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Implement AR Pin and Find feature #2

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1 change: 1 addition & 0 deletions .idea/.name
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18 changes: 16 additions & 2 deletions app/build.gradle.kts
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Expand Up @@ -30,6 +30,9 @@ android {
compileOptions {
sourceCompatibility = JavaVersion.VERSION_11
targetCompatibility = JavaVersion.VERSION_11

// Add this to prevent build errors with ARCore
isCoreLibraryDesugaringEnabled = true // <--- ADD THIS
}

kotlinOptions {
Expand All @@ -48,6 +51,17 @@ android {
}

dependencies {
// --- ADD ALL OF THESE --- //
// ARCore (SLAM)
implementation("com.google.ar:core:1.44.0")
implementation("com.google.ar.sceneform:core:1.17.1")
implementation("com.google.ar.sceneform.ux:sceneform-ux:1.17.1")

// Desugaring, required for ARCore
coreLibraryDesugaring("com.android.tools:desugar_jdk_libs:2.0.4")
// --- END OF ADDITIONS --- //


// Core Android
implementation(libs.androidx.core.ktx)
implementation(libs.androidx.lifecycle.runtime.ktx)
Expand All @@ -63,7 +77,7 @@ dependencies {
implementation(libs.androidx.compose.ui.tooling.preview)
implementation(libs.androidx.compose.material3)

// CameraX for SLAM
// CameraX for SLAM (These are from your original file, now replaced by ARCore)
implementation("androidx.camera:camera-core:1.3.3")
implementation("androidx.camera:camera-camera2:1.3.3")
implementation("androidx.camera:camera-lifecycle:1.3.3")
Expand All @@ -87,4 +101,4 @@ dependencies {
androidTestImplementation(libs.androidx.compose.ui.test.junit4)
debugImplementation(libs.androidx.compose.ui.tooling)
debugImplementation(libs.androidx.compose.ui.test.manifest)
}
}
9 changes: 7 additions & 2 deletions app/src/main/AndroidManifest.xml
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Expand Up @@ -10,7 +10,8 @@
<uses-permission android:name="android.permission.BODY_SENSORS" />

<!-- ARCore Required -->
<uses-feature android:name="android.hardware.camera.ar" android:required="false" />
<!-- CHANGE android:required="false" to "true" -->
<uses-feature android:name="android.hardware.camera.ar" android:required="true" />
<uses-feature android:name="android.hardware.sensor.accelerometer" android:required="true" />
<uses-feature android:name="android.hardware.sensor.gyroscope" android:required="true" />
<uses-feature android:name="android.hardware.camera" />
Expand All @@ -23,6 +24,10 @@
android:supportsRtl="true"
android:theme="@style/Theme.SmartNavigation">

<!-- ADD THIS META-DATA FOR ARCore -->
<meta-data
android:name="com.google.ar.core"
android:value="required" />

<activity
android:name=".MainActivity"
Expand All @@ -37,4 +42,4 @@

</application>

</manifest>
</manifest>
189 changes: 110 additions & 79 deletions app/src/main/java/com/example/smartnavigation/DeadReckoningScreen.kt
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@@ -1,108 +1,97 @@
package com.example.smartnavigation


import android.content.Context
import android.hardware.Sensor
import android.hardware.SensorEvent
import android.hardware.SensorEventListener
import android.hardware.SensorManager
import androidx.activity.compose.rememberLauncherForActivityResult
import androidx.compose.material3.*
import androidx.compose.runtime.*
import androidx.compose.foundation.Canvas
import androidx.compose.foundation.layout.*
import androidx.compose.material3.*
import androidx.compose.runtime.*
import androidx.compose.ui.Modifier
import androidx.compose.ui.geometry.Offset
import androidx.compose.ui.graphics.Color
import androidx.compose.ui.graphics.drawscope.Stroke
import androidx.compose.ui.platform.LocalContext
import androidx.compose.ui.text.font.FontWeight
import androidx.compose.ui.unit.dp
import androidx.compose.ui.unit.sp
import androidx.compose.ui.text.font.FontWeight
import kotlin.math.*
import kotlin.math.abs
import kotlin.math.cos
import kotlin.math.min
import kotlin.math.sin
import kotlin.math.sqrt

