/* * © Copyright 2014 – Urheberrechtshinweis * Alle Rechte vorbehalten / All Rights Reserved * * Programmcode ist urheberrechtlich geschuetzt. * Das Urheberrecht liegt, soweit nicht ausdruecklich anders gekennzeichnet, bei Frank Ebner. * Keine Verwendung ohne explizite Genehmigung. * (vgl. § 106 ff UrhG / § 97 UrhG) */ #ifndef BEACONMODELLOGDISTCEILING_H #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 /** * signal-strength estimation using log-distance model * including ceilings between beacon and position */ class BeaconModelLogDistCeiling : public BeaconModel { static constexpr const char* name = "BLEModelLDC"; public: /** parameters describing one beacon to the model */ 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) /** 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 beacons; /** position (height) of all ceilings (in meter) */ //std::vector ceilingsAtHeight_m; Floorplan::Ceilings ceilings; public: /** 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?!"); } /** get a list of all beacons known to the model */ std::vector getAllBeacons() const { std::vector aps; for (const auto it : beacons) {aps.push_back(Beacon(it.first));} 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::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) { 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); } } } /** 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, -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 beacons.insert( std::pair(beacon, params) ); } void updateBeacon(const BeaconMeasurement beacon) override { // try to get the corresponding parameters auto it = beacons.find(MACAddress(beacon.getBeacon().getMAC())); // beacon unknown? -> NAN if (it == beacons.end()) {return;} // TODO: Check if this works as expected it->second.txp = beacon.getBeacon().getTXP(); } /** 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 const auto it = beacons.find(beacon); // beacon unknown? -> NAN if (it == beacons.end()) {return NAN;} // 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); // 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 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: // 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 { // 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); // } // } // return cnt; // } // /** 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); //#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 // for (const float z : ceilingsAtHeight_m) { // if (zMin < z && zMax > z) {++cnt;} // } // return cnt; // } }; #endif // WIFIMODELLOGDISTCEILING_H