FHWS/Indoor
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some fixes [multithreading,..]

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needed interface changes [new options]
logger for android
wifi-ap-optimization
new test-cases
This commit is contained in:
FrankE
2016-09-28 12:19:14 +02:00
parent 91e3367372
commit 4f511d907e
62 changed files with 1418 additions and 175 deletions
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40
tests/sensors/radio/TestLogDistanceCeilingModel.cpp
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@@ -77,5 +77,45 @@ TEST(LogDistanceCeilingModel, numCeilings) {
}
TEST(LogDistanceCeilingModel, numCeilingsFloat) {
// dummy floorplan
Floorplan::Floor* f0 = new Floorplan::Floor(); f0->atHeight = 0;
Floorplan::Floor* f1 = new Floorplan::Floor(); f1->atHeight = 3;
Floorplan::Floor* f2 = new Floorplan::Floor(); f2->atHeight = 7;
Floorplan::IndoorMap map;
map.floors.push_back(f0);
map.floors.push_back(f1);
map.floors.push_back(f2);
WiFiModelLogDistCeiling model(&map);
const float d = 0.01;
ASSERT_NEAR(0, model.numCeilingsBetweenFloat(Point3(0,0,-1), Point3(0,0,0)), d );
ASSERT_NEAR(0, model.numCeilingsBetweenFloat(Point3(0,0,0), Point3(0,0,-1)), d );
ASSERT_NEAR(0, model.numCeilingsBetweenFloat(Point3(0,0,0), Point3(0,0,1)), d );
ASSERT_NEAR(0, model.numCeilingsBetweenFloat(Point3(0,0,1), Point3(0,0,0)), d );
ASSERT_NEAR(0.5, model.numCeilingsBetweenFloat(Point3(0,0,-0.01), Point3(0,0,+0.50)), d );
ASSERT_NEAR(0.5, model.numCeilingsBetweenFloat(Point3(0,0,+0.50), Point3(0,0,-0.01)), d );
ASSERT_NEAR(0.2, model.numCeilingsBetweenFloat(Point3(0,0,2.99), Point3(0,0,3.20)), d );
ASSERT_NEAR(0.2, model.numCeilingsBetweenFloat(Point3(0,0,3.20), Point3(0,0,2.99)), d );
ASSERT_NEAR(1.0, model.numCeilingsBetweenFloat(Point3(0,0,6.99), Point3(0,0,8.33)), d );
ASSERT_NEAR(1.0, model.numCeilingsBetweenFloat(Point3(0,0,8.33), Point3(0,0,6.99)), d );
ASSERT_NEAR(2.0, model.numCeilingsBetweenFloat(Point3(0,0,0.00), Point3(0,0,8.33)), d );
ASSERT_NEAR(2.0, model.numCeilingsBetweenFloat(Point3(0,0,8.33), Point3(0,0,0.00)), d );
ASSERT_NEAR(0, model.numCeilingsBetweenFloat(Point3(0,0,7.00), Point3(0,0,99)), d );
ASSERT_NEAR(1, model.numCeilingsBetweenFloat(Point3(0,0,0), Point3(0,0,7)), d );
ASSERT_NEAR(3, model.numCeilingsBetweenFloat(Point3(0,0,-1), Point3(0,0,8)), d );
}
#endif

10
tests/sensors/radio/TestWiFiGrid.cpp
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@@ -90,11 +90,11 @@ TEST(WiFiGridModelLogDist, create) {
model.addAP(ap3, WiFiModelLogDist::APEntry( Point3(0,20,0), -40, 1.5));
model.addAP(ap4, WiFiModelLogDist::APEntry( Point3(20,20,0), -40, 1.5));
std::vector<AccessPoint> aps = {
AccessPoint(ap1), AccessPoint(ap2), AccessPoint(ap3), AccessPoint(ap4)
};
// std::vector<AccessPoint> aps = {
// AccessPoint(ap1), AccessPoint(ap2), AccessPoint(ap3), AccessPoint(ap4)
// };
WiFiGridEstimator::estimate(grid, model, aps);
WiFiGridEstimator::estimate(grid, model, 0);
ASSERT_EQ(4, grid[0].getNumVisibleAPs()); // 4 APs visible at this node
@@ -117,7 +117,7 @@ TEST(WiFiGridModelLogDist, create) {
obs.entries.push_back(WiFiMeasurement(MACAddress("00:00:00:00:00:03"), -55, ts));
obs.entries.push_back(WiFiMeasurement(MACAddress("00:00:00:00:00:04"), -55, ts));
WiFiObserverGrid observer(5.0f);
WiFiObserverGrid<TestNode190231> observer(5.0f);
const TestNode190231& gn = grid.getNodeFor(GridPoint(1000,1000,0));
const float p = observer.getProbability(gn, ts, obs);

