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added measurement grouping for beacons

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had to change the parameter boundaries of the wifi optimizer to be able to use it for bluetooth... this should be refactored to something more generic..
some minor changes in ble
This commit is contained in:
mail@toni-fetzer.de
2019-06-10 16:57:02 +02:00
parent 8d37e94647
commit 96c63ac3ec
11 changed files with 1020 additions and 661 deletions
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276
sensors/beacon/BeaconMeasurementGrouper.h Normal file
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@@ -0,0 +1,276 @@
#ifndef BEACONMEASUREMENTGROUPER_H
#define BEACONMEASUREMENTGROUPER_H
#include <vector>
#include <unordered_map>
#include <cmath>
#include "../../math/Stats.h"
#include "../../misc/Debug.h"
#include "BeaconMeasurements.h"
class BeaconMeasurementGrouper {
public:
/** the mode denotes the algorithm that is used for grouping VAPs together */
enum class Mode {
/** do NOT group */
DISABLED,
/** group VAPs by setting the MAC's last digit to zero */
LAST_MAC_DIGIT_TO_ZERO,
};
/** describes how to calculate the final signal-strengh of the VAP-grouped entry */
enum class Aggregation {
/** use the average signal-strength of all grouped APs */
AVERAGE,
/** use the median signal-strength of all grouped APs */
MEDIAN,
/** use the maximum signal-strength of all grouped APs */
MAXIMUM,
/** use std-dev around the signal-strength average of all grouped APs. NOTE not directly useful but for debug! */
STD_DEV,
};
/** how to determine the grouped timestamp */
enum class TimeAggregation {
/** use the smallest timestamp among all grouped APs */
MINIMUM,
/** use the average timestamp among all grouped APs */
AVERAGE,
/** use the maximum timestamp among all grouped APs */
MAXIMUM,
};
private:
static constexpr const char* name = "BLEGrp";
/** the mode to use for grouping VAPs */
const Mode mode;
/** the signal-strength aggregation algorithm to use */
const Aggregation rssiAgg;
/** how to aggreage the grouped time */
const TimeAggregation timeAgg;
/** respect only outputs with at-least X occurences of one physical hardware [can be used to prevent issues] */
int minOccurences;
public:
/** ctor */
BeaconMeasurementGrouper(const Mode mode, const Aggregation rssiAgg, const TimeAggregation timeAgg = TimeAggregation::AVERAGE, const int minOccurences = 2) :
mode(mode), rssiAgg(rssiAgg), timeAgg(timeAgg), minOccurences(minOccurences) {
;
}
/** set the number of needed occurences per VAP-group to be accepted */
void setMinOccurences(const int min) {
this->minOccurences = min;
}
/** get a vap-grouped version of the given input */
BeaconMeasurements group(const BeaconMeasurements& original) const {
// first, group all VAPs into a vector [one vector per VAP-group]
// by using the modified MAC address that all VAPs have in common
std::unordered_map<MACAddress, std::vector<BeaconMeasurement>> grouped;
for (const BeaconMeasurement& m : original.entries) {
// the vap-base-mac this entry belongs to
const MACAddress baseMAC = getBaseMAC(m.getBeacon().getMAC());
grouped[baseMAC].push_back(m);
}
#ifdef WITH_DEBUG_LOG
std::stringstream vals;
vals << std::fixed;
vals.precision(1);
#endif
// to-be-constructed output
BeaconMeasurements result;
int skipped = 0;
// perform aggregation on each VAP-group
for (auto it : grouped) {
const MACAddress& base = it.first;
const std::vector<BeaconMeasurement>& vaps = it.second;
// remove entries that do not satify the min-occurences metric
if ((int)vaps.size() < minOccurences) {++skipped; continue;}
// group all VAPs into one measurement
const BeaconMeasurement groupedMeasurement = groupVAPs(base, vaps, rssiAgg, timeAgg);
// get corresponding std-dev for debug
#ifdef WITH_DEBUG_LOG
const BeaconMeasurement groupedStdDev = groupVAPs(base, vaps, Aggregation::STD_DEV, timeAgg);
vals << groupedMeasurement.getRSSI() << "±";
vals << groupedStdDev.getRSSI() << " ";
#endif
// add it to the result-vector
result.entries.push_back(groupedMeasurement);
}
// debug
#ifdef WITH_DEBUG_LOG
Log::add(name,
"grouped " + std::to_string(original.entries.size()) + " measurements " +
"into " + std::to_string(result.entries.size()) + " [omitted: " + std::to_string(skipped) + "]" +
" Stats:[" + vals.str() + "]",
true
);
#endif
// done
return result;
}
/** get the VAP-base-MAC-Address that is the same for all APs that belong to a VAP-Group */
MACAddress getBaseMAC(const MACAddress& mac) const {
switch(mode) {
case Mode::DISABLED: return mac;
case Mode::LAST_MAC_DIGIT_TO_ZERO: return lastMacDigitToZero(mac);
default: throw Exception("unsupported vap-grouping mode given");
}
}
private:
struct FieldRSSI {
static float get(const BeaconMeasurement& m) { return m.getRSSI(); }
};
struct FieldTS {
static Timestamp get(const BeaconMeasurement& m) { return m.getTimestamp(); }
};
/** combine all of the given VAPs into one entry using the configured aggregation method */
static BeaconMeasurement groupVAPs(const MACAddress& baseMAC, const std::vector<BeaconMeasurement>& vaps, Aggregation aggRssi, TimeAggregation aggTime) {
// the resulting entry is an AP with the base-MAC all of the given VAPs have in common
const Beacon baseAP(baseMAC);
// calculate the rssi using the configured aggregate function
float rssi = NAN;
switch(aggRssi) {
case Aggregation::AVERAGE: rssi = getAVG<float, FieldRSSI>(vaps); break;
case Aggregation::MEDIAN: rssi = getMedian(vaps); break;
case Aggregation::MAXIMUM: rssi = getMax<float, FieldRSSI>(vaps); break;
case Aggregation::STD_DEV: rssi = getStdDev<float, FieldRSSI>(vaps); break;
default: throw Exception("unsupported rssi-aggregation method");
}
// calculate the time using the configured aggregate function
Timestamp baseTS;
switch(aggTime) {
case TimeAggregation::MINIMUM: baseTS = getMin<Timestamp, FieldTS>(vaps); break;
case TimeAggregation::AVERAGE: baseTS = getAVG<Timestamp, FieldTS>(vaps); break;
case TimeAggregation::MAXIMUM: baseTS = getMax<Timestamp, FieldTS>(vaps); break;
default: throw Exception("unsupported time-aggregation method");
}
// create the result measurement
return BeaconMeasurement(baseTS, baseAP, rssi);
}
private:
/** get the average signal strength */
template <typename T, typename Field> static inline T getAVG(const std::vector<BeaconMeasurement>& vaps) {
Stats::Average<T> avg;
for (const BeaconMeasurement& vap : vaps) {
avg.add(Field::get(vap));
}
return avg.get();
}
/** get the std-dev around the average */
template <typename T, typename Field> static inline T getStdDev(const std::vector<BeaconMeasurement>& vaps) {
Stats::Variance<T> var;
for (const BeaconMeasurement& vap : vaps) {
var.add(Field::get(vap));
}
return var.getStdDev();
}
/** get the median signal strength */
static inline float getMedian(const std::vector<BeaconMeasurement>& vaps) {
Stats::Median<float> median;
for (const BeaconMeasurement& vap : vaps) {
median.add(vap.getRSSI());
}
return median.get();
}
/** get the maximum value */
template <typename T, typename Field> static inline T getMax(const std::vector<BeaconMeasurement>& vaps) {
Stats::Maximum<T> max;
for (const BeaconMeasurement& vap : vaps) {
max.add(Field::get(vap));
}
return max.get();
}
/** get the minimum value */
template <typename T, typename Field> static inline T getMin(const std::vector<BeaconMeasurement>& vaps) {
Stats::Minimum<T> min;
for (const BeaconMeasurement& vap : vaps) {
min.add(Field::get(vap));
}
return min.get();
}
private:
/** convert the MAC by setting the last (right-most) digit to zero (0) */
static inline MACAddress lastMacDigitToZero(const MACAddress& mac) {
std::string str = mac.asString();
str.back() = '0';
return MACAddress(str);
}
};
#endif // BEACONMEASUREMENTGROUPER_H

