/* * © 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 "../../../Assertions.h" #include "BeaconModel.h" #include "../../radio/model/LogDistanceModel.h" #include "../BeaconMeasurement.h" #include /** * signal-strength estimation using log-distance model * including ceilings between beacon and position */ class BeaconModelLogDistCeiling : public BeaconModel { 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; public: /** ctor with floorplan (needed for ceiling position) */ BeaconModelLogDistCeiling(const Floorplan::IndoorMap* map) { // sanity checks Assert::isTrue(map->floors.size() >= 1, "map has no floors?!"); // position of all ceilings for (Floorplan::Floor* f : map->floors) { ceilingsAtHeight_m.push_back(f->atHeight); } } /** get 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, -90.0f, -30.0f, "TXP out of bounds [-50:-30]"); Assert::isBetween(params.exp, 1.0f, 4.0f, "EXP out of bounds [1:4]"); //Assert::equal(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 * numCeilingsBetween(position_m, params.position_m); // combine return rssiLOS + wafLoss; } 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