FHWS/Indoor
Archived
4
0
Fork 0
Code Issues 19 Pull Requests Releases 1 Wiki Activity

small fix. added getter and setter!

Browse Source
This commit is contained in:
toni
2016-11-16 12:40:16 +01:00
parent c083aae476
commit 41c1d90c54
5 changed files with 34 additions and 171 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
sensors/beacon/model/BeaconModelLogDistCeiling.h
View File

@@ -91,7 +91,7 @@ public:
// sanity check // sanity check
Assert::isBetween(params.waf, -99.0f, 0.0f, "WAF out of bounds [-99:0]"); Assert::isBetween(params.waf, -99.0f, 0.0f, "WAF out of bounds [-99:0]");
Assert::isBetween(params.txp, -50.0f, -30.0f, "TXP out of bounds [-50:-30]"); Assert::isBetween(params.txp, -90.0f, -30.0f, "TXP out of bounds [-50:-30]");
Assert::isBetween(params.exp, 1.0f, 4.0f, "EXP out of bounds [1:4]"); Assert::isBetween(params.exp, 1.0f, 4.0f, "EXP out of bounds [1:4]");
Assert::equal(beacons.find(beacon), beacons.end(), "AccessPoint already present!"); Assert::equal(beacons.find(beacon), beacons.end(), "AccessPoint already present!");

67
sensors/pressure/ActivityButterPressure.h
View File

@@ -18,8 +18,6 @@ public:
enum Activity {DOWN, STAY, UP}; enum Activity {DOWN, STAY, UP};
struct History { struct History {
Timestamp ts; Timestamp ts;
BarometerData data; BarometerData data;
@@ -27,14 +25,8 @@ public:
}; };
private: private:
//just for debugging and plotting
std::vector<History> input;
std::vector<History> inputInterp;
std::vector<History> output;
std::vector<float> sumHist;
std::vector<float> mvAvgHist;
std::vector<History> actHist;
std::vector<History> output;
Activity currentActivity; Activity currentActivity;
MovingAVG<float> mvAvg = MovingAVG<float>(20); MovingAVG<float> mvAvg = MovingAVG<float>(20);
@@ -47,8 +39,8 @@ public:
* FixedFrequencyInterpolator<float> ffi = FixedFrequencyInterpolator<float>(Timestamp::fromMS(100)); * FixedFrequencyInterpolator<float> ffi = FixedFrequencyInterpolator<float>(Timestamp::fromMS(100));
*/ */
const bool additionalLowpassFilter = false; const bool additionalLowpassFilter = false;
const int diffSize = 20; //the number values used for finding the activity. const unsigned long diffSize = 20; //the number values used for finding the activity.
const float threshold = 0.025; // if diffSize is getting smaller, treshold needs to be adjusted in the same direction! const float threshold = 0.025f; // if diffSize is getting smaller, treshold needs to be adjusted in the same direction!
Filter::ButterworthLP<float> butter = Filter::ButterworthLP<float>(10,0.05f,2); Filter::ButterworthLP<float> butter = Filter::ButterworthLP<float>(10,0.05f,2);
Filter::ButterworthLP<float> butter2 = Filter::ButterworthLP<float>(10,0.05f,2); Filter::ButterworthLP<float> butter2 = Filter::ButterworthLP<float>(10,0.05f,2);
@@ -76,14 +68,11 @@ public:
return STAY; return STAY;
} }
//input.push_back(History(ts, baro));
bool newInterpolatedValues = false; bool newInterpolatedValues = false;
//interpolate & butter //interpolate & butter
auto callback = [&] (const Timestamp ts, const float val) { auto callback = [&] (const Timestamp ts, const float val) {
float interpValue = val; float interpValue = val;
//inputInterp.push_back(History(ts, BarometerData(interpValue)));
//butter //butter
float butterValue = butter.process(interpValue); float butterValue = butter.process(interpValue);
@@ -97,10 +86,10 @@ public:
if(newInterpolatedValues == true){ if(newInterpolatedValues == true){
//getActivity //getActivity
if((int)output.size() > diffSize){ if(output.size() > diffSize){
//diff //diff
std::vector<float> diff; std::vector<float> diff;
for(int i = output.size() - diffSize; i < output.size() - 1; ++i){ for(unsigned long i = output.size() - diffSize; i < output.size() - 1; ++i){
float diffVal = output[i+1].data.hPa - output[i].data.hPa; float diffVal = output[i+1].data.hPa - output[i].data.hPa;
@@ -121,7 +110,6 @@ public:
}else{ }else{
actValue = sum; actValue = sum;
} }
//sumHist.push_back(actValue);
if(actValue > threshold){ if(actValue > threshold){
currentActivity = DOWN; currentActivity = DOWN;
@@ -135,8 +123,6 @@ public:
} }
} }
//actHist.push_back(History(ts, BarometerData(currentActivity)));
return currentActivity; return currentActivity;
} }
@@ -145,49 +131,6 @@ public:
Activity getCurrentActivity() { Activity getCurrentActivity() {
return currentActivity; return currentActivity;
} }
std::vector<float> getSensorHistory(){
std::vector<float> tmp;
for(History val : input){
tmp.push_back(val.data.hPa);
}
return tmp;
}
std::vector<float> getInterpolatedHistory(){
std::vector<float> tmp;
for(History val : inputInterp){
tmp.push_back(val.data.hPa);
}
return tmp;
}
std::vector<float> getOutputHistory(){
std::vector<float> tmp;
for(History val : output){
tmp.push_back(val.data.hPa);
}
return tmp;
}
std::vector<float> getSumHistory(){
return sumHist;
}
std::vector<History> getActHistory(){
return actHist;
}
}; };
#endif // ACTIVITYBUTTERPRESSURE_H #endif // ACTIVITYBUTTERPRESSURE_H

