524 |
mapset_close(h);
|
525 |
//dbg(1, "exit\n");
|
526 |
}
|
527 |
|
528 |
void tracking_flush(struct tracking *tr)
|
529 |
{
|
530 |
struct tracking_line *tl = tr->lines, *next;
|
531 |
dbg(1, "enter(tr=%p)\n", tr);
|
532 |
|
533 |
while (tl)
|
534 |
{
|
535 |
next = tl->next;
|
536 |
street_data_free(tl->street);
|
537 |
g_free(tl);
|
538 |
tl = next;
|
539 |
}
|
540 |
tr->lines = NULL;
|
541 |
tr->curr_line = NULL;
|
542 |
}
|
543 |
|
544 |
static int tracking_angle_diff(int a1, int a2, int full)
|
545 |
{
|
546 |
int ret = (a1 - a2) % full;
|
547 |
if (ret > full / 2)
|
548 |
ret -= full;
|
549 |
if (ret < -full / 2)
|
550 |
ret += full;
|
551 |
return ret;
|
552 |
}
|
553 |
|
554 |
static int tracking_angle_abs_diff(int a1, int a2, int full)
|
555 |
{
|
556 |
int ret = tracking_angle_diff(a1, a2, full);
|
557 |
if (ret < 0)
|
558 |
ret = -ret;
|
559 |
return ret;
|
560 |
}
|
561 |
|
562 |
static int tracking_angle_delta(struct tracking *tr, int vehicle_angle, int street_angle, int flags)
|
563 |
{
|
564 |
int full = 180, ret = 360, fwd = 0, rev = 0;
|
565 |
struct vehicleprofile *profile = tr->vehicleprofile;
|
566 |
|
567 |
if (profile)
|
568 |
{
|
569 |
fwd = ((flags & profile->flags_forward_mask) == profile->flags);
|
570 |
rev = ((flags & profile->flags_reverse_mask) == profile->flags);
|
571 |
}
|
572 |
if (fwd || rev)
|
573 |
{
|
574 |
if (!fwd || !rev)
|
575 |
{
|
576 |
full = 360;
|
577 |
if (rev)
|
578 |
street_angle = (street_angle + 180) % 360;
|
579 |
}
|
580 |
ret = tracking_angle_abs_diff(vehicle_angle, street_angle, full);
|
581 |
}
|
582 |
return ret * ret;
|
583 |
}
|
584 |
|
585 |
static int tracking_is_connected(struct tracking *tr, struct coord *c1, struct coord *c2)
|
586 |
{
|
587 |
if (c1[0].x == c2[0].x && c1[0].y == c2[0].y)
|
588 |
return 0;
|
589 |
if (c1[0].x == c2[1].x && c1[0].y == c2[1].y)
|
590 |
return 0;
|
591 |
if (c1[1].x == c2[0].x && c1[1].y == c2[0].y)
|
592 |
return 0;
|
593 |
if (c1[1].x == c2[1].x && c1[1].y == c2[1].y)
|
594 |
return 0;
|
595 |
return tr->connected_pref;
|
596 |
}
|
597 |
|
598 |
static int tracking_is_no_stop(struct tracking *tr, struct coord *c1, struct coord *c2)
|
599 |
{
|
600 |
if (c1->x == c2->x && c1->y == c2->y)
|
601 |
return tr->nostop_pref;
|
602 |
return 0;
|
603 |
}
|
604 |
|
605 |
static int tracking_is_on_route(struct tracking *tr, struct route *rt, struct item *item)
|
606 |
{
|
607 |
#ifdef USE_ROUTING
|
608 |
if (! rt)
|
609 |
return 0;
|
610 |
if (route_contains(rt, item))
|
611 |
return 0;
|
612 |
return tr->route_pref;
|
613 |
#else
|
614 |
return 0;
|
615 |
#endif
|
616 |
}
|
617 |
|
618 |
static int tracking_value(struct tracking *tr, struct tracking_line *t, int offset, struct coord *lpnt, int min, int flags)
|
619 |
{
|
620 |
int value = 0;
|
621 |
struct street_data *sd = t->street;
|
622 |
//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);
|
623 |
if (flags & 1)
|
624 |
{
|
625 |
struct coord c1, c2, cp;
|
626 |
c1.x = sd->c[offset].x;
|
627 |
c1.y = sd->c[offset].y;
