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Histogram implementation

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This commit is contained in:
Markus Bullmann
2019-11-09 11:09:36 +01:00
parent 5a7507a93e
commit f377535ed8
8 changed files with 453 additions and 437 deletions
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235
Manager.cpp
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@@ -9,7 +9,8 @@
#include <sstream>
#include <chrono>
#include <iomanip>
#include <thread>>
#include <thread>
#include <random>
#include <QStandardPaths>
#include <QtGlobal>
@@ -23,6 +24,7 @@ const std::string NUC1 = "38:de:ad:6d:77:25";
const std::string NUC2 = "38:de:ad:6d:60:ff";
const std::string NUC3 = "1c:1b:b5:ef:a2:9a";
const std::string NUC4 = "1c:1b:b5:ec:d1:82";
const std::string NUC5 = "d0:c6:37:bc:5c:41";
static long long startTime = 0;
@@ -49,178 +51,81 @@ Manager::Manager() {
}
void Manager::test() {
void Manager::trigger() {
}
QString folder = QStandardPaths::writableLocation(QStandardPaths::DownloadLocation) + "/ftm/";
QString prefix = GetCurrentTimeForFileName();
dataLogger = std::make_shared<QFile>(folder+"/"+prefix+"_ftm.txt");
uwbLogger = std::make_shared<QFile>(folder+"/"+prefix+"_uwb.txt");
gtLogger = std::make_shared<QFile>(folder+"/"+prefix+"_gt.txt");
if (!dataLogger->exists()) {
// create the folder, if necessary
QDir dir(folder);
if (!dir.exists()) {
qWarning("creating new folder");
if (!dir.mkpath(".")) {
qWarning() << "Failed to create new folder";
}
}
}
if (!dataLogger->open(QIODevice::ReadWrite)) {
qWarning() << "Failed to create data logger file" << dataLogger->fileName();
dataLogger = nullptr;
}
if (!uwbLogger->open(QIODevice::ReadWrite)) {
qWarning() << "Failed to create uwb data logger file" << uwbLogger->fileName();
uwbLogger = nullptr;
bool Manager::trigger() {
if (isRunning) {
stop();
} else {
start();
}
if (!gtLogger->open(QIODevice::ReadWrite)) {
qWarning() << "Failed to create gt data logger file" << gtLogger->fileName();
gtLogger = nullptr;
}
return isRunning;
}
void Manager::start() {
startTime = nowInMsec();
#ifdef ANDROID
//QAndroidJniObject::callStaticMethod<int>("android/net/wifi/UWB", "start", "()I");
QAndroidJniObject::callStaticMethod<int>("android/net/wifi/RTT", "start", "()I");
QAndroidJniObject::callStaticMethod<int>("android/net/wifi/UWB", "start", "()I");
QAndroidJniObject::callStaticMethod<int>("android/net/wifi/RTT", "start", "()I");
isRunning = true;
#else
std::random_device rd;
std::mt19937 gen{rd()};
std::normal_distribution<float> d{5000,1000};
//std::uniform_real<float> d{0, 500};
//onData("38:de:ad:6d:77:25;FAILED");
onData("1337;"+NUC1+";6230;1231");
onData("1337;"+NUC2+";3430;3423");
onData("1337;"+NUC3+";5630;2341");
onData("1337;"+NUC4+";8830;2241");
WifiRttResult res;
res.success = 1;
res.mac = NUC1;
res.numAttemptedMeas = 8;
res.numSuccessfullMeas = 8;
for(int n=0; n<1000; ++n) {
res.timeMS = nowInMsec();
res.distMM = static_cast<int>(std::round(d(gen)));
onWifiData(res);
}
#endif
}
void Manager::stop() {
#ifdef ANDROID
QAndroidJniObject::callStaticMethod<int>("android/net/wifi/RTT", "stop", "()I");
QAndroidJniObject::callStaticMethod<int>("android/net/wifi/UWB", "stop", "()I");
//QAndroidJniObject::callStaticMethod<int>("android/net/wifi/UWB", "stop", "()I");
#endif
dataLogger->flush();
dataLogger->close();
uwbLogger->flush();
uwbLogger->close();
gtLogger->flush();
gtLogger->close();
isRunning = false;
}
int Manager::runTimeInMs() const {
return static_cast<int>(nowInMsec() - startTime);
}
void Manager::manualCheckpoint() {
qDebug() << "Manual checkpoint";
long long timestamp = nowInMsec();
timestamp -= startTime;
QTextStream out(gtLogger.get());
out << timestamp << endl;
}
void Manager::onData(std::string str) {
void Manager::onWifiData(WifiRttResult result) {