109
sensors/pressure/ActivityButterPressurePercent.h
View File

@@ -14,6 +14,8 @@
/** /**
* receives pressure measurements, interpolates them to a ficex frequency, lowpass filtering * receives pressure measurements, interpolates them to a ficex frequency, lowpass filtering
* activity recognition based on a small window given by matlabs diff(window) * activity recognition based on a small window given by matlabs diff(window)
*
* todo: if an elevator is detected, first we have a short time the stairs are more prober.
*/ */
class ActivityButterPressurePercent { class ActivityButterPressurePercent {
@@ -44,20 +46,14 @@ public:
}; };
private: private:
//just for debugging and plotting
std::vector<History> input;
std::vector<History> inputInterp;
std::vector<History> output;
std::vector<float> sumHist;
std::vector<float> mvAvgHist;
std::vector<ActivityProbabilities> actHist;
std::vector<History> output;
bool initialize; bool initialize;
ActivityProbabilities currentActivity; ActivityProbabilities currentActivity;
/** change this values for much success */ /** change this values for much success */
const int diffSize = 20; //the number values used for finding the activity. const unsigned long diffSize = 20; //the number values used for finding the activity.
Filter::ButterworthLP<float> butter = Filter::ButterworthLP<float>(10,0.05f,2); Filter::ButterworthLP<float> butter = Filter::ButterworthLP<float>(10,0.05f,2);
FixedFrequencyInterpolator<float> ffi = FixedFrequencyInterpolator<float>(Timestamp::fromMS(100)); FixedFrequencyInterpolator<float> ffi = FixedFrequencyInterpolator<float>(Timestamp::fromMS(100));
@@ -65,10 +61,10 @@ private:
const float muStairs = 0.04f; const float muStairs = 0.04f;
const float muStay = 0.00f; const float muStay = 0.00f;
const float muEleveator = 0.08; const float muEleveator = 0.08f;
std::vector<float> densities = std::vector<float>(5, 1); std::vector<float> densities = std::vector<float>(5, 1);
std::vector<float> densitiesOld = std::vector<float>(5, 1);; std::vector<float> densitiesOld = std::vector<float>(5, 1);
public: public:
@@ -90,14 +86,11 @@ public:
return currentActivity; return currentActivity;
} }
//input.push_back(History(ts, baro));
bool newInterpolatedValues = false; bool newInterpolatedValues = false;
//interpolate & butter //interpolate & butter
auto callback = [&] (const Timestamp ts, const float val) { auto callback = [&] (const Timestamp ts, const float val) {
float interpValue = val; float interpValue = val;
//inputInterp.push_back(History(ts, BarometerData(interpValue)));
//butter //butter
float butterValue = butter.process(interpValue); float butterValue = butter.process(interpValue);
@@ -114,7 +107,7 @@ public:
if(output.size() > diffSize){ if(output.size() > diffSize){
//diff //diff
std::vector<float> diff; std::vector<float> diff;
for(int i = output.size() - diffSize; i < output.size() - 1; ++i){ for(unsigned long i = output.size() - diffSize; i < output.size() - 1; ++i){
float diffVal = output[i+1].data.hPa - output[i].data.hPa; float diffVal = output[i+1].data.hPa - output[i].data.hPa;
@@ -127,7 +120,6 @@ public:
} }
float actValue = sum; float actValue = sum;
//sumHist.push_back(actValue);
//calculate the probabilites of walking down/up etc... //calculate the probabilites of walking down/up etc...
densitiesOld = densities; densitiesOld = densities;
@@ -152,17 +144,11 @@ public:
_assertTrue( (densityStairsUp == densityStairsUp), "the probability of densityStairsUp is null!"); _assertTrue( (densityStairsUp == densityStairsUp), "the probability of densityStairsUp is null!");
_assertTrue( (densityElevatorUp == densityElevatorUp), "the probability of densityElevatorUp is null!"); _assertTrue( (densityElevatorUp == densityElevatorUp), "the probability of densityElevatorUp is null!");
//_assertTrue( (densityElevatorDown != 0), "the probability of densityElevatorDown is null!"); _assertTrue( (densityElevatorDown != 0.0f), "the probability of densityElevatorDown is null!");
//_assertTrue( (densityStairsDown != 0), "the probability of densityStairsDown is null!"); _assertTrue( (densityStairsDown != 0.0f), "the probability of densityStairsDown is null!");
