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Added ftm attributes to WiFiMeasurement

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This commit is contained in:
Markus Bullmann
2019-06-19 16:05:23 +02:00
parent 09e57292f6
commit 8761dce3ce
5 changed files with 69 additions and 3 deletions
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4
math/stats/Statistics.h
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@@ -59,6 +59,10 @@ namespace Stats {
return sum / (double) cnt;
}
T getSquaredSumAvg() const {
return sumSquared / (double)cnt;
}
/** get the given quantile (e.g. 0.5 for median) */
T getQuantile(const double q) const {
if (q < 0) {return *values.begin();}

32
sensors/offline/FileReader.h
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@@ -64,6 +64,7 @@ namespace Offline {
std::vector<TS<GPSData>> gps;
std::vector<TS<CompassData>> compass;
std::vector<TS<MagnetometerData>> magnetometer;
std::vector<TS<WiFiMeasurement>> wifiFtm;
/** all entries in linear order as they appeared while recording */
std::vector<Entry> entries;
@@ -102,6 +103,7 @@ namespace Offline {
lin_acc.clear();
gravity.clear();
magnetometer.clear();
wifiFtm.clear();
}
const std::vector<Entry>& getEntries() const {return entries;}
@@ -130,6 +132,8 @@ namespace Offline {
const std::vector<TS<MagnetometerData>>& getMagnetometer() const {return magnetometer;}
const std::vector<TS<WiFiMeasurement>>& getWifiFtm() const { return wifiFtm; }
/** get an interpolateable ground-truth based on the time-clicks during recording */
GroundTruth getGroundTruth(const Floorplan::IndoorMap* map, const std::vector<int> groundTruthPoints) const {
@@ -199,6 +203,7 @@ namespace Offline {
else if (idx == (int)Sensor::COMPASS) {parseCompass(ts,data);}
else if (idx == (int)Sensor::GPS) {parseGPS(ts,data);}
else if (idx == (int)Sensor::MAGNETOMETER) {parseMagnetometer(ts,data);}
else if (idx == (int)Sensor::WIFI_FTM) {parseWifiFtm(ts, data);}
else if (idx == (int)Sensor::ACTIVITY) {parseActivity(ts, data);}
// TODO: this is a hack...
@@ -313,6 +318,33 @@ namespace Offline {
}
void parseWifiFtm(const uint64_t ts, const std::string& data) {
Splitter s(data, sep);
const int successMeas = s.getInteger(0);
const std::string mac = s.get(1);
const float dist = s.getFloat(2) / 1000; // mm -> m
const float distStdDev = s.getFloat(3) / 1000;
const float rssi = s.getFloat(4);
const int numAttempts = !s.isEmpty(5) ? s.getInteger(5) : 0;
const int numSuccess = !s.isEmpty(6) ? s.getInteger(6) : 0;
// append AP to current scan-entry
if (successMeas)
{
WiFiMeasurement meas(AccessPoint(mac), rssi, Timestamp::fromMS(ts), dist, distStdDev, numAttempts, numSuccess);
wifiFtm.push_back(TS<WiFiMeasurement>(ts, meas));
entries.push_back(Entry(Sensor::WIFI_FTM, ts, this->wifiFtm.size() - 1));
}
// inform listener
//if (listener) {listener->onWiFi(Timestamp::fromMS(ts), wifi);}
}
void parseBeacons(const uint64_t ts, const std::string& data) {
const auto pos1 = data.find(';');

5
sensors/offline/Sensors.h
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@@ -1,11 +1,11 @@
/*
* © Copyright 2014 – Urheberrechtshinweis
* <EFBFBD> Copyright 2014 <EFBFBD> Urheberrechtshinweis
* Alle Rechte vorbehalten / All Rights Reserved
*
* Programmcode ist urheberrechtlich geschuetzt.
* Das Urheberrecht liegt, soweit nicht ausdruecklich anders gekennzeichnet, bei Frank Ebner.
* Keine Verwendung ohne explizite Genehmigung.
* (vgl. § 106 ff UrhG / § 97 UrhG)
* (vgl. <EFBFBD> 106 ff UrhG / <EFBFBD> 97 UrhG)
*/
#ifndef OFFLINE_SENSORS_H
@@ -24,6 +24,7 @@ namespace Offline {
WIFI = 8,
BEACON = 9,
GPS = 16,
WIFI_FTM = 17,
ACTIVITY = 50,
GROUND_TRUTH = 99,
POS = 1001, // IPIN2016

5
sensors/offline/Splitter.h
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@@ -34,12 +34,15 @@ public:
const std::string& get(const int idx) const {return split.at(idx);}
const float getFloat(const int idx) const {return std::stof(get(idx));}
const float getFloat (const int idx) const {return std::stof(get(idx));}
const int getInteger(const int idx) const {return std::stoi(get(idx));}
size_t size() const {return split.size();}
bool empty() const {return split.empty();}
bool isEmpty(int idx) const { return has(idx) ? get(idx) == "" : true; }
private:
void build() {

26
sensors/radio/WiFiMeasurement.h
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@@ -29,6 +29,18 @@ private:
/** the measured signal strength */
float rssi;
/** FTM: estimated distance in m **/
float distance = NAN;
/** FTM: standard deviation of estimated distance in m. Only valid if numSuccessfulMeasurements >= 2 **/
float distanceStdDev = NAN;
/** FTM: The number of attempted measurements used in the RTT exchange **/
int numAttemptedMeasurements = 0;
/** FTM: The number of successful measurements used to calculate the distance and standard deviation **/
int numSuccessfulMeasurements = 0;
/** OPTIONAL. frequence the signal was received */
float freq = NAN;
@@ -52,6 +64,12 @@ public:
;
}
/** ctor with timestamp and ftm */
WiFiMeasurement(const AccessPoint& ap, const float rssi, const Timestamp ts, const float distance, const float distanceStdDev, const int numAttemptedMeasurements, const int numSuccessfulMeasurements)
: ap(ap), rssi(rssi), freq(NAN), ts(ts), distance(distance), distanceStdDev(distanceStdDev), numAttemptedMeasurements(numAttemptedMeasurements), numSuccessfulMeasurements(numSuccessfulMeasurements) {
;
}
/** 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) {
;
@@ -68,6 +86,12 @@ public:
/** OPTIONAL: get the measurement's timestamp (if known!) */
const Timestamp& getTimestamp() const {return ts;}
float getFtmDist() const { return distance; }
float getFtmDistStd() const { return distanceStdDev; }
int getNumAttemptedMeasurements() const { return numAttemptedMeasurements; }
int getNumSuccessfulMeasurements() const { return numSuccessfulMeasurements; }
/** timestamp known? */
bool hasTimestamp() const {return ts == ts;}
@@ -83,6 +107,8 @@ public:
/** set the timestamp */
void setTimestamp(const Timestamp& val){ts = val;}
void setFtmDist(float val) { distance = val; }
/** as string for debug printing */
std::string asString() const {
std::string res = ap.asString();