|
628 |
c2.x = sd->c[offset + 1].x;
|
629 |
c2.y = sd->c[offset + 1].y;
|
630 |
cp.x = tr->curr_in.x;
|
631 |
cp.y = tr->curr_in.y;
|
632 |
value += transform_distance_line_sq(&c1, &c2, &cp, lpnt);
|
633 |
}
|
634 |
if (value >= min)
|
635 |
return value;
|
636 |
if (flags & 2)
|
637 |
value += tracking_angle_delta(tr, tr->curr_angle, t->angle[offset], sd->flags) * tr->angle_pref >> 4;
|
638 |
if (value >= min)
|
639 |
return value;
|
640 |
if ((flags & 4) && tr->connected_pref)
|
641 |
value += tracking_is_connected(tr, tr->last, &sd->c[offset]);
|
642 |
if ((flags & 8) && tr->nostop_pref)
|
643 |
value += tracking_is_no_stop(tr, lpnt, &tr->last_out);
|
644 |
if (value >= min)
|
645 |
return value;
|
646 |
if ((flags & 16) && tr->route_pref)
|
647 |
value += tracking_is_on_route(tr, tr->rt, &sd->item);
|
648 |
if ((flags & 32) && tr->overspeed_percent_pref && tr->overspeed_pref)
|
649 |
{
|
650 |
struct roadprofile *roadprofile = g_hash_table_lookup(tr->vehicleprofile->roadprofile_hash, (void *) t->street->item.type);
|
651 |
if (roadprofile && tr->speed > roadprofile->speed * tr->overspeed_percent_pref / 100)
|
652 |
value += tr->overspeed_pref;
|
653 |
}
|
654 |
return value;
|
655 |
}
|
656 |
|
657 |
void tracking_update(struct tracking *tr, struct vehicle *v, struct vehicleprofile *vehicleprofile, enum projection pro)
|
658 |
{
|
659 |
struct tracking_line *t;
|
660 |
int i, value, min, time;
|
661 |
struct coord lpnt;
|
662 |
struct coord cin;
|
663 |
struct attr valid, speed_attr, direction_attr, coord_geo, lag, time_attr, static_speed, static_distance;
|
664 |
double speed, direction;
|
665 |
if (v)
|
666 |
tr->vehicle = v;
|
667 |
if (vehicleprofile)
|
668 |
tr->vehicleprofile = vehicleprofile;
|
669 |
|
670 |
if (!tr->vehicle)
|
671 |
return;
|
672 |
if (!vehicle_get_attr(tr->vehicle, attr_position_valid, &valid, NULL))
|
673 |
valid.u.num = attr_position_valid_valid;
|
674 |
if (valid.u.num == attr_position_valid_invalid)
|
675 |
{
|
676 |
tr->valid = valid.u.num;
|
677 |
return;
|
678 |
}
|
679 |
if (!vehicle_get_attr(tr->vehicle, attr_position_speed, &speed_attr, NULL) || !vehicle_get_attr(tr->vehicle, attr_position_direction, &direction_attr, NULL) || !vehicle_get_attr(tr->vehicle, attr_position_coord_geo, &coord_geo, NULL) || !vehicle_get_attr(tr->vehicle, attr_position_time_iso8601, &time_attr, NULL))
|
680 |
{
|
681 |
//dbg(0,"failed to get position data %d %d %d %d\n",
|
682 |
//vehicle_get_attr(tr->vehicle, attr_position_speed, &speed_attr, NULL),
|
683 |
//vehicle_get_attr(tr->vehicle, attr_position_direction, &direction_attr, NULL),
|
684 |
//vehicle_get_attr(tr->vehicle, attr_position_coord_geo, &coord_geo, NULL),
|
685 |
//vehicle_get_attr(tr->vehicle, attr_position_time_iso8601, &time_attr, NULL));
|
686 |
return;
|
687 |
}
|
688 |
if (!vehicleprofile_get_attr(vehicleprofile, attr_static_speed, &static_speed, NULL) || !vehicleprofile_get_attr(vehicleprofile, attr_static_distance, &static_distance, NULL))
|
689 |
{
|
690 |
static_speed.u.num = 3;
