96c63ac3ec
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
282 lines
9.0 KiB
C++
282 lines
9.0 KiB
C++
/*
|
||
* © 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 <unordered_map>
|
||
|
||
/**
|
||
* 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<MACAddress, APEntry> beacons;
|
||
|
||
/** 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) : 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<Beacon> getAllBeacons() const {
|
||
std::vector<Beacon> 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<MACAddress, APEntry>(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
|