4
sensors/beacon/BeaconMeasurements.h
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@@ -22,12 +22,12 @@ struct BeaconMeasurements {
std::vector<BeaconMeasurement> entries;
/** remove entries older then 3000 ms*/
/** remove entries older then 1000 ms*/
void removeOld(const Timestamp latestTS) {
std::vector<BeaconMeasurement>::iterator it;
for (it = entries.begin(); it != entries.end(); ++it){
if(latestTS - it->getTimestamp() > Timestamp::fromMS(1000*3)){
if(latestTS - it->getTimestamp() > Timestamp::fromMS(1000)){
entries.erase(it);
}
}

58
sensors/beacon/BeaconProbabilityFree.h
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@@ -14,7 +14,7 @@
#include "BeaconProbability.h"
#include "BeaconMeasurements.h"
#include "model/BeaconModel.h"
#include "../../math/Distributions.h"
#include "../../math/distribution/Normal.h"
#include "../../data/Timestamp.h"
#include "../../floorplan/v2/Floorplan.h"
@@ -29,75 +29,75 @@ class BeaconObserverFree : public BeaconProbability {
private:
const float sigma = 8.0f;
const float sigmaPerSecond = 3.0f;
const float sigma = 10.0f;
const float sigmaPerSecond = 3.0f;
/** the RSSI prediction model */
/** the RSSI prediction model */
BeaconModel& model;
/** the map's floorplan */
Floorplan::IndoorMap* map;
/** the map's floorplan */
Floorplan::IndoorMap* map;
public:
/** ctor */
BeaconObserverFree(const float sigma, BeaconModel& model) : sigma(sigma), model(model) {
}
}
/** provides the probability for a specific point in space */
double getProbability(const Point3& pos_m, const Timestamp curTime, const BeaconMeasurements& obs) const {
double prob = 1.0;
double prob = 1.0;
int numMatchingBeacons = 0;
// process each measured AP
// process each measured AP
for (const BeaconMeasurement& entry : obs.entries) {
// sanity check
Assert::isFalse(entry.getTimestamp().isZero(), "wifi measurement without timestamp. coding error?");
// sanity check
Assert::isFalse(entry.getTimestamp().isZero(), "wifi measurement without timestamp. coding error?");
// updating the beacons sended txp if available
if(entry.getBeacon().getTXP() != 0.0f){
//TODO: check if this works
model.updateBeacon(entry);
//model.updateBeacon(entry);
}
// get the model's RSSI (if possible!)
// get the model's RSSI (if possible!)
const float modelRSSI = model.getRSSI(entry.getBeacon().getMAC(), pos_m);
// NaN? -> AP not known to the model -> skip
// NaN? -> AP not known to the model -> skip
if (modelRSSI != modelRSSI) {
continue;
}
// the scan's RSSI
const float scanRSSI = entry.getRSSI();
// the scan's RSSI
const float scanRSSI = entry.getRSSI();
// the measurement's age
const Timestamp age = curTime - entry.getTimestamp();
// the measurement's age
const Timestamp age = curTime - entry.getTimestamp();
Assert::isTrue(age.ms() >= 0, "found a negative wifi measurement age. this does not make sense");
Assert::isTrue(age.ms() <= 40000, "found a 40 second old wifi measurement. maybe there is a coding error?");
Assert::isTrue(age.ms() >= 0, "found a negative wifi measurement age. this does not make sense");
Assert::isTrue(age.ms() <= 40000, "found a 40 second old wifi measurement. maybe there is a coding error?");
// sigma grows with measurement age
const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
// sigma grows with measurement age
const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
// update probability
prob *= Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
//prob *= Distribution::Region<double>::getProbability(modelRSSI, sigma, scanRSSI);
// update probability
prob *= Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
//prob *= Distribution::Region<double>::getProbability(modelRSSI, sigma, scanRSSI);
++numMatchingBeacons;
}
}
// sanity check
// sanity check
//Assert::isTrue(numMatchingBeacons > 0, "not a single measured Beacon was matched against known ones. coding error? model error?");
return prob;
return prob;
}
}
};

19
sensors/beacon/model/BeaconModel.h
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@@ -15,6 +15,8 @@
#include "../BeaconMeasurement.h"
#include "../../../geo/Point3.h"
#include "../../../data/XMLserialize.h"
#include <vector>
/**
@@ -23,14 +25,17 @@
* the model is passed a MAC-address of an AP in question, and a position.
* hereafter the model returns the RSSI for this AP at the questioned location.
*/
class BeaconModel {
class BeaconModel : public XMLserialize {
public:
// /** get the given access-point's RSSI at the provided location */
// virtual float getRSSI(const LocatedAccessPoint& ap, const Point3 p) = 0;
/** get a list of all APs known to the model */
/** dtor */
virtual ~BeaconModel() {;}
/** get a list of all APs known to the model */
virtual std::vector<Beacon> getAllBeacons() const = 0;
/**
@@ -43,13 +48,13 @@ public:
virtual void updateBeacon(const BeaconMeasurement beacon) = 0;
/**
* get the RSSI expected at the given location (in meter)
/**
* get the RSSI expected at the given location (in meter)
* for an beacon identified by the given MAC.
*
*
* if the model can not predict the RSSI for an beacon, it returns NaN!
*/
virtual float getRSSI(const MACAddress& accessPoint, const Point3 position_m) const = 0;
*/
virtual float getRSSI(const MACAddress& accessPoint, const Point3 position_m) const = 0;
};

54
sensors/beacon/model/BeaconModelLogDist.h
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@@ -24,17 +24,17 @@ class BeaconModelLogDist : public BeaconModel {
public:
/** parameters describing one beacons to the model */
struct APEntry {
struct APEntry {
Point3 position_m; // the AP's position (in meter)
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
Point3 position_m; // the AP's position (in meter)
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
/** ctor */
APEntry(const Point3 position_m, const float txp, const float exp) :
position_m(position_m), txp(txp), exp(exp) {;}
/** ctor */
APEntry(const Point3 position_m, const float txp, const float exp) :
position_m(position_m), txp(txp), exp(exp) {;}
};
};
private:
@@ -43,29 +43,29 @@ private:
public:
/** ctor */
/** ctor */
BeaconModelLogDist() {
;
}
;
}
/** get a list of all beacons known to the model */
std::vector<Beacon> getAllBeacons() const {
std::vector<Beacon> aps;
for (const auto it : beacons) {aps.push_back(Beacon(it.first));}
return aps;
}
return aps;
}
/** make the given beacon (and its parameters) known to the model */
void addAP(const MACAddress& beacon, const APEntry& params) {
// sanity check
Assert::isBetween(params.txp, -50.0f, -30.0f, "TXP out of bounds [-90:-30]");
Assert::isBetween(params.exp, 1.0f, 4.0f, "EXP out of bounds [1:4]");
// sanity check
Assert::isBetween(params.txp, -65.0f, -30.0f, "TXP out of bounds [-65:-30]");
Assert::isBetween(params.exp, 1.0f, 5.0f, "EXP out of bounds [1:5]");
// add
// add
beacons.insert( std::pair<MACAddress, APEntry>(beacon, params) );
}
}
void updateBeacon(const BeaconMeasurement beacon) override{
// try to get the corresponding parameters
@@ -79,23 +79,23 @@ public:
virtual float getRSSI(const MACAddress& beacon, const Point3 position_m) const override {
// try to get the corresponding parameters
// try to get the corresponding parameters
const auto it = beacons.find(beacon);
// AP unknown? -> NAN
// AP unknown? -> NAN
if (it == beacons.end()) {return NAN;}
// the beacons' parameters
const APEntry& params = it->second;
const APEntry& params = it->second;
// free-space (line-of-sight) RSSI
const float distance_m = position_m.getDistance(params.position_m);
const float rssiLOS = LogDistanceModel::distanceToRssi(params.txp, params.exp, distance_m);
// free-space (line-of-sight) RSSI
const float distance_m = position_m.getDistance(params.position_m);
const float rssiLOS = LogDistanceModel::distanceToRssi(params.txp, params.exp, distance_m);
// done
return rssiLOS;
// done
return rssiLOS;
}
}
};