|
691 |
static_distance.u.num = 10;
|
692 |
//dbg(1,"Using defaults for static position detection\n");
|
693 |
}
|
694 |
//dbg(2,"Static speed: %u, static distance: %u\n",static_speed.u.num, static_distance.u.num);
|
695 |
time = iso8601_to_secs(time_attr.u.str);
|
696 |
speed = *speed_attr.u.numd;
|
697 |
direction = *direction_attr.u.numd;
|
698 |
tr->valid = attr_position_valid_valid;
|
699 |
transform_from_geo(pro, coord_geo.u.coord_geo, &tr->curr_in);
|
700 |
if ((speed < static_speed.u.num && transform_distance(pro, &tr->last_in, &tr->curr_in) < static_distance.u.num))
|
701 |
{
|
702 |
//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);
|
703 |
tr->valid = attr_position_valid_static;
|
704 |
tr->speed = 0;
|
705 |
return;
|
706 |
}
|
707 |
|
708 |
if (vehicle_get_attr(tr->vehicle, attr_lag, &lag, NULL) && lag.u.num > 0)
|
709 |
{
|
710 |
double espeed;
|
711 |
int edirection;
|
712 |
if (time - tr->time == 1)
|
713 |
{
|
714 |
/* dbg(1,"extrapolating speed from %f and %f (%f)\n",tr->speed, speed, speed-tr->speed); */
|
715 |
espeed = speed + (speed - tr->speed) * lag.u.num / 10;
|
716 |
/* dbg(1,"extrapolating angle from %f and %f (%d)\n",tr->direction, direction, tracking_angle_diff(direction,tr->direction,360)); */
|
717 |
edirection = direction + tracking_angle_diff(direction, tr->direction, 360) * lag.u.num / 10;
|
718 |
}
|
719 |
else
|
720 |
{
|
721 |
//dbg(1,"no speed and direction extrapolation\n");
|
722 |
espeed = speed;
|
723 |
edirection = direction;
|
724 |
}
|
725 |
//dbg(1,"lag %d speed %f direction %d\n",lag.u.num,espeed,edirection);
|
726 |
//dbg(1,"old 0x%x,0x%x\n",tr->curr_in.x, tr->curr_in.y);
|
727 |
transform_project(pro, &tr->curr_in, espeed * lag.u.num / 36, edirection, &tr->curr_in);
|
728 |
//dbg(1,"new 0x%x,0x%x\n",tr->curr_in.x, tr->curr_in.y);
|
729 |
}
|
730 |
tr->time = time;
|
731 |
tr->pro = pro;
|
732 |
#if 0
|
733 |
|
734 |
tracking_process_cdf(&tr->cdf, pc, &pcf, angle, &anglef, speed, fixtime);
|
735 |
#endif
|
736 |
tr->curr_angle = tr->direction = direction;
|
737 |
tr->speed = speed;
|
738 |
tr->last_in = tr->curr_in;
|
739 |
tr->last_out = tr->curr_out;
|
740 |
tr->last[0] = tr->curr[0];
|
741 |
tr->last[1] = tr->curr[1];
|
742 |
if (!tr->lines || transform_distance(pro, &tr->last_updated, &tr->curr_in) > 500)
|
743 |
{
|
744 |
//dbg(1, "update\n");
|
745 |
tracking_flush(tr);
|
746 |
tracking_doupdate_lines(tr, &tr->curr_in, pro);
|
747 |
tr->last_updated = tr->curr_in;
|
748 |
//dbg(1,"update end\n");
|
749 |
}
|
750 |
|
751 |
tr->street_direction = 0;
|
752 |
t = tr->lines;
|
753 |
tr->curr_line = NULL;
|
754 |
min = INT_MAX / 2;
|
755 |
while (t)
|
756 |
{
|
757 |
struct street_data *sd = t->street;
|
758 |
for (i = 0; i < sd->count - 1; i++)
|
759 |
{
|
760 |
value = tracking_value(tr, t, i, &lpnt, min, -1);
|
761 |
if (value < min)
|
762 |
{
|
763 |
struct coord lpnt_tmp;
|
764 |
int angle_delta = tracking_angle_abs_diff(tr->curr_angle, t->angle[i], 360);
|
765 |
tr->curr_line = t;
|
766 |
tr->pos = i;