//_assertTrue( (densityStay != 0), "the probability of densityStay is null!"); _assertTrue( (densityStay != 0.0f), "the probability of densityStay is null!");
//_assertTrue( (densityStairsUp != 0), "the probability of densityStairsUp is null!"); _assertTrue( (densityStairsUp != 0.0f), "the probability of densityStairsUp is null!");
//_assertTrue( (densityElevatorUp != 0), "the probability of densityElevatorUp is null!"); _assertTrue( (densityElevatorUp != 0.0f), "the probability of densityElevatorUp is null!");
//todo: aging: wahrscheinlichkeit aufzug zu fahren oder treppe zu steigen, wird nicht knall hart auf 0 gesetzt,
//sobald der sensors nichts mehr hat, sondern wird mit der zeit geringer. größer NV?
//const Timestamp age = ts - ap.getTimestamp();
//wenn aufzug / treppe der größte wert, werden für x timestamps auf die jeweilige katerogie multipliziert. //wenn aufzug / treppe der größte wert, werden für x timestamps auf die jeweilige katerogie multipliziert.
densities[0] = densityElevatorDown; densities[0] = densityElevatorDown;
@@ -171,47 +157,19 @@ public:
densities[3] = densityStairsUp; densities[3] = densityStairsUp;
densities[4] = densityElevatorUp; densities[4] = densityElevatorUp;
//int highestValueIdx = densities.at(distance(densities.begin(), max_element (densities.begin(),densities.end())));
// if an activity other then staying is detected with a high probability, we are using the previous probability
// to keep it a little while longer. this prevents hard activity changes and helping the transition and evaluation
// to not jump between elevators/stairs and the floor and provide somewhat a smooother floorchange.
// TODO: Put this into the Project and not in Indoor, since this class should only provide the probability of the
// given activity! Since i had no time, this was the fastest solution for now.
// if(highestValueIdx != 2){
// for(int i = 0; i < densities.size(); ++i){
// densities[i] *= densitiesOld[i];
// }
// }
//normalize //normalize
float densitySum = densities[0] + densities[1] + densities[2] + densities[3] + densities[4]; float densitySum = densities[0] + densities[1] + densities[2] + densities[3] + densities[4];
for(int i = 0; i < densities.size(); ++i){ for(unsigned long i = 0; i < densities.size(); ++i){
densities[i] /= densitySum; densities[i] /= densitySum;
//values cant be zero! //values cant be zero!
densities[i] = (densities[i] > 0.0f ? densities[i] : 0.01f); densities[i] = (densities[i] > 0.0f ? densities[i] : 0.01f);
} }
// densityElevatorDown /= densitySum;
// densityStairsDown /= densitySum;
// densityStay /= densitySum;
// densityStairsUp /= densitySum;
// densityElevatorUp /= densitySum;
// if one value is 1.0 and all other are 0.0, fix that by providing a small possibility
// densityElevatorDown = (densityElevatorDown > 0.0f ? densityElevatorDown : 0.01f);
// densityStairsDown = (densityStairsDown > 0.0f ? densityStairsDown : 0.01f);
// densityStay = (densityStay > 0.0f ? densityStay : 0.01f);
// densityStairsUp = (densityStairsUp > 0.0f ? densityStairsUp : 0.01f);
// densityElevatorUp = (densityElevatorUp > 0.0f ? densityElevatorUp : 0.01f);
currentActivity = ActivityProbabilities(densities[0], densities[1], densities[2], densities[3], densities[4]); currentActivity = ActivityProbabilities(densities[0], densities[1], densities[2], densities[3], densities[4]);
} }
//actHist.push_back(currentActivity);
} }
//retruns for every call, indepedent of callback. //retruns for every call, indepedent of callback.
@@ -223,47 +181,6 @@ public:
return currentActivity; return currentActivity;
} }
std::vector<float> getSensorHistory(){
std::vector<float> tmp;
for(History val : input){
tmp.push_back(val.data.hPa);
}
return tmp;
}
std::vector<float> getInterpolatedHistory(){
std::vector<float> tmp;
for(History val : inputInterp){
tmp.push_back(val.data.hPa);
}
return tmp;
}
std::vector<float> getOutputHistory(){
std::vector<float> tmp;
for(History val : output){
tmp.push_back(val.data.hPa);
}
return tmp;
}
std::vector<float> getSumHistory(){
return sumHist;
}
std::vector<ActivityProbabilities> getActHistory(){
return actHist;
}
}; };