237
sensors/beacon/model/BeaconModelLogDistCeiling.h
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@@ -12,12 +12,16 @@
#define BEACONMODELLOGDISTCEILING_H
#include "../../../floorplan/v2/Floorplan.h"
#include "../../../floorplan/v2/FloorplanCeilings.h"
#include "../../../Assertions.h"
#include "BeaconModel.h"
#include "../../radio/model/LogDistanceModel.h"
#include "../BeaconMeasurement.h"
#include "../../../data/XMLserialize.h"
#include "../../../misc/Debug.h"
#include <unordered_map>
/**
@@ -26,63 +30,61 @@
*/
class BeaconModelLogDistCeiling : public BeaconModel {
static constexpr const char* name = "BLEModelLDC";
public:
/** parameters describing one beacon to the model */
struct APEntry {
struct APEntry {
Point3 position_m; // the beacon's position (in meter)
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
float waf; // attenuation per ceiling/floor (~-8.0)
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
float waf; // attenuation per ceiling/floor (~-8.0)
/** ctor */
APEntry(const Point3 position_m, const float txp, const float exp, const float waf) :
position_m(position_m), txp(txp), exp(exp), waf(waf) {;}
/** ctor */
APEntry(const Point3 position_m, const float txp, const float exp, const float waf) :
position_m(position_m), txp(txp), exp(exp), waf(waf) {;}
};
};
private:
/** map of all beacons (and their parameters) known to the model */
std::unordered_map<MACAddress, APEntry> beacons;
/** 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) */
BeaconModelLogDistCeiling(const Floorplan::IndoorMap* map) {
/** ctor with floorplan (needed for ceiling position) */
BeaconModelLogDistCeiling(const Floorplan::IndoorMap* map) : ceilings(map){
// sanity checks
Assert::isTrue(map->floors.size() >= 1, "map has no floors?!");
// 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 a list of all beacons known to the model */
std::vector<Beacon> getAllBeacons() const {
std::vector<Beacon> aps;
for (const auto it : beacons) {aps.push_back(Beacon(it.first));}
return aps;
}
return aps;
}
/** load beacon information from the floorplan. use the given fixed TXP/EXP/WAF for all APs */
void loadBeaconsFromMap(const Floorplan::IndoorMap* map, const float txp = -40.0f, const float exp = 2.5f, const float waf = -8.0f) {
for (const Floorplan::Floor* floor : map->floors) {
for (const Floorplan::Floor* floor : map->floors) {
for (const Floorplan::Beacon* beacon : floor->beacons) {
APEntry ape(beacon->getPos(floor), txp, exp, waf);
addBeacon(MACAddress(beacon->mac), ape);
}
}
}
}
}
}
/** load beacon information from a vector. use the given fixed TXP/EXP/WAF for all APs */
void loadBeaconsFromVector(const Floorplan::IndoorMap* map, const float txp = -40.0f, const float exp = 2.5f, const float waf = -8.0f) {
@@ -99,17 +101,17 @@ public:
/** make the given beacon (and its parameters) known to the model */
void addBeacon(const MACAddress& beacon, const APEntry& params) {
// sanity check
Assert::isBetween(params.waf, -99.0f, 0.0f, "WAF out of bounds [-99:0]");
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]");
// sanity check
Assert::isBetween(params.waf, -99.0f, 0.0f, "WAF out of bounds [-99:0]");
Assert::isBetween(params.txp, -65.0f, -30.0f, "TXP out of bounds [-65:-30]");
Assert::isBetween(params.exp, 1.0f, 5.0f, "EXP out of bounds [1:5]");
//Assert::equal(beacons.find(beacon), beacons.end(), "AccessPoint already present!");
// add
// add
beacons.insert( std::pair<MACAddress, APEntry>(beacon, params) );
}
}
void updateBeacon(const BeaconMeasurement beacon) override {
// try to get the corresponding parameters
@@ -123,94 +125,155 @@ public:
it->second.txp = beacon.getBeacon().getTXP();
}
/** remove all added APs */
void clear() {
/** remove all added APs */
void clear() {
beacons.clear();
}
}
float getRSSI(const MACAddress& beacon, const Point3 position_m) const override {
// try to get the corresponding parameters
// try to get the corresponding parameters
const auto it = beacons.find(beacon);
// beacon unknown? -> NAN
if (it == beacons.end()) {return NAN;}
// the access-points' parameters
const APEntry& params = it->second;
// the access-points' parameters
const APEntry& params = it->second;
// free-space (line-of-sight) RSSI
const float distance_m = position_m.getDistance(params.position_m);
// free-space (line-of-sight) RSSI
const float distance_m = position_m.getDistance(params.position_m);
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);
// WAF loss (params.waf is a negative value!) -> WAF loss is also a negative value
const float wafLoss = params.waf * ceilings.numCeilingsBetweenFloat(position_m, params.position_m);
// combine
return rssiLOS + wafLoss;
// combine
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", "BeaconModelLogDistCeiling");
for (const auto& it : beacons) {
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);
}
for (const float atHeight_m : ceilings.getCeilings()) {
XMLElem* xceil = doc->NewElement("ceiling");
xceil->SetAttribute("atHeight", atHeight_m);
dst->InsertEndChild(xceil);
}
}
void readFromXML(XMLDoc* doc, XMLElem* src) override {
// check type
if (std::string("BeaconModelLogDistCeiling") != src->Attribute("type")) {throw Exception("invalid model type");}
beacons.clear();
ceilings.clear();
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")
);
beacons.insert( std::make_pair(mac, ape) );
}
XML_FOREACH_ELEM_NAMED("ceiling", xceil, src) {
const float atHeight_m = xceil->FloatAttribute("atHeight");
ceilings.addCeiling(atHeight_m);
}
Log::add(name, "loaded " + std::to_string(beacons.size()) + " APs");
}
protected:
//protected:
FRIEND_TEST(LogDistanceCeilingModelBeacon, numCeilings);
FRIEND_TEST(LogDistanceCeilingModelBeacon, numCeilingsFloat);
// FRIEND_TEST(LogDistanceCeilingModelBeacon, numCeilings);
// FRIEND_TEST(LogDistanceCeilingModelBeacon, numCeilingsFloat);
/** get the number of ceilings between z1 and z2 */
float numCeilingsBetweenFloat(const Point3 pos1, const Point3 pos2) const {
// /** 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);
// const float zMin = std::min(pos1.z, pos2.z);
// const float zMax = std::max(pos1.z, pos2.z);
float cnt = 0;
// 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 float z : ceilingsAtHeight_m) {
// if (zMin < z && zMax > z) {
// const float dmax = zMax - z;
// cnt += (dmax > 1) ? (1) : (dmax);
// }
// }
return cnt;
// return cnt;
}
// }
/** get the number of ceilings between z1 and z2 */
int numCeilingsBetween(const Point3 pos1, const Point3 pos2) const {
// /** get the number of ceilings between z1 and z2 */
// int numCeilingsBetween(const Point3 pos1, const Point3 pos2) const {
int cnt = 0;
const float zMin = std::min(pos1.z, pos2.z);
const float zMax = std::max(pos1.z, pos2.z);
// int cnt = 0;
// const float zMin = std::min(pos1.z, pos2.z);
// const float zMax = std::max(pos1.z, pos2.z);
#ifdef WITH_ASSERTIONS
//#ifdef WITH_ASSERTIONS
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) "
);
}
#endif
// 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) "
// );
// }
//#endif
for (const float z : ceilingsAtHeight_m) {
if (zMin < z && zMax > z) {++cnt;}
}
// for (const float z : ceilingsAtHeight_m) {
// if (zMin < z && zMax > z) {++cnt;}
// }
return cnt;
// return cnt;
}
// }
};

