FHWS/Indoor
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added beacon stuff similiar architecture then wifi \n added activity percentage stuff \n added testcases

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toni
2016-11-04 17:25:49 +01:00
parent 7f53f83da0
commit a35a22e676
26 changed files with 1207 additions and 144 deletions
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4
tests/Tests.h
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@@ -6,8 +6,8 @@
#include <gtest/gtest.h>
static inline std::string getDataFile(const std::string& name) {
return "/mnt/data/workspaces/Indoor/tests/data/" + name;
//return "/home/toni/Documents/programme/localization/Indoor/tests/data/" + name;
//return "/mnt/data/workspaces/Indoor/tests/data/" + name;
return "/home/toni/Documents/programme/localization/Indoor/tests/data/" + name;
}

121
tests/sensors/beacon/TestLogDistanceCeilingModel.cpp Normal file
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@@ -0,0 +1,121 @@
#ifdef WITH_TESTS
#include "../../Tests.h"
#include "../../../sensors/beacon/model/BeaconModelLogDistCeiling.h"
TEST(LogDistanceCeilingModelBeacon, calc) {
// 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);
//LocatedAccessPoint ap0("00:00:00:00:00:00", Point3(0,0,0));
//LocatedAccessPoint ap25("00:00:00:00:00:00", Point3(0,0,2.5));
BeaconModelLogDistCeiling model(&map);
const MACAddress ap0 = MACAddress("00:00:00:00:00:00");
const MACAddress ap25 = MACAddress("00:00:00:00:00:01");
model.addBeacon(ap0, BeaconModelLogDistCeiling::APEntry( Point3(0,0,0), -40, 1.0, -8.0 ));
model.addBeacon(ap25, BeaconModelLogDistCeiling::APEntry( Point3(0,0,2.5), -40, 1.0, -8.0 ));
ASSERT_EQ(-40, model.getRSSI(ap0, Point3(1,0,0)));
ASSERT_EQ(-40, model.getRSSI(ap0, Point3(0,1,0)));
ASSERT_EQ(-40, model.getRSSI(ap0, Point3(0,0,1)));
ASSERT_EQ(-40, model.getRSSI(ap25, Point3(1,0,2.5)));
ASSERT_EQ(-40, model.getRSSI(ap25, Point3(0,1,2.5)));
ASSERT_EQ(-40-8, model.getRSSI(ap25, Point3(0,0,3.5))); // one floor within
ASSERT_EQ(model.getRSSI(ap0, Point3(8,0,0)), model.getRSSI(ap0, Point3(0,8,0)));
ASSERT_EQ(model.getRSSI(ap0, Point3(8,0,0)), model.getRSSI(ap0, Point3(0,0,8))+8+8); // two ceilings within
}
TEST(LogDistanceCeilingModelBeacon, numCeilings) {
// 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);
BeaconModelLogDistCeiling model(&map);
ASSERT_EQ(0, model.numCeilingsBetween(Point3(0,0,-1), Point3(0,0,0)) );
ASSERT_EQ(0, model.numCeilingsBetween(Point3(0,0,0), Point3(0,0,-1)) );
ASSERT_EQ(0, model.numCeilingsBetween(Point3(0,0,0), Point3(0,0,1)) );
ASSERT_EQ(0, model.numCeilingsBetween(Point3(0,0,1), Point3(0,0,0)) );
ASSERT_EQ(1, model.numCeilingsBetween(Point3(0,0,-0.01), Point3(0,0,+0.01)) );
ASSERT_EQ(1, model.numCeilingsBetween(Point3(0,0,+0.01), Point3(0,0,-0.01)) );
ASSERT_EQ(1, model.numCeilingsBetween(Point3(0,0,2.99), Point3(0,0,3.01)) );
ASSERT_EQ(1, model.numCeilingsBetween(Point3(0,0,3.01), Point3(0,0,2.99)) );
ASSERT_EQ(1, model.numCeilingsBetween(Point3(0,0,6.99), Point3(0,0,7.01)) );
ASSERT_EQ(1, model.numCeilingsBetween(Point3(0,0,7.01), Point3(0,0,6.99)) );
ASSERT_EQ(0, model.numCeilingsBetween(Point3(0,0,7.00), Point3(0,0,99)) );
ASSERT_EQ(1, model.numCeilingsBetween(Point3(0,0,0), Point3(0,0,7)) );
ASSERT_EQ(3, model.numCeilingsBetween(Point3(0,0,-1), Point3(0,0,8)) );
}
TEST(LogDistanceCeilingModelBeacon, 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);
BeaconModelLogDistCeiling 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

7
tests/sensors/beacon/TestProbabilityFree.cpp Normal file
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@@ -0,0 +1,7 @@
#ifdef WITH_TESTS
#include "../../Tests.h"
//todo
#endif

