329 lines
9.5 KiB
C++
329 lines
9.5 KiB
C++
#ifndef EVALWIFICONVEX_H
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#define EVALWIFICONVEX_H
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#include "Indoor/sensors/radio/setup/WiFiOptimizer.h"
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#include "Indoor/sensors/radio/setup/WiFiFingerprint.h"
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#include "Indoor/sensors/radio/setup/WiFiFingerprints.h"
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#include "Indoor/sensors/radio/setup/WiFiOptimizer.h"
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#include "Indoor/sensors/radio/model/WiFiModels.h"
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#include "Indoor/sensors/radio/VAPGrouper.h"
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#include "Indoor/sensors/offline/FileReader.h"
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#include "Indoor/floorplan/v2/Floorplan.h"
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#include "Indoor/floorplan/v2/FloorplanReader.h"
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#include "Indoor/floorplan/v2/FloorplanHelper.h"
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#include "Indoor/floorplan/v2/FloorplanCeilings.h"
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#include <KLib/misc/gnuplot/Gnuplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementMesh.h>
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#include <KLib/math/statistics/Statistics.h>
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//#include "../Structs.h"
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#include "../plots/Plotty.h"
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#include "../plots/PlotErrTime.h"
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#include "../plots/PlotErrFunc.h"
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#include "../Settings.h"
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#include "../Helper.h"
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#include <unordered_set>
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#include <thread>
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class EvalWiFiConvex {
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private:
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Floorplan::IndoorMap* map;
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std::vector<APAtFloor> mapAPs;
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WiFiFingerprints calib;
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public:
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/** ctor */
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EvalWiFiConvex(Floorplan::IndoorMap* map, const std::string& fpFile) : map(map){
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// all APs within the map
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mapAPs = FloorplanHelper::getAPs(map);
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// load fingerprints
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calib = WiFiFingerprints(fpFile);
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// VAP-group
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VAPGrouper vap(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MEDIAN);
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for (WiFiFingerprint& fp : calib.getFingerprints()) {
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fp.measurements = vap.group(fp.measurements);
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}
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}
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void showParams() {
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K::Gnuplot gp;
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K::GnuplotSplot splot;
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K::GnuplotSplotElementMesh mesh; splot.add(&mesh);
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//splot.setTitle("optimizing TXP and EXP}");
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splot.getAxisX().setLabel("TXP (dBm)");
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splot.getAxisX().setLabelOffset(-3.9, -1.9);
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splot.getAxisX().setTicsStep(2.5);
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splot.getAxisX().setTicsOffset(-1, -0.1);
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splot.getAxisY().setLabel("EXP");
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splot.getAxisY().setLabelOffset(-0.5, -0.6);
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splot.getAxisY().setTicsOffset(-0.3, -0.5);
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splot.getAxisZ().setLabel("error (dB)");
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splot.getAxisCB().setTicsStep(4);
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splot.getView().setCamera(55, 115);
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splot.getAxisZ().setLabelRotation(90);
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splot.setStringMod(new K::GnuplotStringModLaTeX());
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std::string name = Settings::fPathGFX + "/wifiop_show_optfunc_params";
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gp.setOutput(name + ".tex");
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gp.setTerminal("epslatex", K::GnuplotSize(8.7, 5.0));
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splot.getAxisZ().setTicsVisible(false);
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splot.getAxisZ().setLabel("");
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gp << "set palette defined (0 '#00ff00', 1 '#eeeeee', 9 '#222222')\n";
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gp << "set margins 0,0,0,0\n";
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gp << "set multiplot layout 1,1 scale 1.25, 1.4 offset 0.02, 0.05\n";
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gp << "set colorbox horizontal user origin 0.03, 0.95 size 0.4, 0.03\n";
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//p mac="D8:84:66:4A:23:F0" px="46" py="47.400002" pz="13.8" txp="-40" exp="2.6500001" waf="-6.5"/>
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const MACAddress mac("D8:84:66:4A:23:F0");
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const Point3 pos_m(46, 47.4, 13.8);
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const float waf = -6;
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const std::vector<WiFiFingerprint> fps = getFingerprints(mac);
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for (float txp = -45; txp <= -35; txp += 0.5) {
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for (float exp = 1.5; exp <= 3.5; exp += 0.05) {
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WiFiModelLogDistCeiling model(map);