|
767 |
tr->curr[0] = sd->c[i];
|
768 |
tr->curr[1] = sd->c[i + 1];
|
769 |
/*
|
770 |
dbg(1,"lpnt.x=0x%x,lpnt.y=0x%x pos=%d %d+%d+%d+%d=%d\n", lpnt.x, lpnt.y, i,
|
771 |
transform_distance_line_sq(&sd->c[i], &sd->c[i+1], &cin, &lpnt_tmp),
|
772 |
tracking_angle_delta(tr, tr->curr_angle, t->angle[i], 0)*tr->angle_pref,
|
773 |
tracking_is_connected(tr, tr->last, &sd->c[i]) ? tr->connected_pref : 0,
|
774 |
lpnt.x == tr->last_out.x && lpnt.y == tr->last_out.y ? tr->nostop_pref : 0,
|
775 |
value
|
776 |
);
|
777 |
*/
|
778 |
tr->curr_out.x = lpnt.x;
|
779 |
tr->curr_out.y = lpnt.y;
|
780 |
tr->coord_geo_valid = 0;
|
781 |
if (angle_delta < 70)
|
782 |
tr->street_direction = 1;
|
783 |
else if (angle_delta > 110)
|
784 |
tr->street_direction = -1;
|
785 |
else
|
786 |
tr->street_direction = 0;
|
787 |
min = value;
|
788 |
}
|
789 |
}
|
790 |
t = t->next;
|
791 |
}
|
792 |
|
793 |
//dbg(1,"tr->curr_line=%p min=%d\n", tr->curr_line, min);
|
794 |
|
795 |
if (!tr->curr_line || min > tr->offroad_limit_pref)
|
796 |
{
|
797 |
tr->curr_out = tr->curr_in;
|
798 |
tr->coord_geo_valid = 0;
|
799 |
tr->street_direction = 0;
|
800 |
}
|
801 |
|
802 |
if (tr->curr_line && (tr->curr_line->street->flags & AF_UNDERGROUND))
|
803 |
{
|
804 |
//dbg(0,"AF_UNDERGROUND 1");
|
805 |
if (tr->no_gps)
|
806 |
{
|
807 |
tr->tunnel = 1;
|
808 |
}
|
809 |
}
|
810 |
else if (tr->tunnel)
|
811 |
{
|
812 |
//dbg(0,"AF_UNDERGROUND 2");
|
813 |
tr->speed = 0;
|
814 |
}
|
815 |
//dbg(1,"found 0x%x,0x%x\n", tr->curr_out.x, tr->curr_out.y);
|
816 |
}
|
817 |
|
818 |
static int tracking_set_attr_do(struct tracking *tr, struct attr *attr, int initial)
|
819 |
{
|
820 |
switch (attr->type)
|
821 |
{
|
822 |
case attr_angle_pref:
|
823 |
tr->angle_pref = attr->u.num;
|
824 |
return 1;
|
825 |
case attr_connected_pref:
|
826 |
tr->connected_pref = attr->u.num;
|
827 |
return 1;
|
828 |
case attr_nostop_pref:
|
829 |
tr->nostop_pref = attr->u.num;
|
830 |
return 1;
|
831 |
case attr_offroad_limit_pref:
|
832 |
tr->offroad_limit_pref = attr->u.num;
|
833 |
return 1;
|
834 |
case attr_route_pref:
|
835 |
tr->route_pref = attr->u.num;
|
836 |
return 1;
|
837 |
case attr_overspeed_pref:
|
838 |
tr->overspeed_pref = attr->u.num;
|
839 |
return 1;
|
840 |
case attr_overspeed_percent_pref:
|
841 |
tr->overspeed_percent_pref = attr->u.num;
|
842 |
return 1;
|
843 |
case attr_tunnel_extrapolation:
|
844 |
tr->tunnel_extrapolation = attr->u.num;
|
845 |
return 1;
|
846 |
default:
|
847 |
return 0;
|
848 |
}
|
849 |
}
|
850 |
|
851 |
int tracking_set_attr(struct tracking *tr, struct attr *attr)
|
852 |
{
|
853 |
return tracking_set_attr_do(tr, attr, 0);
|
854 |
}
|
855 |
|
856 |
struct tracking *
|
857 |
tracking_new(struct attr *parent, struct attr **attrs)
|
858 |
{
|
859 |
struct tracking *this=g_new0(struct tracking, 1);
|
860 |
struct attr hist_size;
|
861 |
this->angle_pref = 10;
|
862 |
this->connected_pref = 10;
|
863 |
this->nostop_pref = 10;
|
864 |
this->offroad_limit_pref = 15000; // was 5000 originally!