// --- PDR Constants ---
private const val STRIDE_LENGTH_METERS = 0.7f // Average stride length
private const val STEP_THRESHOLD = 10.5f // Accelerometer magnitude to trigger a step
private const val STEP_DELAY_MS = 250 // Minimum time between steps

@Composable
fun DeadReckoningScreen() {
val context = androidx.compose.ui.platform.LocalContext.current
fun DeadReckoningScreen(viewModel: SharedNavViewModel) {
val context = LocalContext.current
val sensorManager = remember { context.getSystemService(Context.SENSOR_SERVICE) as SensorManager }

val position = remember { mutableStateListOf(0f, 0f, 0f) }
val velocity = remember { mutableStateListOf(0f, 0f, 0f) }
val pathPoints = remember { mutableStateListOf<Pair<Float, Float>>() }
// Position is now only (X, Z)
val position = remember { mutableStateOf(0f to 0f) }
val pathPoints = remember { mutableStateListOf(0f to 0f) }
var isRunning by remember { mutableStateOf(false) }

val pinPosition = viewModel.pinPosition.value

val sensorListener = remember {
object : SensorEventListener {
var accelRaw = FloatArray(3)
var rotationVector = FloatArray(4)
var lastTimestamp = 0L
val alpha = 0.6f
private var rotationMatrix = FloatArray(9)
private var orientationAngles = FloatArray(3)
private var lastStepTime = 0L

override fun onSensorChanged(event: SensorEvent) {
when (event.sensor.type) {
Sensor.TYPE_LINEAR_ACCELERATION -> {
val raw = event.values
for (i in 0..2)
accelRaw[i] = alpha * accelRaw[i] + (1 - alpha) * raw[i]
if (isRunning) integrate(event.timestamp)
}
if (!isRunning) return

when (event.sensor.type) {
Sensor.TYPE_ROTATION_VECTOR -> {
if (event.values.size >= 4)
rotationVector = event.values.clone()
else {
val x = event.values[0]
val y = event.values[1]
val z = event.values[2]
rotationVector = floatArrayOf(x, y, z, sqrt(max(0f, 1f - x * x - y * y - z * z)))
SensorManager.getRotationMatrixFromVector(rotationMatrix, event.values)
SensorManager.getOrientation(rotationMatrix, orientationAngles)
}
Sensor.TYPE_ACCELEROMETER -> {
val (x, y, z) = event.values
val magnitude = sqrt(x * x + y * y + z * z)

val currentTime = System.currentTimeMillis()
if (magnitude > STEP_THRESHOLD && (currentTime - lastStepTime) > STEP_DELAY_MS) {
lastStepTime = currentTime
onStepDetected()
}
}
}
}

override fun onAccuracyChanged(sensor: Sensor?, accuracy: Int) {}

private fun integrate(ts: Long) {
if (lastTimestamp == 0L) {
lastTimestamp = ts
return
}
val dt = (ts - lastTimestamp) / 1e9f
lastTimestamp = ts
if (dt <= 0f || dt > 0.5f) return

val aWorld = deviceToWorldAccel(accelRaw, rotationVector)
for (i in 0..2) {
val ax = if (abs(aWorld[i]) < 0.02f) 0f else aWorld[i]
velocity[i] += ax * dt
position[i] += velocity[i] * dt
}
pathPoints.add(position[0] to position[1])
if (pathPoints.size > 2000) pathPoints.removeAt(0)
}

private fun deviceToWorldAccel(accel: FloatArray, q: FloatArray): FloatArray {
val qx = q[0].toDouble(); val qy = q[1].toDouble(); val qz = q[2].toDouble(); val qw = q[3].toDouble()
val vx = accel[0].toDouble(); val vy = accel[1].toDouble(); val vz = accel[2].toDouble()
private fun onStepDetected() {
// orientationAngles[0] is the azimuth (yaw) in radians
val heading = orientationAngles[0]