12
sensors/beacon/setup/BeaconFingerprint.h
View File

@@ -7,12 +7,12 @@
#include <unordered_map>
/**
* denotes a wifi fingerprint:
* known position and 1-n measurements [wifi-scan on all channels] conducted at this position
* denotes a beacon fingerprint:
* known position and 1-n measurements [ble-advertisment-scan on all channels] conducted at this position
*
* if more than one measurement is conducted, each AP is contained more than once!
*/
struct WiFiFingerprint {
struct BeaconFingerprint {
/** real-world-position that was measured */
@@ -22,13 +22,13 @@ struct WiFiFingerprint {
BeaconMeasurements measurements;
/** ctor */
WiFiFingerprint() {;}
BeaconFingerprint() {;}
/** ctor */
WiFiFingerprint(const Point3 pos_m) : pos_m(pos_m) {;}
BeaconFingerprint(const Point3 pos_m) : pos_m(pos_m) {;}
/** ctor */
WiFiFingerprint(const Point3 pos_m, const BeaconMeasurements& measurements) : pos_m(pos_m), measurements(measurements) {;}
BeaconFingerprint(const Point3 pos_m, const BeaconMeasurements& measurements) : pos_m(pos_m), measurements(measurements) {;}
/** as each AP might be contained more than once (scanned more than once), group them by MAC and use the average RSSI */

110
sensors/radio/model/WiFiModelLogDist.h
View File

@@ -23,88 +23,88 @@ class WiFiModelLogDist : public WiFiModel {
public:
/** parameters describing one AP to the model */
struct APEntry {
/** parameters describing one AP to the model */
struct APEntry {
Point3 position_m; // the AP's position (in meter)
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
Point3 position_m; // the AP's position (in meter)
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
/** ctor */
APEntry(const Point3 position_m, const float txp, const float exp) :
position_m(position_m), txp(txp), exp(exp) {;}
/** ctor */
APEntry(const Point3 position_m, const float txp, const float exp) :
position_m(position_m), txp(txp), exp(exp) {;}
};
};
private:
/** map of all APs (and their parameters) known to the model */
std::unordered_map<MACAddress, APEntry> accessPoints;
/** map of all APs (and their parameters) known to the model */
std::unordered_map<MACAddress, APEntry> accessPoints;
public:
/** ctor */
WiFiModelLogDist() {
;
}
/** ctor */
WiFiModelLogDist() {
;
}
/** get a list of all APs known to the model */
std::vector<AccessPoint> getAllAPs() const {
std::vector<AccessPoint> aps;
for (const auto it : accessPoints) {aps.push_back(AccessPoint(it.first));}
return aps;
}
/** get a list of all APs known to the model */
std::vector<AccessPoint> getAllAPs() const {
std::vector<AccessPoint> aps;
for (const auto it : accessPoints) {aps.push_back(AccessPoint(it.first));}
return aps;
}
/** 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 */
void addAP(const MACAddress& accessPoint, const APEntry& params) {
// sanity check
Assert::isBetween(params.txp, -50.0f, -30.0f, "TXP out of bounds [-90:-30]");
Assert::isBetween(params.exp, 1.0f, 4.0f, "EXP out of bounds [1:4]");
// sanity check
Assert::isBetween(params.txp, -65.0f, -30.0f, "TXP out of bounds [-65:-30]");
Assert::isBetween(params.exp, 1.0f, 5.0f, "EXP out of bounds [1:5]");
// add
accessPoints.insert( std::pair<MACAddress, APEntry>(accessPoint, params) );
// add
accessPoints.insert( std::pair<MACAddress, APEntry>(accessPoint, params) );
}
}
/** does the model know the given AP? */
bool knowsAP(const MACAddress& accessPoint) {
/** does the model know the given AP? */
bool knowsAP(const MACAddress& accessPoint) {
// try to get the corresponding parameters
const auto it = accessPoints.find(accessPoint);
// try to get the corresponding parameters
const auto it = accessPoints.find(accessPoint);
// AP known?
return (it != accessPoints.end());
// AP known?
return (it != accessPoints.end());
}
}
virtual float getRSSI(const MACAddress& accessPoint, const Point3 position_m) const override {
virtual float getRSSI(const MACAddress& accessPoint, const Point3 position_m) const override {
// try to get the corresponding parameters
const auto it = accessPoints.find(accessPoint);
// try to get the corresponding parameters
const auto it = accessPoints.find(accessPoint);
// AP unknown? -> NAN
if (it == accessPoints.end()) {return NAN;}
// AP unknown? -> NAN
if (it == accessPoints.end()) {return NAN;}
// the access-points' parameters
const APEntry& params = it->second;
// the access-points' parameters
const APEntry& params = it->second;
// free-space (line-of-sight) RSSI
const float distance_m = position_m.getDistance(params.position_m);
const float rssiLOS = LogDistanceModel::distanceToRssi(params.txp, params.exp, distance_m);
// free-space (line-of-sight) RSSI
const float distance_m = position_m.getDistance(params.position_m);
const float rssiLOS = LogDistanceModel::distanceToRssi(params.txp, params.exp, distance_m);
// done
return rssiLOS;
// done
return rssiLOS;
}
}
void readFromXML(XMLDoc* doc, XMLElem* src) override {
throw Exception("not yet implemented");
}
void readFromXML(XMLDoc* doc, XMLElem* src) override {
throw Exception("not yet implemented");
}
void writeToXML(XMLDoc* doc, XMLElem* dst) override {
throw Exception("not yet implemented");
}
void writeToXML(XMLDoc* doc, XMLElem* dst) override {
throw Exception("not yet implemented");
}
};

