FHWS/Indoor
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merge

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This commit is contained in:
FrankE
2017-06-06 15:03:49 +02:00
parent ba9559e5df 9ea7da557b
commit 8ed4305d2a
122 changed files with 7794 additions and 1045 deletions
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154
sensors/radio/model/WiFiModelLogDistCeiling.h
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@@ -2,6 +2,7 @@
#define WIFIMODELLOGDISTCEILING_H
#include "../../../floorplan/v2/Floorplan.h"
#include "../../../floorplan/v2/FloorplanCeilings.h"
#include "../../../Assertions.h"
#include "WiFiModel.h"
@@ -9,6 +10,8 @@
#include "../VAPGrouper.h"
#include "../../../misc/Debug.h"
#include "../../../data/XMLserialize.h"
/**
* signal-strength estimation using log-distance model
* including ceilings between AP and position
@@ -36,24 +39,28 @@ private:
/** map of all APs (and their parameters) known to the model */
std::unordered_map<MACAddress, APEntry> accessPoints;
/** position (height) of all ceilings (in meter) */
std::vector<float> ceilingsAtHeight_m;
// /** position (height) of all ceilings (in meter) */
// std::vector<float> ceilingsAtHeight_m;
Floorplan::Ceilings ceilings;
public:
/** ctor with floorplan (needed for ceiling position) */
WiFiModelLogDistCeiling(const Floorplan::IndoorMap* map) {
WiFiModelLogDistCeiling(const Floorplan::IndoorMap* map) : ceilings(map) {
// sanity checks
Assert::isTrue(map->floors.size() >= 1, "map has no floors?!");
// position of all ceilings
for (Floorplan::Floor* f : map->floors) {
ceilingsAtHeight_m.push_back(f->atHeight);
}
}
/** get the entry for the given mac. exception if missing */
const APEntry& getAP(const MACAddress& mac) const {
const auto& it = accessPoints.find(mac);
if (it == accessPoints.end()) {throw Exception("model does not contain an entry for " + mac.asString());}
return it->second;
}
/** get a list of all APs known to the model */
std::vector<AccessPoint> getAllAPs() const {
std::vector<AccessPoint> aps;
@@ -62,38 +69,47 @@ public:
}
/** load AP information from the floorplan. use the given fixed TXP/EXP/WAF for all APs */
void loadAPs(const Floorplan::IndoorMap* map, const float txp = -40.0f, const float exp = 2.5f, const float waf = -8.0f) {
void loadAPs(const Floorplan::IndoorMap* map, const float txp = -40.0f, const float exp = 2.5f, const float waf = -8.0f, const bool assertSafe = true) {
for (const Floorplan::Floor* floor : map->floors) {
for (const Floorplan::AccessPoint* ap : floor->accesspoints) {
const APEntry ape(ap->getPos(floor), txp, exp, waf);
addAP(MACAddress(ap->mac), ape);
addAP(MACAddress(ap->mac), ape, assertSafe);
}
}
}
/** load AP information from the floorplan. use the given fixed TXP/EXP/WAF for all APs */
void loadAPs(const Floorplan::IndoorMap* map, const VAPGrouper& vg, const float txp = -40.0f, const float exp = 2.5f, const float waf = -8.0f) {
/**
* load AP information from the floorplan.
* use the given fixed TXP/EXP/WAF for all APs.
* usually txp,exp,waf are checked for a sane range. if you know what you are doing, set assertSafe to false!
*/
void loadAPs(const Floorplan::IndoorMap* map, const VAPGrouper& vg, const float txp = -40.0f, const float exp = 2.5f, const float waf = -8.0f, const bool assertSafe = true) {
for (const Floorplan::Floor* floor : map->floors) {
for (const Floorplan::AccessPoint* ap : floor->accesspoints) {
const APEntry ape(ap->getPos(floor), txp, exp, waf);
const MACAddress mac = vg.getBaseMAC(MACAddress(ap->mac));
Log::add("WiModLDC", "AP: " + ap->mac + " -> " + mac.asString());
addAP(MACAddress(mac), ape);
Log::add("WiModLDC", "AP added! given: " + ap->mac + " -> after VAP: " + mac.asString());
addAP(MACAddress(mac), ape, assertSafe);
}
}
}
/** make the given AP (and its parameters) known to the model */
void addAP(const MACAddress& accessPoint, const APEntry& params) {
/**
* make the given AP (and its parameters) known to the model
* usually txp,exp,waf are checked for a sane range. if you know what you are doing, set assertSafe to false!
*/
void addAP(const MACAddress& accessPoint, const APEntry& params, const bool assertSafe = true) {
// sanity check
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.exp, 1.0f, 4.0f, "EXP out of bounds [1:4]");
if (assertSafe) {
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.exp, 1.0f, 4.0f, "EXP out of bounds [1:4]");
}
Assert::equal(accessPoints.find(accessPoint), accessPoints.end(), "AccessPoint already present! VAP-Grouping issue?");
@@ -102,6 +118,14 @@ public:
}
/**
* make the given AP (and its parameters) known to the model
* usually txp,exp,waf are checked for a sane range. if you know what you are doing, set assertSafe to false!