23
sensors/radio/WiFiMeasurement.h
View File

@@ -37,10 +37,10 @@ public:
; ;
} }
/** ctor with timestamp */ /** ctor with timestamp */
WiFiMeasurement(const AccessPoint& ap, const float rssi, const Timestamp ts) : ap(ap), rssi(rssi), ts(ts) { WiFiMeasurement(const AccessPoint& ap, const float rssi, const Timestamp ts) : ap(ap), rssi(rssi), ts(ts) {
; ;
} }
/** ctor with timestamp and freq*/ /** ctor with timestamp and freq*/
WiFiMeasurement(const AccessPoint& ap, const float rssi, const float freq, const Timestamp ts) : ap(ap), rssi(rssi), freq(freq), ts(ts) { WiFiMeasurement(const AccessPoint& ap, const float rssi, const float freq, const Timestamp ts) : ap(ap), rssi(rssi), freq(freq), ts(ts) {
@@ -49,20 +49,23 @@ public:
public: public:
/** get the AP we got the measurement for */ /** get the AP we got the measurement for */
const AccessPoint& getAP() const {return ap;} const AccessPoint& getAP() const {return ap;}
/** get the measurement's signal strength */ /** get the measurement's signal strength */
float getRSSI() const {return rssi;} float getRSSI() const {return rssi;}
/** OPTIONAL: get the measurement's timestamp (if known!) */ /** OPTIONAL: get the measurement's timestamp (if known!) */
const Timestamp& getTimestamp() const {return ts;} const Timestamp& getTimestamp() const {return ts;}
/** OPTIONAL: get the measurement's frequence (if known!) */ /** OPTIONAL: get the measurement's frequence (if known!) */
float getFrequency() const {return freq;} float getFrequency() const {return freq;}
/** set another signal strength */ /** set another signal strength */
void setRssi(float value){rssi = value;} void setRssi(float value){rssi = value;}
/** set the timestamp */
void setTimestamp(const Timestamp& val){ts = val;}
}; };

4
tests/sensors/pressure/TestBarometer.cpp
View File

@@ -178,7 +178,7 @@ TEST(Barometer, Activity) {
gpRaw.draw(plotRaw); gpRaw.draw(plotRaw);
gpRaw.flush(); gpRaw.flush();
sleep(1); sleep(5);
} }
@@ -236,7 +236,7 @@ TEST(Barometer, ActivityPercent) {
gpRaw.draw(plotRaw); gpRaw.draw(plotRaw);
gpRaw.flush(); gpRaw.flush();
sleep(1000); sleep(5);
} }