|
865 |
this->route_pref = 300;
|
866 |
|
867 |
if (!attr_generic_get_attr(attrs, NULL, attr_cdf_histsize, &hist_size, NULL))
|
868 |
{
|
869 |
hist_size.u.num = 0;
|
870 |
}
|
871 |
if (attrs)
|
872 |
{
|
873 |
for (; *attrs; attrs++)
|
874 |
tracking_set_attr_do(this, *attrs, 1);
|
875 |
}
|
876 |
|
877 |
tracking_init_cdf(&this->cdf, hist_size.u.num);
|
878 |
|
879 |
return this;
|
880 |
}
|
881 |
|
882 |
void tracking_set_mapset(struct tracking *this, struct mapset *ms)
|
883 |
{
|
884 |
this->ms = ms;
|
885 |
}
|
886 |
|
887 |
void tracking_set_route(struct tracking *this, struct route *rt)
|
888 |
{
|
889 |
this->rt = rt;
|
890 |
}
|
891 |
|
892 |
void tracking_destroy(struct tracking *tr)
|
893 |
{
|
894 |
if (tr->attr)
|
895 |
attr_free(tr->attr);
|
896 |
tracking_flush(tr);
|
897 |
g_free(tr);
|
898 |
}
|
899 |
|
900 |
struct map *
|
901 |
tracking_get_map(struct tracking *this_)
|
902 |
{
|
903 |
struct attr *attrs[5];
|
904 |
struct attr type, navigation, data, description;
|
905 |
type.type = attr_type;
|
906 |
type.u.str = "tracking";
|
907 |
navigation.type = attr_trackingo;
|
908 |
navigation.u.tracking = this_;
|
909 |
data.type = attr_data;
|
910 |
data.u.str = "";
|
911 |
description.type = attr_description;
|
912 |
description.u.str = "Tracking";
|
913 |
|
914 |
attrs[0] = &type;
|
915 |
attrs[1] = &navigation;
|
916 |
attrs[2] = &data;
|
917 |
attrs[3] = &description;
|
918 |
attrs[4] = NULL;
|
919 |
if (!this_->map)
|
920 |
this_->map = map_new(NULL, attrs);
|
921 |
return this_->map;
|
922 |
}
|
923 |
|
924 |
struct map_priv
|
925 |
{
|
926 |
struct tracking *tracking;
|
927 |
};
|
928 |
|
929 |
struct map_rect_priv
|
930 |
{
|
931 |
struct tracking *tracking;
|
932 |
struct item item;
|
933 |
struct tracking_line *curr, *next;
|
934 |
int coord;
|
935 |
enum attr_type attr_next;
|
936 |
int ccount;
|
937 |
int debug_idx;
|
938 |
char *str;
|
939 |
};
|
940 |
|
941 |
static int tracking_map_item_coord_get(void *priv_data, struct coord *c, int count)
|
942 |
{
|
943 |
struct map_rect_priv *this = priv_data;
|
944 |
enum projection pro;
|
945 |
int ret = 0;
|
946 |
dbg(1, "enter\n");
|
947 |
while (this->ccount < 2 && count > 0)
|
948 |
{
|
949 |
pro = map_projection(this->curr->street->item.map);
|
950 |
if (projection_mg != pro)
|
951 |
{
|
952 |
transform_from_to(&this->curr->street->c[this->ccount + this->coord], pro, c, projection_mg);
|
953 |
}
|
954 |
else
|
955 |
*c = this->curr->street->c[this->ccount + this->coord];
|
956 |
dbg(1, "coord %d 0x%x,0x%x\n", this->ccount, c->x, c->y);
|
957 |
this->ccount++;
|
958 |
ret++;
|
959 |
c++;
|
960 |
count--;
|
961 |
}
|
962 |
return ret;
|
963 |
}
|
964 |
|
965 |
static int tracking_map_item_attr_get(void *priv_data, enum attr_type attr_type, struct attr *attr)
|
966 |
{
|
967 |
struct map_rect_priv *this_ = priv_data;
|
968 |
struct coord lpnt, *c;
|
969 |
struct tracking *tr = this_->tracking;
|
970 |
int value;
|
971 |
attr->type = attr_type;
|
972 |
|
973 |
if (this_->str)
|
974 |
{
|
975 |
g_free(this_->str);
|
976 |
this_->str = NULL;
|
977 |
}
|
978 |
|
979 |
switch (attr_type)
|
980 |
{
|
981 |
case attr_debug:
|
982 |
switch (this_->debug_idx)
|
983 |
{
|
984 |
case 0:
|
985 |
this_->debug_idx++;
|
986 |
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);
|
987 |
return 1;
|
988 |
case 1:
|
989 |
this_->debug_idx++;
|
990 |
c = &this_->curr->street->c[this_->coord];
|
991 |
value = tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX / 2, 1);
|
992 |
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", tr->curr_in.x, tr->curr_in.y, c[0].x, c[0].y, c[1].x, c[1].y, lpnt.x, lpnt.y, value);
|
993 |
return 1;
|
994 |
case 2:
|
995 |
this_->debug_idx++;
|
996 |
this_->str = attr->u.str = g_strdup_printf("angle: %d to %d (flags %d) %d", tr->curr_angle, this_->curr->angle[this_->coord], this_->curr->street->flags & 3, tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX / 2, 2));
|
997 |
return 1;
|
998 |
case 3:
|
999 |
this_->debug_idx++;
|
1000 |
this_->str = attr->u.str = g_strdup_printf("connected: %d", tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX / 2, 4));
|
1001 |
return 1;
|
1002 |
case 4:
|
1003 |
this_->debug_idx++;
|
1004 |
this_->str = attr->u.str = g_strdup_printf("no_stop: %d", tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX / 2, 8));
|
1005 |
return 1;
|
1006 |
case 5:
|
1007 |
this_->debug_idx++;
|
1008 |
this_->str = attr->u.str = g_strdup_printf("route: %d", tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX / 2, 16));
|
1009 |
return 1;
|
1010 |
case 6:
|
1011 |
this_->debug_idx++;
|
1012 |
this_->str = attr->u.str = g_strdup_printf("overspeed: %d", tracking_value(tr, this_->curr, this_->coord, &lpnt, INT_MAX / 2, 32));
|
1013 |
return 1;
|
1014 |
case 7:
|
1015 |
this_->debug_idx++;
|
1016 |
this_->str = attr->u.str = g_strdup_printf("line %p", this_->curr);
|
1017 |
return 1;
|
1018 |
default:
|
1019 |
this_->attr_next = attr_none;
|
1020 |
return 0;
|
1021 |
}
|
1022 |
case attr_any:
|
1023 |
while (this_->attr_next != attr_none)
|
1024 |
{
|
1025 |
if (tracking_map_item_attr_get(priv_data, this_->attr_next, attr))
|
1026 |
return 1;
|
1027 |
}
|
1028 |
return 0;
|
1029 |
default:
|
1030 |
attr->type = attr_none;
|
1031 |
return 0;
|
1032 |
}
|
1033 |
}
|
1034 |
|
1035 |
static struct item_methods tracking_map_item_methods = { NULL, tracking_map_item_coord_get, NULL, tracking_map_item_attr_get, };
|
1036 |
|
1037 |
static void tracking_map_destroy(struct map_priv *priv)
|
1038 |
{
|
1039 |
g_free(priv);
|
1040 |
}
|
1041 |
|
1042 |
static void tracking_map_rect_init(struct map_rect_priv *priv)
|
1043 |
{
|
1044 |
priv->next = priv->tracking->lines;
|
1045 |
priv->curr = NULL;
|
1046 |
priv->coord = 0;
|
1047 |
priv->item.id_lo = 0;
|
1048 |
priv->item.id_hi = 0;
|
1049 |
}
|
1050 |
|
1051 |
static struct map_rect_priv *
|
1052 |
tracking_map_rect_new(struct map_priv *priv, struct map_selection *sel)
|
1053 |
{
|
1054 |
struct tracking *tracking = priv->tracking;
|
1055 |
struct map_rect_priv *ret=g_new0(struct map_rect_priv, 1);
|
1056 |
ret->tracking = tracking;
|
1057 |
tracking_map_rect_init(ret);
|
1058 |
ret->item.meth = &tracking_map_item_methods;
|
1059 |
ret->item.priv_data = ret;
|
1060 |
ret->item.type = type_tracking_100;
|
1061 |