83
tests/sensors/radio/TestWiFiOptimizer.cpp Normal file
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@@ -0,0 +1,83 @@
#ifdef WITH_TESTS
#include "../../Tests.h"
#include "../../../sensors/radio/setup/WiFiOptimizer.h"
#include "../../../sensors/radio/setup/WiFiFingerprint.h"
#include "../../../misc/Debug.h"
#include <random>
/**
* test the wifi-optimizer by generating synthetic fingerprints and optimizing parameters from them
*/
TEST(WiFiOptimizer, optimize) {
const VAPGrouper vg(VAPGrouper::Mode::DISABLED, VAPGrouper::Aggregation::AVERAGE);
const MACAddress mac1("00:00:00:00:00:01");
const MACAddress mac2("00:00:00:00:00:02");
const Point3 pos1(10, 12, 5);
const Point3 pos2(20, -10, 2);
// building with one floor at 3.0 meters
Floorplan::IndoorMap map;
Floorplan::Floor floor1; floor1.atHeight = 3.0f;
Floorplan::FloorOutlinePolygon poly1; poly1.poly.points.push_back(Point2(-30, -30)); poly1.poly.points.push_back(Point2(+30, +30));
floor1.outline.push_back(&poly1);
map.floors.push_back(&floor1);
// add the two APs to the model
WiFiModelLogDistCeiling mdl(&map);
mdl.addAP(mac1, WiFiModelLogDistCeiling::APEntry(pos1, -40, 2, -4));
mdl.addAP(mac2, WiFiModelLogDistCeiling::APEntry(pos2, -40, 2, -4));
// generate some (synthetic) fingerprints
std::minstd_rand gen;
std::vector<WiFiFingerprint> fingerprints;
for (int i = 0; i < 50; ++i) {
std::uniform_real_distribution<float> distX(-30, +30);
std::uniform_real_distribution<float> distY(-30, +30);
std::uniform_real_distribution<float> distZ( -9, +9);
// get a random position and calculate the model RSSIs
const Point3 randomPt(distX(gen), distY(gen), distZ(gen));
const float rssi1 = mdl.getRSSI(mac1, randomPt);
const float rssi2 = mdl.getRSSI(mac2, randomPt);
// construct a corresponding synthetic fingerprint
WiFiFingerprint fp(randomPt);
fp.measurements.entries.push_back(WiFiMeasurement(AccessPoint(mac1), rssi1));
fp.measurements.entries.push_back(WiFiMeasurement(AccessPoint(mac2), rssi2));
fingerprints.push_back(fp);
}
WiFiOptimizer opt(&map, vg);
for (const WiFiFingerprint& fp : fingerprints) {
opt.addFingerprint(fp);
}
ASSERT_EQ(2, opt.getAllMACs().size());
float errRes;
const WiFiOptimizer::APParams params1 = opt.optimize(mac1, errRes);
ASSERT_TRUE(errRes < 0.1);
ASSERT_NEAR(0, pos1.getDistance(params1.getPos()), 0.4); // apx position estimation
ASSERT_NEAR(-40, params1.txp, 1.0);
ASSERT_NEAR(2, params1.exp, 0.1);
ASSERT_NEAR(-4, params1.waf, 0.5);
const WiFiOptimizer::APParams params2 = opt.optimize(mac2, errRes);
ASSERT_TRUE(errRes < 0.1);
ASSERT_NEAR(0, pos2.getDistance(params2.getPos()), 0.4); // apx position estimation
ASSERT_NEAR(-40, params1.txp, 1.0);
ASSERT_NEAR(2, params2.exp, 0.1);
ASSERT_NEAR(-4, params2.waf, 0.5);
}
#endif