FHWS/Indoor
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Merge branch 'master' of https://git.frank-ebner.de/FHWS/Indoor

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This commit is contained in:
FrankE
2017-05-24 10:19:41 +02:00
parent 04d8ae8c74 0864f55a54
commit fdc47215ac
17 changed files with 342 additions and 54 deletions
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96
sensors/activity/ActivityDetector.h
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@@ -11,13 +11,20 @@
#include "../../math/MovingAverageTS.h"
#include "../../math/MovingStdDevTS.h"
#include "../../data/HistoryTS.h"
#include "../activity/Activity.h"
//#define ACT_DET_DEBUG_PLOT
#ifdef ACT_DET_DEBUG_PLOT
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
#include <KLib/misc/gnuplot/GnuplotPlot.h>
#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
#endif
/**
* simple step detection based on accelerometer magnitude.
@@ -37,50 +44,49 @@ private:
MovingAverageTS<float> baroAvgSlow;
MovingAverageTS<float> baroAvgFast;
MovingAverageTS<float> baroAvg;
HistoryTS<float> baroHistory;
Activity current;
public:
#ifdef ACT_DET_DEBUG_PLOT
K::Gnuplot gp;
K::GnuplotPlot gplot;
K::GnuplotPlotElementLines l1;
K::GnuplotPlotElementLines l2;
#endif
/** ctor */
ActivityDetector() : avgLong(Timestamp::fromMS(1500), 0), avgShort(Timestamp::fromMS(500), 0),
stdDev(Timestamp::fromMS(200), 0), stdDev2(Timestamp::fromMS(2000), 0) {
stdDev(Timestamp::fromMS(150), 0), stdDev2(Timestamp::fromMS(2000), 0),
baroAvg(Timestamp::fromMS(500), 0), baroHistory(Timestamp::fromMS(4000)) {
;
gplot.add(&l1);
gplot.add(&l2); l2.getStroke().getColor().setHexStr("#ff0000");
#ifdef ACT_DET_DEBUG_PLOT
gplot.add(&l1);
gplot.add(&l2); l2.getStroke().getColor().setHexStr("#ff0000");
#endif
}
//int xx = 0;
/** add barometer data */
void add(const Timestamp ts, const BarometerData& baro) {
if (baro.isValid()) {
baroAvgSlow.add(ts, baro.hPa);
baroAvgFast.add(ts, baro.hPa);
baroAvg.add(ts, baro.hPa);
const float avg = baroAvg.get();
baroHistory.add(ts, avg);
//l1.add(K::GnuplotPoint2(xx, avg));
update();
}
}
Activity get() {
// delta in acceleration
const float delta_acc = std::abs(avgLong.get() - avgShort.get());
if (delta_acc < 0.3) {
return Activity::STANDING;
}
// delta in pressure
const float delta_hPa = baroAvgFast.get() - baroAvgSlow.get();
if (std::abs(delta_hPa) < 0.1) {
return Activity::WALKING;
} else if (delta_hPa > 0) {
return Activity::WALKING_DOWN;
} else {
return Activity::WALKING_UP;
}
/** get the currently detected activity */
Activity get() const {
return current;
}
/** does the given data indicate a step? */
@@ -96,13 +102,6 @@ public:
// static int x = 0; ++x;
//// if (x % 10 == 0) {
//// l1.add({x, avgLong.get()});
//// l2.add({x, avgShort.get()});
//// gp.draw(gplot);
//// gp.flush();
//// }
// if (delta < 0.3) {
// return Activity::STANDING;
// }
@@ -118,8 +117,41 @@ public:
}
private:
/** estimate the current activity based on the sensor data */
void update() {
// delta in acceleration
const float delta_acc = std::abs(avgLong.get() - avgShort.get());
if (delta_acc < 0.015) {
current = Activity::STANDING;
return;
}
// delta in pressure
const float delta_hPa = baroHistory.getMostRecent() - baroHistory.getOldest();
#ifdef ACT_DET_DEBUG_PLOT
l2.add(K::GnuplotPoint2(xx, delta_hPa));
gp.draw(gplot);
gp.flush();
++xx;
#endif
if (std::abs(delta_hPa) < 0.042) {
current = Activity::WALKING;
return;
} else if (delta_hPa > 0) {
current = Activity::WALKING_DOWN;
return;
} else {
current = Activity::WALKING_UP;
return;
}
}
};