val ix = qw * vx + qy * vz - qz * vy
val iy = qw * vy + qz * vx - qx * vz
val iz = qw * vz + qx * vy - qy * vx
val iw = -qx * vx - qy * vy - qz * vz
// Update position based on heading and stride length
val (oldX, oldZ) = position.value
val newX = oldX + STRIDE_LENGTH_METERS * cos(heading)
val newZ = oldZ - STRIDE_LENGTH_METERS * sin(heading) // Subtract Z because screen Y is down

val wx = ix * qw - iw * qx + iy * qz - iz * qy
val wy = iy * qw - iw * qy + iz * qx - ix * qz
val wz = iz * qw - iw * qz + ix * qy - iy * qx
return floatArrayOf(wx.toFloat(), wy.toFloat(), wz.toFloat())
position.value = newX to newZ
pathPoints.add(newX to newZ)
if (pathPoints.size > 2000) pathPoints.removeAt(0)
}
}
}

DisposableEffect(isRunning) {
if (isRunning) {
sensorManager.getDefaultSensor(Sensor.TYPE_LINEAR_ACCELERATION)?.also {
sensorManager.registerListener(sensorListener, it, SensorManager.SENSOR_DELAY_GAME)
sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER)?.also {
sensorManager.registerListener(sensorListener, it, SensorManager.SENSOR_DELAY_UI)
}
sensorManager.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR)?.also {
sensorManager.registerListener(sensorListener, it, SensorManager.SENSOR_DELAY_GAME)
sensorManager.registerListener(sensorListener, it, SensorManager.SENSOR_DELAY_UI)
}
} else {
sensorManager.unregisterListener(sensorListener)
Expand All @@ -117,45 +106,87 @@ fun DeadReckoningScreen() {
Button(onClick = { isRunning = true }, Modifier.weight(1f)) { Text("Start") }
Button(onClick = { isRunning = false }, Modifier.weight(1f)) { Text("Stop") }
Button(onClick = {
for (i in 0..2) { position[i] = 0f; velocity[i] = 0f }
position.value = 0f to 0f
pathPoints.clear()
pathPoints.add(0f to 0f) // Reset path to origin
}, Modifier.weight(1f)) { Text("Reset") }
}
Spacer(Modifier.height(10.dp))
Text("Position: X=${position[0]} Y=${position[1]} Z=${position[2]}")
TrajectoryCanvas(points = pathPoints.toList())
Text("DR Position: X=${"%.2f".format(position.value.first)} Z=${"%.2f".format(position.value.second)}")

if (pinPosition != null) {
Text(
"SLAM Pin: X=${"%.2f".format(pinPosition.first)} Z=${"%.2f".format(pinPosition.second)}",
color = Color(0xFF006400) // Dark Green
)
} else {
Text("No SLAM pin set. Go to SLAM screen to set one.", color = Color.Gray)
}

TrajectoryCanvas(
points = pathPoints.toList(),
pin = pinPosition
)
}
}

@Composable
fun TrajectoryCanvas(points: List<Pair<Float, Float>>) {
fun TrajectoryCanvas(points: List<Pair<Float, Float>>, pin: Pair<Float, Float>?) {
Canvas(
modifier = Modifier
.fillMaxWidth()
.height(380.dp)
.padding(8.dp)
) {
if (points.isEmpty()) return@Canvas
val xs = points.map { it.first }
val ys = points.map { it.second }
val minX = xs.minOrNull() ?: 0f
val maxX = xs.maxOrNull() ?: 0f
val minY = ys.minOrNull() ?: 0f
val maxY = ys.maxOrNull() ?: 0f
val scale = min(size.width / (maxX - minX + 0.1f), size.height / (maxY - minY + 0.1f))
if (points.isEmpty() && pin == null) return@Canvas

val allPoints = points.toMutableList()
if (pin != null) {
allPoints.add(pin)
}

val xs = allPoints.map { it.first }
val ys = allPoints.map { it.second }
val minX = (xs.minOrNull() ?: -1f) - 1f
val maxX = (xs.maxOrNull() ?: 1f) + 1f
val minY = (ys.minOrNull() ?: -1f) - 1f
val maxY = (ys.maxOrNull() ?: 1f) + 1f

val rangeX = if (abs(maxX - minX) < 0.1f) 2f else (maxX - minX)
val rangeY = if (abs(maxY - minY) < 0.1f) 2f else (maxY - minY)

val scale = min(size.width / rangeX, size.height / rangeY) * 0.9f
val cx = size.width / 2f
val cy = size.height / 2f
val midX = (minX + maxX) / 2f
val midY = (minY + maxY) / 2f