304
sensors/radio/model/WiFiModelLogDistCeiling.h
View File

@@ -28,217 +28,217 @@
*/
class WiFiModelLogDistCeiling : public WiFiModel {
static constexpr const char* name = "WifiModelLDC";
static constexpr const char* name = "WifiModelLDC";
public:
/** parameters describing one AP to the model */
struct APEntry {
/** parameters describing one AP to the model */
struct APEntry {
Point3 position_m; // the AP's position (in meter)
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
float waf; // attenuation per ceiling/floor (~-8.0)
Point3 position_m; // the AP's position (in meter)
float txp; // sending power (-40)
float exp; // path-loss-exponent (~2.0 - 4.0)
float waf; // attenuation per ceiling/floor (~-8.0)
/** ctor */
APEntry(const Point3 position_m, const float txp, const float exp, const float waf) :
position_m(position_m), txp(txp), exp(exp), waf(waf) {;}
/** ctor */
APEntry(const Point3 position_m, const float txp, const float exp, const float waf) :
position_m(position_m), txp(txp), exp(exp), waf(waf) {;}
};
};
private:
/** map of all APs (and their parameters) known to the model */
std::unordered_map<MACAddress, APEntry> accessPoints;
/** 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;
Floorplan::Ceilings ceilings;
Floorplan::Ceilings ceilings;
public:
/** ctor with floorplan (needed for ceiling position) */
WiFiModelLogDistCeiling(const Floorplan::IndoorMap* map) : ceilings(map) {
/** ctor with floorplan (needed for ceiling position) */
WiFiModelLogDistCeiling(const Floorplan::IndoorMap* map) : ceilings(map) {
// sanity checks
Assert::isTrue(map->floors.size() >= 1, "map has no floors?!");
// sanity checks
Assert::isTrue(map->floors.size() >= 1, "map has no floors?!");
}
}
/** 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 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;
for (const auto it : accessPoints) {aps.push_back(AccessPoint(it.first));}
return aps;
}
/** get a list of all APs known to the model */
std::vector<AccessPoint> getAllAPs() const {
std::vector<AccessPoint> aps;
for (const auto it : accessPoints) {aps.push_back(AccessPoint(it.first));}
return aps;
}
/** 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, const bool assertSafe = true) {
/** 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, 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, assertSafe);
}
}
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, assertSafe);
}
}
}
}
/**
* 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) {
/**
* 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 added! given: " + ap->mac + " -> after VAP: " + mac.asString());
addAP(MACAddress(mac), ape, assertSafe);
}
}
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 added! given: " + ap->mac + " -> after VAP: " + mac.asString());
addAP(MACAddress(mac), ape, assertSafe);
}
}
}
}
/**
* 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) {
/**
* 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
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]");
}
// sanity check
if (assertSafe) {
Assert::isBetween(params.waf, -99.0f, 0.0f, "WAF out of bounds [-99:0]");
Assert::isBetween(params.txp, -65.0f, -30.0f, "TXP out of bounds [-65:-30]");
Assert::isBetween(params.exp, 1.0f, 5.0f, "EXP out of bounds [1:5]");
}
Assert::equal(accessPoints.find(accessPoint), accessPoints.end(), "AccessPoint already present! VAP-Grouping issue?");
Assert::equal(accessPoints.find(accessPoint), accessPoints.end(), "AccessPoint already present! VAP-Grouping issue?");
// add
accessPoints.insert( std::pair<MACAddress, APEntry>(accessPoint, params) );
// add
accessPoints.insert( std::pair<MACAddress, APEntry>(accessPoint, 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 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);
}
/**
* 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();
}
/** remove all added APs */
void clear() {
accessPoints.clear();
}
/** does the model know the given AP? */
bool knowsAP(const MACAddress& accessPoint) {
/** does the model know the given AP? */
bool knowsAP(const MACAddress& accessPoint) {
// try to get the corresponding parameters
const auto it = accessPoints.find(accessPoint);
// try to get the corresponding parameters
const auto it = accessPoints.find(accessPoint);
// AP known?
return (it != accessPoints.end());
// AP known?
return (it != accessPoints.end());
}
}
float getRSSI(const MACAddress& accessPoint, const Point3 position_m) const override {
float getRSSI(const MACAddress& accessPoint, const Point3 position_m) const override {
// try to get the corresponding parameters
const auto it = accessPoints.find(accessPoint);
// try to get the corresponding parameters
const auto it = accessPoints.find(accessPoint);
// AP unknown? -> NAN
if (it == accessPoints.end()) {return NAN;}
// AP unknown? -> NAN
if (it == accessPoints.end()) {return NAN;}
// the access-points' parameters
const APEntry& params = it->second;
// the access-points' parameters
const APEntry& params = it->second;
// free-space (line-of-sight) RSSI
const float distance_m = position_m.getDistance(params.position_m);
const float rssiLOS = LogDistanceModel::distanceToRssi(params.txp, params.exp, distance_m);
// free-space (line-of-sight) RSSI
const float distance_m = position_m.getDistance(params.position_m);
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 * 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);
// WAF loss (params.waf is a negative value!) -> WAF loss is also a negative value
//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
const float res = rssiLOS + wafLoss;
// combine
const float res = rssiLOS + wafLoss;
// sanity check
Assert::isNotNaN(res, "detected NaN within WiFiModelLogDistCeiling::getRSSI()");
// sanity check
Assert::isNotNaN(res, "detected NaN within WiFiModelLogDistCeiling::getRSSI()");
// ok
return res;
// ok
return res;
}
}
void writeToXML(XMLDoc* doc, XMLElem* dst) override {
void writeToXML(XMLDoc* doc, XMLElem* dst) override {
// set my type
dst->SetAttribute("type", "WiFiModelLogDistCeiling");
// set my type
dst->SetAttribute("type", "WiFiModelLogDistCeiling");
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);
}
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);
}
for (const float atHeight_m : ceilings.getCeilings()) {
XMLElem* xceil = doc->NewElement("ceiling");
xceil->SetAttribute("atHeight", atHeight_m);
dst->InsertEndChild(xceil);
}
for (const float atHeight_m : ceilings.getCeilings()) {
XMLElem* xceil = doc->NewElement("ceiling");
xceil->SetAttribute("atHeight", atHeight_m);
dst->InsertEndChild(xceil);
}
}
}
void readFromXML(XMLDoc* doc, XMLElem* src) override {
void readFromXML(XMLDoc* doc, XMLElem* src) override {
// check type
if (std::string("WiFiModelLogDistCeiling") != src->Attribute("type")) {throw Exception("invalid model type");}
// check type
if (std::string("WiFiModelLogDistCeiling") != src->Attribute("type")) {throw Exception("invalid model type");}
accessPoints.clear();
ceilings.clear();
accessPoints.clear();
ceilings.clear();
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")
);
accessPoints.insert( std::make_pair(mac, ape) );
}
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")
);
accessPoints.insert( std::make_pair(mac, ape) );
}
XML_FOREACH_ELEM_NAMED("ceiling", xceil, src) {
const float atHeight_m = xceil->FloatAttribute("atHeight");
ceilings.addCeiling(atHeight_m);
}
XML_FOREACH_ELEM_NAMED("ceiling", xceil, src) {
const float atHeight_m = xceil->FloatAttribute("atHeight");
ceilings.addCeiling(atHeight_m);
}
Log::add(name, "loaded " + std::to_string(accessPoints.size()) + " APs");
Log::add(name, "loaded " + std::to_string(accessPoints.size()) + " APs");
}
}
};