27
sensors/radio/VAPGrouper.h
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@@ -50,18 +50,27 @@ private:
/** the signal-strength aggregation algorithm to use */
const Aggregation agg;
/** respect only outputs with at-least X occurences of one physical hardware [can be used to prevent issues] */
int minOccurences;
public:
/** ctor */
VAPGrouper(const Mode mode, const Aggregation agg) : mode(mode), agg(agg) {
VAPGrouper(const Mode mode, const Aggregation agg, const int minOccurences = 2) :
mode(mode), agg(agg), 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 */
WiFiMeasurements group(const WiFiMeasurements& 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<WiFiMeasurement>> grouped;
for (const WiFiMeasurement& m : original.entries) {
@@ -72,8 +81,9 @@ public:
}
// output
// to-be-constructed output
WiFiMeasurements result;
int skipped = 0;
// perform aggregation on each VAP-group
for (auto it : grouped) {
@@ -81,6 +91,9 @@ public:
const MACAddress& base = it.first;
const std::vector<WiFiMeasurement>& 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 WiFiMeasurement groupedMeasurement = groupVAPs(base, vaps);
@@ -89,8 +102,12 @@ public:
}
Log::add(name, "grouped " + std::to_string(original.entries.size()) + " measurements into " + std::to_string(result.entries.size()), true);
// debug
Log::add(name,
"grouped " + std::to_string(original.entries.size()) + " measurements " +
"into " + std::to_string(result.entries.size()) + " [omitted: " + std::to_string(skipped) + "]",
true
);
// done
return result;

40
sensors/radio/WiFiMeasurements.h
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@@ -32,6 +32,46 @@ struct WiFiMeasurements {
return nullptr;
}
/** remove the entry for the given MAC (if any) */
void remove(const MACAddress& mac) {
for (size_t i = 0; i < entries.size(); ++i) {
if (entries[i].getAP().getMAC() == mac) {
entries.erase(entries.begin() + i);
break;
}
}
}
/** create a combination */
static WiFiMeasurements mix(const WiFiMeasurements& a, const WiFiMeasurements& b, float sec = 3) {
Timestamp max;
WiFiMeasurements res;
for (const WiFiMeasurement& m : a.entries) {
res.entries.push_back(m);
if (m.getTimestamp() > max) {max = m.getTimestamp();}
}
for (const WiFiMeasurement& m : b.entries) {
res.entries.push_back(m);
if (m.getTimestamp() > max) {max = m.getTimestamp();}
}
std::vector<WiFiMeasurement> tmp;
std::swap(res.entries, tmp);
for (const WiFiMeasurement& m : tmp) {
if ((max - m.getTimestamp()).sec() < sec) {
res.entries.push_back(m);
}
}
return res;
}
};
#endif // WIFIMEASUREMENTS_H

6
sensors/radio/WiFiProbabilityFree.h
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@@ -45,7 +45,6 @@ public:
double prob = 1.0;
//double prob = 0;
double error = 0;
int numMatchingAPs = 0;
@@ -77,14 +76,13 @@ public:
const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
// probability for this AP
//double local = Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
double local = Distribution::Exponential<double>::getProbability(0.1, std::abs(modelRSSI-scanRSSI));
double local = Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
//double local = Distribution::Exponential<double>::getProbability(0.1, std::abs(modelRSSI-scanRSSI));
// also add the error value? [location is OK but model is wrong]
if (useError) {
local = 0.95 * local + 0.05 * (1.0-local);
//local = 0.95 * local + 0.05;
#warning "TODO"
}
// update probability

4
sensors/radio/WiFiQualityAnalyzer.h
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@@ -68,8 +68,8 @@ private:
const float stdDev = std::sqrt(avg2 - avg*avg);
// avg rssi score
const float minRSSI = -90;
const float maxRSSI = -65;
const float minRSSI = -85;
const float maxRSSI = -70;
float score1 = (avg-minRSSI) / (maxRSSI-minRSSI); // min = 0; max = 1
if (score1 > 1) {score1 = 1;}
if (score1 < 0) {score1 = 0;}

1
sensors/radio/model/WiFiModelLogDistCeiling.h
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@@ -149,6 +149,7 @@ public:
// 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;

5
sensors/radio/model/WiFiModelPerBBox.h
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@@ -52,15 +52,18 @@ public:
/** get a list of all APs known to the model */
std::vector<AccessPoint> getAllAPs() const override {
// combine all submodels
std::vector<AccessPoint> res;
for (const ModelForBBoxes& sub : models) {
for (const AccessPoint& ap : sub.mdl->getAllAPs()) {
if (std::find(res.begin(), res.end(), ap) == res.end()) {
if (std::find(res.begin(), res.end(), ap) == res.end()) { // TODO use map instead?
res.push_back(ap);
}
}
}
return res;
}
void add(WiFiModel* mdl, const BBoxes3 bboxes) {

13
sensors/radio/model/WiFiModelPerFloor.h
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@@ -49,7 +49,18 @@ public:
/** get a list of all APs known to the model */
std::vector<AccessPoint> getAllAPs() const override {
return models.front().mdl->getAllAPs();
// combine all submodels
std::vector<AccessPoint> res;
for (const ModelForFloor& sub : models) {
for (const AccessPoint& ap : sub.mdl->getAllAPs()) {
if (std::find(res.begin(), res.end(), ap) == res.end()) { // TODO use map instead?
res.push_back(ap);
}
}
}
return res;
}
void add(WiFiModel* mdl, const Floorplan::Floor* floor) {