*/
void addAP(const MACAddress& accessPoint, const Point3 pos_m, const float txp, const float exp, const float waf, const bool assertSafe = true) {
addAP(accessPoint, APEntry(pos_m, txp, exp, waf), assertSafe);
}
/** remove all added APs */
void clear() {
accessPoints.clear();
@@ -134,71 +158,71 @@ public:
const float rssiLOS = LogDistanceModel::distanceToRssi(params.txp, params.exp, distance_m);
// WAF loss (params.waf is a negative value!) -> WAF loss is also a negative value
const float wafLoss = params.waf * numCeilingsBetween(position_m, params.position_m);
//const float wafLoss = params.waf * ceilings.numCeilingsBetween(position_m, params.position_m);
const float wafLoss = params.waf * ceilings.numCeilingsBetweenFloat(position_m, params.position_m);
//const float wafLoss = params.waf * ceilings.numCeilingsBetweenLinearInt(position_m, params.position_m);
// combine
return rssiLOS + wafLoss;
const float res = rssiLOS + wafLoss;
// sanity check
Assert::isNotNaN(res, "detected NaN within WiFiModelLogDistCeiling::getRSSI()");
// ok
return res;
}
void writeToXML(XMLDoc* doc, XMLElem* dst) override {
// set my type
dst->SetAttribute("type", "WiFiModelLogDistCeiling");
protected:
FRIEND_TEST(LogDistanceCeilingModel, numCeilings);
FRIEND_TEST(LogDistanceCeilingModel, numCeilingsFloat);
/** get the number of ceilings between z1 and z2 */
float numCeilingsBetweenFloat(const Point3 pos1, const Point3 pos2) const {
const float zMin = std::min(pos1.z, pos2.z);
const float zMax = std::max(pos1.z, pos2.z);
float cnt = 0;
for (const float z : ceilingsAtHeight_m) {
if (zMin < z && zMax > z) {
const float dmax = zMax - z;
cnt += (dmax > 1) ? (1) : (dmax);
}
for (const auto& it : accessPoints) {
const MACAddress& mac = it.first;
const APEntry& ape = it.second;
XMLElem* xap = doc->NewElement("ap");
xap->SetAttribute("mac", mac.asString().c_str());
xap->SetAttribute("px", ape.position_m.x);
xap->SetAttribute("py", ape.position_m.y);
xap->SetAttribute("pz", ape.position_m.z);
xap->SetAttribute("txp", ape.txp);
xap->SetAttribute("exp", ape.exp);
xap->SetAttribute("waf", ape.waf);
dst->InsertEndChild(xap);
}
return cnt;
for (const float atHeight_m : ceilings.getCeilings()) {
XMLElem* xceil = doc->NewElement("ceiling");
xceil->SetAttribute("atHeight", atHeight_m);
dst->InsertEndChild(xceil);
}
}
/** get the number of ceilings between z1 and z2 */
int numCeilingsBetween(const Point3 pos1, const Point3 pos2) const {
void readFromXML(XMLDoc* doc, XMLElem* src) override {
int cnt = 0;
const float zMin = std::min(pos1.z, pos2.z);
const float zMax = std::max(pos1.z, pos2.z);
// check type
if (std::string("WiFiModelLogDistCeiling") != src->Attribute("type")) {throw Exception("invalid model type");}
#ifdef WITH_ASSERTIONS
accessPoints.clear();
ceilings.clear();
static int numNear = 0;
static int numFar = 0;
for (const float z : ceilingsAtHeight_m) {
const float diff = std::min( std::abs(z-zMin), std::abs(z-zMax) );
if (diff < 0.1) {++numNear;} else {++numFar;}
}
if ((numNear + numFar) > 150000) {
Assert::isTrue(numNear < numFar*0.1,
"many requests to the WiFiModel address nodes (very) near to a ground! \
due to rounding issues, determining the number of floors between AP and point-in-question is NOT possible! \
expect very wrong outputs! \
consider adding the person's height to the questioned positions: p += Point3(0,0,1.3) "
XML_FOREACH_ELEM_NAMED("ap", xap, src) {
MACAddress mac = MACAddress(xap->Attribute("mac"));
APEntry ape(
Point3(xap->FloatAttribute("px"), xap->FloatAttribute("py"), xap->FloatAttribute("pz")),
xap->FloatAttribute("txp"),
xap->FloatAttribute("exp"),
xap->FloatAttribute("waf")
);
}
#endif
for (const float z : ceilingsAtHeight_m) {
if (zMin < z && zMax > z) {++cnt;}
accessPoints.insert( std::make_pair(mac, ape) );
}
return cnt;
XML_FOREACH_ELEM_NAMED("ceiling", xceil, src) {
const float atHeight_m = xceil->FloatAttribute("atHeight");
ceilings.addCeiling(atHeight_m);
}
}