103
sensors/radio/setup/WiFiOptimizer.h
View File

@@ -11,6 +11,7 @@
#ifndef WIFIOPTIMIZER_H
#define WIFIOPTIMIZER_H
#include "../../beacon/setup/BeaconFingerprint.h"
#include "WiFiFingerprints.h"
#include "WiFiOptimizerStructs.h"
#include "../VAPGrouper.h"
@@ -19,65 +20,79 @@
namespace WiFiOptimizer {
enum class Mode {
FAST,
MEDIUM,
QUALITY,
};
enum class Mode {
FAST,
MEDIUM,
QUALITY,
};
/** base-class for all WiFiOptimizers */
class Base {
/** base-class for all WiFiOptimizers */
class Base {
protected:
protected:
/** each MAC-Adress has several position->rssi entries */
std::unordered_map<MACAddress, std::vector<RSSIatPosition>> apMap;
/** each MAC-Adress has several position->rssi entries */
std::unordered_map<MACAddress, std::vector<RSSIatPosition>> apMap;
/** how to handle virtual access points [group, not-group, ..] */
const VAPGrouper vg;
/** how to handle virtual access points [group, not-group, ..] */
const VAPGrouper vg;
public:
public:
/** ctor */
Base(const VAPGrouper vg) : vg(vg) {;}
/** ctor */
Base(const VAPGrouper vg) : vg(vg) {;}
/** get a list of all to-be-optimized access-points (given by their mac-address) */
virtual std::vector<MACAddress> getAllMACs() const {
std::vector<MACAddress> res;
for (const auto& it : apMap) {res.push_back(it.first);}
return res;
}
/** get a list of all to-be-optimized access-points (given by their mac-address) */
virtual std::vector<MACAddress> getAllMACs() const {
std::vector<MACAddress> res;
for (const auto& it : apMap) {res.push_back(it.first);}
return res;
}
/** get all [VAPGrouped, Averaged] fingerprints for the given mac */
virtual const std::vector<RSSIatPosition>& getFingerprintsFor(const MACAddress& mac) {
const auto& it = apMap.find(mac);
if (it == apMap.end()) {throw Exception("mac not found: " + mac.asString());}
return it->second;
}
/** get all [VAPGrouped, Averaged] fingerprints for the given mac */
virtual const std::vector<RSSIatPosition>& getFingerprintsFor(const MACAddress& mac) {
const auto& it = apMap.find(mac);
if (it == apMap.end()) {throw Exception("mac not found: " + mac.asString());}
return it->second;
}
/** add a new fingerprint to the optimizer as data-source */
virtual void addFingerprint(const WiFiFingerprint& fp) {
/** add a new fingerprint to the optimizer as data-source */
virtual void addFingerprint(const WiFiFingerprint& fp) {
// group the fingerprint's measurements by VAP (if configured)
const WiFiMeasurements measurements = vg.group(fp.measurements);
// group the fingerprint's measurements by VAP (if configured)
const WiFiMeasurements measurements = vg.group(fp.measurements);
// add each available AP to its slot (lookup map)
for (const WiFiMeasurement& m : measurements.entries) {
const RSSIatPosition rap(fp.pos_m, m.getRSSI());
apMap[m.getAP().getMAC()].push_back(rap);
}
// add each available AP to its slot (lookup map)
for (const WiFiMeasurement& m : measurements.entries) {
const RSSIatPosition rap(fp.pos_m, m.getRSSI());
apMap[m.getAP().getMAC()].push_back(rap);
}
}
}
/** add new fingerprints to the optimizer as data-source */
virtual void addFingerprints(const WiFiFingerprints& fps) {
for (const WiFiFingerprint& fp : fps.getFingerprints()) {
addFingerprint(fp);
}
}
/** add a new bluetooth fingerprint to the optimizer as data-source */
virtual void addFingerprint(const BeaconFingerprint& fp) {
};
// group the fingerprint's measurements by VAP (if configured)
//const BeaconMeasurements measurements = vg.group(fp.measurements);
// add each available AP to its slot (lookup map)
for (const BeaconMeasurement& m : fp.measurements.entries) {
const RSSIatPosition rap(fp.pos_m, m.getRSSI());
apMap[m.getBeacon().getMAC()].push_back(rap);
}
}
/** add new fingerprints to the optimizer as data-source */
virtual void addFingerprints(const WiFiFingerprints& fps) {
for (const WiFiFingerprint& fp : fps.getFingerprints()) {
addFingerprint(fp);
}
}
};
}