return ret;
|
1062 |
}
|
1063 |
|
1064 |
static void tracking_map_rect_destroy(struct map_rect_priv *priv)
|
1065 |
{
|
1066 |
g_free(priv);
|
1067 |
}
|
1068 |
|
1069 |
static struct item *
|
1070 |
tracking_map_get_item(struct map_rect_priv *priv)
|
1071 |
{
|
1072 |
struct item *ret = &priv->item;
|
1073 |
int value;
|
1074 |
struct coord lpnt;
|
1075 |
|
1076 |
if (!priv->next)
|
1077 |
return NULL;
|
1078 |
if (!priv->curr || priv->coord + 2 >= priv->curr->street->count)
|
1079 |
{
|
1080 |
priv->curr = priv->next;
|
1081 |
priv->next = priv->curr->next;
|
1082 |
priv->coord = 0;
|
1083 |
priv->item.id_lo = 0;
|
1084 |
priv->item.id_hi++;
|
1085 |
}
|
1086 |
else
|
1087 |
{
|
1088 |
priv->coord++;
|
1089 |
priv->item.id_lo++;
|
1090 |
}
|
1091 |
value = tracking_value(priv->tracking, priv->curr, priv->coord, &lpnt, INT_MAX / 2, -1);
|
1092 |
if (value < 64)
|
1093 |
priv->item.type = type_tracking_100;
|
1094 |
else if (value < 128)
|
1095 |
priv->item.type = type_tracking_90;
|
1096 |
else if (value < 256)
|
1097 |
priv->item.type = type_tracking_80;
|
1098 |
else if (value < 512)
|
1099 |
priv->item.type = type_tracking_70;
|
1100 |
else if (value < 1024)
|
1101 |
priv->item.type = type_tracking_60;
|
1102 |
else if (value < 2048)
|
1103 |
priv->item.type = type_tracking_50;
|
1104 |
else if (value < 4096)
|
1105 |
priv->item.type = type_tracking_40;
|
1106 |
else if (value < 8192)
|
1107 |
priv->item.type = type_tracking_30;
|
1108 |
else if (value < 16384)
|
1109 |
priv->item.type = type_tracking_20;
|
1110 |
else if (value < 32768)
|
1111 |
priv->item.type = type_tracking_10;
|
1112 |
else
|
1113 |
priv->item.type = type_tracking_0;
|
1114 |
dbg(1, "item %d %d points\n", priv->coord, priv->curr->street->count);
|
1115 |
priv->ccount = 0;
|
1116 |
priv->attr_next = attr_debug;
|
1117 |
priv->debug_idx = 0;
|
1118 |
return ret;
|
1119 |
}
|
1120 |
|
1121 |
static struct item *
|
1122 |
tracking_map_get_item_byid(struct map_rect_priv *priv, int id_hi, int id_lo)
|
1123 |
{
|
1124 |
struct item *ret;
|
1125 |
tracking_map_rect_init(priv);
|
1126 |
while ((ret = tracking_map_get_item(priv)))
|
1127 |
{
|
1128 |
if (ret->id_hi == id_hi && ret->id_lo == id_lo)
|
1129 |
return ret;
|
1130 |
}
|
1131 |
return NULL;
|
1132 |
}
|
1133 |
|
1134 |
static struct map_methods tracking_map_meth = { projection_mg, "utf-8", tracking_map_destroy, tracking_map_rect_new, tracking_map_rect_destroy, tracking_map_get_item, tracking_map_get_item_byid, NULL, NULL, NULL, };
|
1135 |
|
1136 |
static struct map_priv *
|
1137 |
tracking_map_new(struct map_methods *meth, struct attr **attrs, struct callback_list *cbl)
|
1138 |
{
|
1139 |
struct map_priv *ret;
|
1140 |
struct attr *tracking_attr;
|
1141 |
|
1142 |
tracking_attr = attr_search(attrs, NULL, attr_trackingo);
|
1143 |
if (!tracking_attr)
|
1144 |
return NULL; ret=g_new0(struct map_priv, 1);
|
1145 |
*meth = tracking_map_meth;
|
1146 |
ret->tracking = tracking_attr->u.tracking;
|
1147 |
|
1148 |
return ret;
|
1149 |
}
|
1150 |
|
1151 |
void tracking_init(void)
|
1152 |
{
|
1153 |
plugin_register_map_type("tracking", tracking_map_new);
|
1154 |
}
|