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model.addAP(mac, pos_m, txp, exp, waf);
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const K::Statistics<float> res = getError(mac, model, fps);
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const float err = res.getAvg();
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mesh.add(K::GnuplotPoint3(txp, exp, err));
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}
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}
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gp.draw(splot);
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LeHelper::writeCode(name + ".gp", gp.getBuffer());
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gp.flush();
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//sleep(100);
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}
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// void showPos() {
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// K::Gnuplot gp;
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// K::GnuplotSplot splot;
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// K::GnuplotSplotElementMesh mesh; splot.add(&mesh);
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// //splot.setTitle("optimizing position");
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// splot.getAxisX().setLabel("x-position (meter)");
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// splot.getAxisY().setLabel("y-position (meter)");
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// splot.getAxisZ().setLabel("error (dB)");
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// splot.getAxisZ().setLabelRotation(90);
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// splot.setStringMod(new K::GnuplotStringModLaTeX());
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// gp << "set palette defined (0 '#00ff00', 1 '#eeeeee', 9 '#000000')\n";
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// const MACAddress mac("D8:84:66:4A:23:F0");
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// const std::vector<WiFiFingerprint> fps = getFingerprints(mac);
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// const Point3 pos_m(46, 47.4, 13.8);
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// const float txp = -40;
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// const float exp = 2.2;
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// const float waf = -6;
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// for (float ox = -10; ox <= +10; ox += 0.5) {
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// for (float oy = -19; oy <= +8; oy += 0.5) {
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// const Point3 pos = pos_m + Point3(ox, oy, 0);
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// WiFiModelLogDistCeiling model(map);
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// model.addAP(mac, pos, txp, exp, waf);
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// const K::Statistics<float> res = getError(mac, model, fps);
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// const float err = res.getAvg();
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// mesh.add(K::GnuplotPoint3(pos.x, pos.y, err));
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// }
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// }
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// gp.draw(splot);
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// gp.flush();
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// //sleep(100);
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// }
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void showPosZ() {
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K::Gnuplot gp;
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K::GnuplotSplot splot;
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K::GnuplotSplotElementMesh mesh; splot.add(&mesh);
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K::GnuplotSplotElementLines lines1; splot.add(&lines1); lines1.getStroke().setWidth(2); lines1.getStroke().setType(K::GnuplotDashtype::DOTTED);
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K::GnuplotSplotElementLines lines2; splot.add(&lines2); lines2.getStroke().setWidth(2); lines2.getStroke().setType(K::GnuplotDashtype::DASHED);
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K::GnuplotSplotElementLines lines3; splot.add(&lines3); lines3.getStroke().setWidth(2);
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K::GnuplotSplotElementPoints points; splot.add(&points); points.setPointSize(1.5); points.setPointType(7);
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//splot.setTitle("optimizing position");
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splot.getAxisX().setLabel("y-pos (meter)");
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splot.getAxisX().setLabelOffset(-0.9, -1.4);
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splot.getAxisX().setTicsOffset(-0.9, 0);
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splot.getAxisX().setTicsStep(25);
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splot.getAxisY().setLabel("z-pos (meter)");
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splot.getAxisY().setLabelOffset(0, -0.3);
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splot.getAxisY().setTicsOffset(0, -0.5);
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splot.getAxisY().setTicsStep(3);
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//splot.getAxisZ().setLabel("error (dB)");
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//splot.getAxisZ().setTicsStep(3);
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//splot.getAxisZ().setLabelRotation(90);
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splot.getAxisZ().setLabel("");
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splot.getAxisZ().setTicsVisible(false);
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splot.getAxisCB().setTicsStep(3);
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std::string name = Settings::fPathGFX + "/wifiop_show_optfunc_pos_yz";
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gp.setOutput(name + ".tex");
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gp.setTerminal("epslatex", K::GnuplotSize(8.7, 5.0));
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gp << "set palette defined (0 '#00ff00', 1 '#eeeeee', 9 '#222222')\n";
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gp << "set margins 0,0,0,0\n";
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gp << "set multiplot layout 1,1 scale 1.25,1.4 offset 0.02, 0.05\n";
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gp << "set colorbox horizontal user origin 0.57, 0.95 size 0.4, 0.03\n";
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// paper out
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splot.setStringMod(new K::GnuplotStringModLaTeX());