504
sensors/radio/setup/WiFiOptimizerLogDistCeiling.h
View File

@@ -37,355 +37,355 @@
namespace WiFiOptimizer {
/**
* optimize access-point parameters,
* given several fingerprints using the log-dist-ceiling model
*/
struct LogDistCeiling : public Base {
/**
* optimize access-point parameters,
* given several fingerprints using the log-dist-ceiling model
*/
struct LogDistCeiling : public Base {
public:
public:
/**
* resulting optimization stats for one AP
*/
struct Stats {
/**
* resulting optimization stats for one AP
*/
struct Stats {
/** average model<->scan error after optimzing */
float error_db;
/** average model<->scan error after optimzing */
float error_db;
/** number of fingerprints [= locations] that were used for optimzing */
int usedFingerprins;
/** number of fingerprints [= locations] that were used for optimzing */
int usedFingerprins;
/** resulting model<->scan error after optimzing for each individual fingerprints [= location] */
std::vector<ErrorAtPosition> errors;
/** resulting model<->scan error after optimzing for each individual fingerprints [= location] */
std::vector<ErrorAtPosition> errors;
/** get the location where the model estimation reaches the highest negative value [model estimation too low] */
ErrorAtPosition getEstErrorMaxNeg() const {
auto cmpErrAtPos = [] (const ErrorAtPosition& a, const ErrorAtPosition& b) {return a.getError_db() < b.getError_db();};
return *std::min_element(errors.begin(), errors.end(), cmpErrAtPos);
}
/** get the location where the model estimation reaches the highest negative value [model estimation too low] */
ErrorAtPosition getEstErrorMaxNeg() const {
auto cmpErrAtPos = [] (const ErrorAtPosition& a, const ErrorAtPosition& b) {return a.getError_db() < b.getError_db();};
return *std::min_element(errors.begin(), errors.end(), cmpErrAtPos);
}
/** get the location where the model estimation reaches the highest positive value [model estimation too high] */
ErrorAtPosition getEstErrorMaxPos() const {
auto cmpErrAtPos = [] (const ErrorAtPosition& a, const ErrorAtPosition& b) {return a.getError_db() < b.getError_db();};
return *std::max_element(errors.begin(), errors.end(), cmpErrAtPos);
}
/** get the location where the model estimation reaches the highest positive value [model estimation too high] */
ErrorAtPosition getEstErrorMaxPos() const {
auto cmpErrAtPos = [] (const ErrorAtPosition& a, const ErrorAtPosition& b) {return a.getError_db() < b.getError_db();};
return *std::max_element(errors.begin(), errors.end(), cmpErrAtPos);
}
};
};
using APFilter = std::function<bool(const Stats& stats, const MACAddress& mac)>;
using APFilter = std::function<bool(const Stats& stats, const MACAddress& mac)>;
static inline bool NONE(const Stats& stats, const MACAddress& mac) {
(void) stats; (void) mac;
return false;
}
static inline bool NONE(const Stats& stats, const MACAddress& mac) {
(void) stats; (void) mac;
return false;
}
static inline bool MIN_2_FPS(const Stats& stats, const MACAddress& mac) {
(void) mac;
return stats.usedFingerprins < 2;
}
static inline bool MIN_2_FPS(const Stats& stats, const MACAddress& mac) {
(void) mac;
return stats.usedFingerprins < 2;
}
static inline bool MIN_5_FPS(const Stats& stats, const MACAddress& mac) {
(void) mac;
return stats.usedFingerprins < 5;
}
static inline bool MIN_5_FPS(const Stats& stats, const MACAddress& mac) {
(void) mac;
return stats.usedFingerprins < 5;
}
static inline bool MIN_10_FPS(const Stats& stats, const MACAddress& mac) {
(void) mac;
return stats.usedFingerprins < 10;
}
static inline bool MIN_10_FPS(const Stats& stats, const MACAddress& mac) {
(void) mac;
return stats.usedFingerprins < 10;
}
/** parameters for one AP when using the LogDistCeiling model */
struct APParams {
/** parameters for one AP when using the LogDistCeiling model */
struct APParams {
float x;
float y;
float z;
float x;
float y;
float z;
float txp;
float exp;
float waf;
float txp;
float exp;
float waf;
/** ctor */
APParams() {;}
/** ctor */
APParams() {;}
/** ctor */
APParams(float x, float y, float z, float txp, float exp, float waf) : x(x), y(y), z(z), txp(txp), exp(exp), waf(waf) {;}
/** ctor */
APParams(float x, float y, float z, float txp, float exp, float waf) : x(x), y(y), z(z), txp(txp), exp(exp), waf(waf) {;}
Point3 getPos() const {return Point3(x,y,z);}
Point3 getPos() const {return Point3(x,y,z);}
std::string asString() const {
std::stringstream ss;
ss << "Pos:" << getPos().asString() << " TXP:" << txp << " EXP:" << exp << " WAF:" << waf;
return ss.str();
}
std::string asString() const {
std::stringstream ss;
ss << "Pos:" << getPos().asString() << " TXP:" << txp << " EXP:" << exp << " WAF:" << waf;
return ss.str();
}
/** we add some constraints to the parameter range */
bool outOfRange() const {
return (waf > 0) ||
(txp < -50) ||
(txp > -30) ||
(exp > 4) ||
(exp < 1);
}
/** we add some constraints to the parameter range */
bool outOfRange() const {
return (waf > 0) ||
(txp < -65) ||
(txp > -45) ||
(exp > 5) ||
(exp < 1);
}
};
};
/** add MAC-info to params */
struct APParamsMAC {
MACAddress mac;
APParams params;
APParamsMAC(const MACAddress mac, const APParams& params) : mac(mac), params(params) {;}
};
/** add MAC-info to params */
struct APParamsMAC {
MACAddress mac;
APParams params;
APParamsMAC(const MACAddress mac, const APParams& params) : mac(mac), params(params) {;}
};
struct OptResultStats {
K::Statistics<float> avgApErrors; // contains one average-error per optimized AP
K::Statistics<float> singleFPErrors; // contains one error for each fingerprint<->ap SIGNED
K::Statistics<float> singleFPErrorsAbs; // contains one error for each fingerprint<->ap ABSOLUTE
struct OptResultStats {
K::Statistics<float> avgApErrors; // contains one average-error per optimized AP
K::Statistics<float> singleFPErrors; // contains one error for each fingerprint<->ap SIGNED
K::Statistics<float> singleFPErrorsAbs; // contains one error for each fingerprint<->ap ABSOLUTE
};
};
class APParamsList {
class APParamsList {
std::vector<APParamsMAC> lst;
std::vector<APParamsMAC> lst;
public:
public:
/** ctor */
APParamsList(const std::vector<APParamsMAC>& lst) : lst(lst) {
/** ctor */
APParamsList(const std::vector<APParamsMAC>& lst) : lst(lst) {
}
}
/** get the list */
const std::vector<APParamsMAC>& get() const {
return lst;
}
/** get the list */
const std::vector<APParamsMAC>& get() const {
return lst;
}
/** get params for the given mac [if known, otherwise nullptr] */
const APParamsMAC* get (const MACAddress& mac) const {
for (const APParamsMAC& ap : lst) {
if (ap.mac == mac) {return &ap;}
}
return nullptr;
}
/** get params for the given mac [if known, otherwise nullptr] */
const APParamsMAC* get (const MACAddress& mac) const {
for (const APParamsMAC& ap : lst) {
if (ap.mac == mac) {return &ap;}
}
return nullptr;
}
};
};
private:
private:
Floorplan::IndoorMap* map;
Floorplan::IndoorMap* map;
Mode mode = Mode::QUALITY;
Mode mode = Mode::QUALITY;
const char* name = "WiFiOptLDC";
const char* name = "WiFiOptLDC";
public:
public:
/** ctor */
LogDistCeiling(Floorplan::IndoorMap* map, const VAPGrouper& vg, const Mode mode = Mode::QUALITY) : Base(vg), map(map), mode(mode) {
;
}
/** ctor */
LogDistCeiling(Floorplan::IndoorMap* map, const VAPGrouper& vg, const Mode mode = Mode::MEDIUM) : Base(vg), map(map), mode(mode) {
;
}
/** ctor */
LogDistCeiling(Floorplan::IndoorMap* map, const VAPGrouper& vg, const WiFiFingerprints& fps, const Mode mode = Mode::QUALITY) : Base(vg), map(map), mode(mode) {
addFingerprints(fps);
}
/** ctor */
LogDistCeiling(Floorplan::IndoorMap* map, const VAPGrouper& vg, const WiFiFingerprints& fps, const Mode mode = Mode::MEDIUM) : Base(vg), map(map), mode(mode) {
addFingerprints(fps);
}
/** optimize all known APs */
APParamsList optimizeAll(APFilter filter, OptResultStats* dst = nullptr) const {
/** optimize all known APs */
APParamsList optimizeAll(APFilter filter, OptResultStats* dst = nullptr) const {
// sanity check
Assert::isFalse(getAllMACs().empty(), "no APs found for optimization! call addFingerprint() first!");
// sanity check
Assert::isFalse(getAllMACs().empty(), "no APs found for optimization! call addFingerprint() first!");
K::Statistics<float> avgErrors;
K::Statistics<float> singleErrors;
K::Statistics<float> singleErrorsAbs;
K::Statistics<float> avgErrors;
K::Statistics<float> singleErrors;
K::Statistics<float> singleErrorsAbs;
std::vector<APParamsMAC> res;
for (const MACAddress& mac : getAllMACs()) {
std::vector<APParamsMAC> res;
for (const MACAddress& mac : getAllMACs()) {
// perform optimization, get resulting parameters and optimization stats
Stats stats;
const APParams params = optimize(mac, stats);
// perform optimization, get resulting parameters and optimization stats
Stats stats;
const APParams params = optimize(mac, stats);
// filter based on stats (option to ignore/filter some access-points)
if (!filter(stats, mac)) {
res.push_back(APParamsMAC(mac, params));
//errSum += stats.error_db;
//++errCnt;
avgErrors.add(stats.error_db);