// Draw the Dead Reckoning path
for (i in 0 until points.size - 1) {
val (x1, y1) = points[i]
val (x2, y2) = points[i + 1]
val (x2, y2) = points[i]
drawLine(
color = Color.Blue,
start = Offset(cx + (x1 - (minX + maxX) / 2f) * scale, cy - (y1 - (minY + maxY) / 2f) * scale),
end = Offset(cx + (x2 - (minX + maxX) / 2f) * scale, cy - (y2 - (minY + maxY) / 2f) * scale),
start = Offset(cx + (x1 - midX) * scale, cy + (y1 - midY) * scale),
end = Offset(cx + (x2 - midX) * scale, cy + (y2 - midY) * scale),
strokeWidth = 4f
)
}
val (lx, ly) = points.last()
drawCircle(Color.Red, 8f, Offset(cx + (lx - (minX + maxX) / 2f) * scale, cy - (ly - (minY + maxY) / 2f) * scale))

// Draw the current DR position
if (points.isNotEmpty()) {
val (lx, ly) = points.last()
drawCircle(Color.Red, 8f, Offset(cx + (lx - midX) * scale, cy + (ly - midY) * scale))
}

// Draw the "true" SLAM pin location
if (pin != null) {
val (px, py) = pin
val pinX = cx + (px - midX) * scale
val pinY = cy + (py - midY) * scale
drawCircle(Color(0xFF006400), 12f, Offset(pinX, pinY), style = Stroke(width = 5f))
drawLine(Color(0xFF006400), Offset(pinX - 10, pinY), Offset(pinX + 10, pinY), strokeWidth = 5f)
drawLine(Color(0xFF006400), Offset(pinX, pinY - 10), Offset(pinX, pinY + 10), strokeWidth = 5f)
}
}
}
22 changes: 16 additions & 6 deletions app/src/main/java/com/example/smartnavigation/MainActivity.kt
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Expand Up @@ -9,28 +9,38 @@ import androidx.compose.runtime.Composable
import androidx.compose.ui.Alignment
import androidx.compose.ui.Modifier
import androidx.compose.ui.unit.dp
import androidx.lifecycle.viewmodel.compose.viewModel // <-- ADD THIS IMPORT
import androidx.navigation.NavController
import androidx.navigation.compose.NavHost
import androidx.navigation.compose.composable
import androidx.navigation.compose.rememberNavController
import com.example.smartnavigation.ui.theme.SmartNavigationTheme // <-- Ensure this is imported

class MainActivity : ComponentActivity() {
override fun onCreate(savedInstanceState: Bundle?) {
super.onCreate(savedInstanceState)
setContent {
MaterialTheme {
// Use your project's theme
SmartNavigationTheme {
val navController = rememberNavController()

// Create the ViewModel that will be shared
val sharedViewModel: SharedNavViewModel = viewModel()

NavHost(navController, startDestination = "home") {
composable("home") { HomeScreen(navController) }
composable("dead_reckoning") { DeadReckoningScreen() }
composable("slam") { SlamScreen() }

// Pass the ViewModel to both screens
composable("dead_reckoning") { DeadReckoningScreen(sharedViewModel) }
composable("slam") { SlamScreen(sharedViewModel) }
}
}
}
}
}

@Composable
fun HomeScreen(navController: androidx.navigation.NavController) {
fun HomeScreen(navController: NavController) {
Surface(modifier = Modifier.fillMaxSize()) {
Column(
modifier = Modifier
Expand All @@ -52,7 +62,7 @@ fun HomeScreen(navController: androidx.navigation.NavController) {
Button(
onClick = { navController.navigate("slam") },
modifier = Modifier.fillMaxWidth()
) { Text("SLAM (Camera)") }
) { Text("SLAM (AR Pin)") } // <-- Changed text
}
}
}
}
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