qDebug() << result;
qDebug() << QString(str.c_str());
if (result.success == 1 && result.numSuccessfullMeas > 3) {
int nucIdx = 0;
long long timestamp = nowInMsec();
timestamp -= startTime;
if(NUC1 == result.mac) {nucIdx = 0;}
if(NUC2 == result.mac) {nucIdx = 1;}
if(NUC3 == result.mac) {nucIdx = 2;}
if(NUC4 == result.mac) {nucIdx = 3;}
if(NUC5 == result.mac) {nucIdx = 4;}
bool successfullMeas = true;
std::stringstream lineStream(str);
std::string cell;
std::string mac;
int distIndex = 0;
int i = 0;
const float alpha = 0.7f;
QTextStream out(dataLogger.get());
out << timestamp << ";";
while (std::getline(lineStream, cell, ';')) {
switch(i) {
case 0: {
// success flag
successfullMeas = (cell == "1");
out << (successfullMeas ? 1 : 0) << ";";
break;
}
case 1: {
// timestamp; ignore;
break;
}
case 2: {
if(NUC1 == cell) {distIndex = 0;}
if(NUC2 == cell) {distIndex = 1;}
if(NUC3 == cell) {distIndex = 2;}
if(NUC4 == cell) {distIndex = 3;}
out << QString(cell.c_str()) << ";";
break;
}
case 3: {
if (successfullMeas) {
_dist[distIndex] = std::stoi(cell) + _offset;
//_dist[distIndex] = _dist[distIndex] * alpha + atoi(cell.c_str()) * (1-alpha);
} else {
_dist[distIndex] = 0;
}
out << _dist[distIndex] << ";";
break;
}
case 4: {
if (successfullMeas) {
_stdDev[distIndex] = atoi(cell.c_str());
} else {
_stdDev[distIndex] = 0;
}
out << _stdDev[distIndex] << ";";
break;
}
case 5: {
// RSSI
out << cell.c_str() << ";";
break;
}
}
++i;
}
out << endl;
// if (dataLogger && successfullMeas) {
// dataLogger->write(str.c_str());
// dataLogger->write("\n");
// }
emit distChanged();
emit newDistMeas(nucIdx, result.distMM);
}
}
void Manager::onUWBData(std::vector<uchar> data) {
@@ -245,16 +150,9 @@ void Manager::onUWBData(std::vector<uchar> data) {
case 0x863B: _uwbDist[2] = static_cast<float>(dist.distance); break;
case 0x58B4: _uwbDist[3] = static_cast<float>(dist.distance); break;
}
if (uwbLogger) {
QTextStream out(uwbLogger.get());
out << timestamp << ";" << "1;" << "DW" << hex << dist.nodeID << dec << ";" << dist.distance << endl;
}
}
emit distChanged();
emit uwbDistChanged();
}
Manager mgmt;
@@ -262,19 +160,34 @@ Manager mgmt;
#ifdef ANDROID
extern "C" {
JNIEXPORT void JNICALL Java_android_net_wifi_RTT_onRTTComplete(JNIEnv* env, jobject jobj, jbyteArray arrayID) {
(void) env; (void) jobj;
jsize length = env->GetArrayLength(arrayID);
jbyte* data = env->GetByteArrayElements(arrayID, 0);
std::string str((char*)data, length);
env->ReleaseByteArrayElements(arrayID, data, JNI_ABORT);
mgmt.onData(str);
}
JNIEXPORT void JNICALL Java_android_net_wifi_RTT_onRttData(JNIEnv* env, jobject jobj, jint success, jbyteArray macString, jlong timeMS, jint distMM, jint distStdDevMM, jint numMeas, jint numSuccessfullMeas, jint rssi) {
(void) env;
(void) jobj;
jsize length = env->GetArrayLength(macString);
jbyte* data = env->GetByteArrayElements(macString, nullptr);
std::string str(reinterpret_cast<char*>(data), static_cast<std::string::size_type>(length));
env->ReleaseByteArrayElements(macString, data, JNI_ABORT);
WifiRttResult result;
result.success = success;
result.mac = str;
result.timeMS = timeMS;
result.distMM = distMM;
result.distStdDevMM = distStdDevMM;
result.numAttemptedMeas = numMeas;
result.numSuccessfullMeas = numSuccessfullMeas;
result.rssi = rssi;
mgmt.onWifiData(result);
}
JNIEXPORT void JNICALL Java_android_net_wifi_UWB_onUWBComplete(JNIEnv* env, jobject jobj, jbyteArray arrayID) {
(void) env; (void) jobj;
(void) env;
(void) jobj;
jsize length = env->GetArrayLength(arrayID);
jbyte* data = env->GetByteArrayElements(arrayID, 0);
jbyte* data = env->GetByteArrayElements(arrayID, nullptr);
std::vector<uchar> c_data;
c_data.assign(reinterpret_cast<char*>(data), reinterpret_cast<char*>(data)+length);
env->ReleaseByteArrayElements(arrayID, data, JNI_ABORT);