for (const auto e : stats.errors) {
singleErrors.add(e.getError_db());
singleErrorsAbs.add(std::abs(e.getError_db()));
}
} else {
Log::add(name, "ignoring opt-result for AP " + mac.asString() + " due to filter");
//std::cout << "ignored due to filter!" << std::endl;
}
// filter based on stats (option to ignore/filter some access-points)
if (!filter(stats, mac)) {
res.push_back(APParamsMAC(mac, params));
//errSum += stats.error_db;
//++errCnt;
avgErrors.add(stats.error_db);
for (const auto e : stats.errors) {
singleErrors.add(e.getError_db());
singleErrorsAbs.add(std::abs(e.getError_db()));
}
} else {
Log::add(name, "ignoring opt-result for AP " + mac.asString() + " due to filter");
//std::cout << "ignored due to filter!" << std::endl;
}
}
}
//const float avgErr = errSum / errCnt;
//Log::add(name, "optimized APs: " + std::to_string(errCnt));
//Log::add(name, "average AP error is: " + std::to_string(avgErr) + " dB");
Log::add(name, "optimization result: ");
Log::add(name, " - AvgPerAP " + avgErrors.asString());
Log::add(name, " - Single: " + singleErrors.asString());
Log::add(name, " - SingleAbs: " + singleErrorsAbs.asString());
//const float avgErr = errSum / errCnt;
//Log::add(name, "optimized APs: " + std::to_string(errCnt));
//Log::add(name, "average AP error is: " + std::to_string(avgErr) + " dB");
Log::add(name, "optimization result: ");
Log::add(name, " - AvgPerAP " + avgErrors.asString());
Log::add(name, " - Single: " + singleErrors.asString());
Log::add(name, " - SingleAbs: " + singleErrorsAbs.asString());
if (dst) {
dst->avgApErrors = avgErrors;
dst->singleFPErrors = singleErrors;
dst->singleFPErrorsAbs = singleErrorsAbs;
}
if (dst) {
dst->avgApErrors = avgErrors;
dst->singleFPErrors = singleErrors;
dst->singleFPErrorsAbs = singleErrorsAbs;
}
// done
return APParamsList(res);
// done
return APParamsList(res);
}
}
/** optimize the given AP */
APParams optimize(const MACAddress& mac, Stats& res) const {
/** optimize the given AP */
APParams optimize(const MACAddress& mac, Stats& res) const {
// starting parameters do not matter for the current optimizer!
APParams params(0,0,0, -40, 2.5, -4.0);
// starting parameters do not matter for the current optimizer!
APParams params(0,0,0, -59, 3, -8.0);
// get all position->rssi measurements for this AP to compare them with the corresponding model estimations
const std::vector<RSSIatPosition>& entries = apMap.find(mac)->second;
// get all position->rssi measurements for this AP to compare them with the corresponding model estimations
const std::vector<RSSIatPosition>& entries = apMap.find(mac)->second;
// log
Log::add(name, "optimizing parameters for AP " + mac.asString() + " by using " + std::to_string(entries.size()) + " fingerprints", false);
Log::tick();
// log
Log::add(name, "optimizing parameters for AP " + mac.asString() + " by using " + std::to_string(entries.size()) + " fingerprints", false);
Log::tick();
// get the map's size
const BBox3 mapBBox = FloorplanHelper::getBBox(map);
// get the map's size
const BBox3 mapBBox = FloorplanHelper::getBBox(map);
using LeOpt = K::NumOptAlgoRangeRandom<float>;
const std::vector<LeOpt::MinMax> valRegion = {
LeOpt::MinMax(mapBBox.getMin().x - 20, mapBBox.getMax().x + 20), // x
LeOpt::MinMax(mapBBox.getMin().y - 20, mapBBox.getMax().y + 20), // y
LeOpt::MinMax(mapBBox.getMin().z - 6, mapBBox.getMax().z + 6), // z
LeOpt::MinMax(-50, -30), // txp
LeOpt::MinMax(1, 4), // exp
LeOpt::MinMax(-15, -0), // waf
};
using LeOpt = K::NumOptAlgoRangeRandom<float>;
const std::vector<LeOpt::MinMax> valRegion = {
LeOpt::MinMax(mapBBox.getMin().x - 20, mapBBox.getMax().x + 20), // x
LeOpt::MinMax(mapBBox.getMin().y - 20, mapBBox.getMax().y + 20), // y
LeOpt::MinMax(mapBBox.getMin().z - 6, mapBBox.getMax().z + 6), // z
LeOpt::MinMax(-65, -45), // txp
LeOpt::MinMax(1, 5), // exp
LeOpt::MinMax(-15, -0), // waf
};
LeOpt opt(valRegion);
LeOpt opt(valRegion);
switch(mode) {
case Mode::FAST:
opt.setPopulationSize(100);
opt.setNumIerations(50);
break;
case Mode::MEDIUM:
opt.setPopulationSize(200);
opt.setNumIerations(100);
break;
case Mode::QUALITY:
opt.setPopulationSize(1500);
opt.setNumIerations(150);
break;
}
switch(mode) {
case Mode::FAST:
opt.setPopulationSize(100);
opt.setNumIerations(50);
break;
case Mode::MEDIUM:
opt.setPopulationSize(200);
opt.setNumIerations(100);
break;
case Mode::QUALITY:
opt.setPopulationSize(1500);
opt.setNumIerations(150);
break;
}
// error function
auto func = [&] (const float* params) {
return getErrorLogDistCeiling(mac, entries, params, nullptr);
};
// error function
auto func = [&] (const float* params) {
return getErrorLogDistCeiling(mac, entries, params, nullptr);
};
opt.calculateOptimum(func, (float*) &params);
opt.calculateOptimum(func, (float*) &params);
// using LeOpt = K::NumOptAlgoGenetic<float>;
// LeOpt opt(6);
// opt.setPopulationSize(750);
// opt.setMaxIterations(50);
// opt.setElitism(0.05f);
// opt.setMutation(0.75f);
// //opt.setValRange({0.5, 0.5, 0.5, 0.1, 0.1, 0.1});
// opt.setValRegion(valRegion);
// using LeOpt = K::NumOptAlgoGenetic<float>;
// LeOpt opt(6);
// opt.setPopulationSize(750);
// opt.setMaxIterations(50);
// opt.setElitism(0.05f);
// opt.setMutation(0.75f);
// //opt.setValRange({0.5, 0.5, 0.5, 0.1, 0.1, 0.1});
// opt.setValRegion(valRegion);
// K::NumOptAlgoDownhillSimplex<float, 6> opt;
// opt.setMaxIterations(100);
// opt.setNumRestarts(10);
// K::NumOptAlgoDownhillSimplex<float, 6> opt;
// opt.setMaxIterations(100);
// opt.setNumRestarts(10);
opt.calculateOptimum(func, (float*) &params);
res.error_db = getErrorLogDistCeiling(mac, entries, (float*)&params, &res);
res.usedFingerprins = entries.size();
opt.calculateOptimum(func, (float*) &params);
res.error_db = getErrorLogDistCeiling(mac, entries, (float*)&params, &res);
res.usedFingerprins = entries.size();
Log::tock();
Log::add(name, mac.asString() + ": " + params.asString() + " @ " + std::to_string(res.error_db) +" dB err");
Log::tock();
Log::add(name, mac.asString() + ": " + params.asString() + " @ " + std::to_string(res.error_db) +" dB err");
return params;
return params;
}
}
private:
private:
float getErrorLogDistCeiling(const MACAddress& mac, const std::vector<RSSIatPosition>& entries, const float* data, Stats* stats = nullptr) const {
float getErrorLogDistCeiling(const MACAddress& mac, const std::vector<RSSIatPosition>& entries, const float* data, Stats* stats = nullptr) const {
const APParams* params = (APParams*) data;
const APParams* params = (APParams*) data;
// some sanity checks
if (params->outOfRange()) {return 1e10;}
// some sanity checks
if (params->outOfRange()) {return 1e10;}
// current position guess for the AP;
const Point3 apPos_m = params->getPos();
// current position guess for the AP;
const Point3 apPos_m = params->getPos();
// add the AP [described by the current guess] to the signal-strength-prediction model
// signal-strength-prediction-model...
WiFiModelLogDistCeiling model(map);
model.addAP(mac, WiFiModelLogDistCeiling::APEntry(apPos_m, params->txp, params->exp, params->waf));
// add the AP [described by the current guess] to the signal-strength-prediction model
// signal-strength-prediction-model...
WiFiModelLogDistCeiling model(map);
model.addAP(mac, WiFiModelLogDistCeiling::APEntry(apPos_m, params->txp, params->exp, params->waf));
float err = 0;
int cnt = 0;
float err = 0;
int cnt = 0;
// process each measurement
for (const RSSIatPosition& reading : entries) {
// process each measurement
for (const RSSIatPosition& reading : entries) {
// get the model-estimation for the fingerprint's position
const float rssiModel = model.getRSSI(mac, reading.pos_m);
// get the model-estimation for the fingerprint's position
const float rssiModel = model.getRSSI(mac, reading.pos_m);
// difference between estimation and measurement
const float diff = std::abs(rssiModel - reading.rssi);
// difference between estimation and measurement
const float diff = std::abs(rssiModel - reading.rssi);
// add error to stats object?
if (stats) {
stats->errors.push_back(ErrorAtPosition(reading.pos_m, reading.rssi, rssiModel));
}
// add error to stats object?
if (stats) {
stats->errors.push_back(ErrorAtPosition(reading.pos_m, reading.rssi, rssiModel));
}
// adjust the error
err += std::pow(std::abs(diff), 2.0);
++cnt;
// adjust the error
err += std::pow(std::abs(diff), 2.0);
++cnt;
// max distance penality
// [unlikely to get a reading for this AP here!]
if (apPos_m.getDistance(reading.pos_m) > 150) {err += 999999;}
// max distance penality
// [unlikely to get a reading for this AP here!]
if (apPos_m.getDistance(reading.pos_m) > 150) {err += 999999;}
}
}
err /= cnt;
err = std::sqrt(err);
err /= cnt;
err = std::sqrt(err);
if (params->txp < -50) {err += 999999;}
if (params->txp > -35) {err += 999999;}
if (params->txp < -65) {err += 999999;}
if (params->txp > -45) {err += 999999;}
if (params->exp > 3.5) {err += 999999;}
if (params->exp < 1.0) {err += 999999;}
if (params->exp > 5) {err += 999999;}
if (params->exp < 1.0) {err += 999999;}
return err;
return err;
}
}
};
};
}