91
tests/sensors/pressure/TestBarometer.cpp
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@@ -5,6 +5,7 @@
#include "../../../sensors/pressure/RelativePressure.h"
#include "../../../sensors/pressure/PressureTendence.h"
#include "../../../sensors/pressure/ActivityButterPressure.h"
#include "../../../sensors/pressure/ActivityButterPressurePercent.h"
#include <random>
@@ -78,7 +79,7 @@ TEST(Barometer, LIVE_tendence) {
}
sleep(1000);
sleep(1);
}
@@ -114,7 +115,7 @@ TEST(Barometer, LIVE_tendence2) {
}
sleep(1000);
sleep(1);
// tendence must be clear and smaller than the sigma
@@ -130,6 +131,9 @@ TEST(Barometer, Activity) {
std::string filename = getDataFile("barometer/baro1.dat");
std::ifstream infile(filename);
std::vector<ActivityButterPressure::History> actHist;
std::vector<ActivityButterPressure::History> rawHist;
while (std::getline(infile, line))
{
std::istringstream iss(line);
@@ -138,35 +142,102 @@ TEST(Barometer, Activity) {
while (iss >> ts >> value) {
ActivityButterPressure::Activity currentAct = act.add(Timestamp::fromMS(ts), BarometerData(value));
rawHist.push_back(ActivityButterPressure::History(Timestamp::fromMS(ts), BarometerData(value)));
actHist.push_back(ActivityButterPressure::History(Timestamp::fromMS(ts), BarometerData(currentAct)));
}
}
std::vector<float> sum = act.getSumHistory();
std::vector<float> interpolated = act.getInterpolatedHistory();
std::vector<float> raw = act.getSensorHistory();
std::vector<float> butter = act.getOutputHistory();
std::vector<ActivityButterPressure::History> actHist = act.getActHistory();
K::Gnuplot gp;
K::Gnuplot gpRaw;
K::GnuplotPlot plot;
K::GnuplotPlot plotRaw;
K::GnuplotPlotElementLines rawLines;
K::GnuplotPlotElementLines resultLines;
for(int i=0; i < actHist.size()-1; ++i){
//raw
K::GnuplotPoint2 raw_p1(rawHist[i].ts.sec(), rawHist[i].data.hPa);
K::GnuplotPoint2 raw_p2(rawHist[i+1].ts.sec(), rawHist[i+1].data.hPa);
rawLines.addSegment(raw_p1, raw_p2);
//results
K::GnuplotPoint2 input_p1(actHist[i].ts.sec(), actHist[i].data.hPa);
K::GnuplotPoint2 input_p2(actHist[i+1].ts.sec(), actHist[i+1].data.hPa);
rawLines.addSegment(input_p1, input_p2);
resultLines.addSegment(input_p1, input_p2);
}
plot.add(&rawLines);
plotRaw.add(&rawLines);
plot.add(&resultLines);
gp.draw(plot);
gp.flush();
gpRaw.draw(plotRaw);
gpRaw.flush();
sleep(1);
}
TEST(Barometer, ActivityPercent) {
ActivityButterPressurePercent act;
//read file
std::string line;
std::string filename = getDataFile("barometer/baro1.dat");
std::ifstream infile(filename);
std::vector<ActivityButterPressurePercent::ActivityProbabilities> actHist;
std::vector<double> rawHist;
while (std::getline(infile, line))
{
std::istringstream iss(line);
int ts;
double value;
while (iss >> ts >> value) {
ActivityButterPressurePercent::ActivityProbabilities activity = act.add(Timestamp::fromMS(ts), BarometerData(value));
rawHist.push_back(value);
actHist.push_back(activity);
}
}
K::Gnuplot gp;
K::Gnuplot gpRaw;
K::GnuplotPlot plot;
K::GnuplotPlot plotRaw;
K::GnuplotPlotElementLines rawLines;
K::GnuplotPlotElementLines resultLines;
for(int i=0; i < actHist.size()-1; ++i){
K::GnuplotPoint2 raw_p1(i, rawHist[i]);
K::GnuplotPoint2 raw_p2(i+1, rawHist[i+1]);
rawLines.addSegment(raw_p1, raw_p2);
K::GnuplotPoint2 input_p1(i, actHist[i].elevatorDown);
K::GnuplotPoint2 input_p2(i+1, actHist[i+1].elevatorDown);
resultLines.addSegment(input_p1, input_p2);
}
plotRaw.add(&rawLines);
plot.add(&resultLines);
gp.draw(plot);
gp.flush();
gpRaw.draw(plotRaw);
gpRaw.flush();
sleep(1000);
}
#endif