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splot.getView().setCamera(38, 109);
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const MACAddress mac("D8:84:66:4A:23:F0");
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const std::vector<WiFiFingerprint> fps = getFingerprints(mac);
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const Point3 pos_m(46-15, 47.4-15, 13.8);
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const float txp = -40;
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const float exp = 2.2;
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const float waf = -6;
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const int steps = 35;
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for (float sz = 0; sz < steps; ++sz) {
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for (int sy = 0; sy < steps; ++sy) {
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const float oz = -15.0f + 20.0f * sz / steps;
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const float oy = -35.0f + 90.0f * sy / steps;
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const Point3 pos = pos_m + Point3(0, oy, oz);
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WiFiModelLogDistCeiling model(map);
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model.addAP(mac, pos, txp, exp, waf);
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const K::Statistics<float> res = getError(mac, model, fps);
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const float err = res.getAvg();
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const K::GnuplotPoint3 gp3(pos.y, pos.z, err);
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mesh.add(gp3);
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if (sy == 0) {lines1.add(gp3);}
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if (sy == 17) {lines2.add(gp3);}
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if (sz == 24) {lines3.add(gp3);}
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if (sy == 9 && sz == 24) {points.add(gp3);}
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if (sy == 26 && sz == 24) {points.add(gp3);}
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}
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}
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gp.draw(splot);
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LeHelper::writeCode(name + ".gp", gp.getBuffer());
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gp.flush();
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int i = 0; (void) i;
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}
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private:
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std::vector<WiFiFingerprint> getFingerprints(const MACAddress& mac) {
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// get all fingerprints where the given mac was seen
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const std::vector<WiFiFingerprint> fps = calib.getFingerprintsFor(mac);
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// sanity check
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if (fps.size() < 5) {throw Exception("not enought fingerprints for AP " + mac.asString());}
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return fps;
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}
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/** calculate the error for the given AP [mac + configured model] for all fingerprints for this mac */
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K::Statistics<float> getError(const MACAddress& mac, const WiFiModelLogDistCeiling& model) {
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// get all fingerprints where the given mac was seen
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const std::vector<WiFiFingerprint> fps = getFingerprints(mac);
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// fire
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return getError(mac, model, fps);
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}
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/** calculate the error for the given AP [mac + configured model] for all of the given FPS */
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K::Statistics<float> getError(const MACAddress& mac, const WiFiModelLogDistCeiling& model, const std::vector<WiFiFingerprint>& fps) {
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K::Statistics<float> res;
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// calculate the model error for each fingerprint
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for (const WiFiFingerprint& fp : fps) {
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// sanity checks
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if (fp.measurements.entries.size() != 1) {throw Exception("invalid fingerprint");}
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if (fp.measurements.entries.front().getAP().getMAC() != mac) {throw Exception("invalid fingerprint");}
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// rssi prediction from the configured model
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const float model_rssi = model.getRSSI(mac, fp.pos_m);
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// sanity check
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if (model_rssi != model_rssi) {throw Exception("model rssi not available for " + mac.asString());}
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// rssi measured during scan at this location
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const float scan_rssi = fp.measurements.entries.front().getRSSI();
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// sanity check
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if (scan_rssi < -100) {throw Exception("scan rssi out of range for " + mac.asString());}
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if (scan_rssi > -35) {throw Exception("scan rssi out of range for " + mac.asString());}
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// dB error
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const float err = model_rssi - scan_rssi;
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// quadratic
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float aErr = std::pow(std::abs(err), 1);
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res.add(aErr);
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}
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// done
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return res;
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}
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};
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#endif // EVALWIFICONVEX_H
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