[Positioner] Add AutocalibrationMesh (refactored)
Refactor pieces of Autocalibration into the new class AutocalibrationMesh, in order to allow the addition of new autocalibration sub-classes.
This commit is contained in:
Matteo Cypriani
parent
b436526d40
commit
2ac9cc2c1d
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@ -44,6 +44,7 @@ set(OWLPS_POSITIONER_CLASSES_SRC_FILES
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capturepointsreadercsv.cc
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area.cc
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autocalibration.cc
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autocalibrationmesh.cc
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building.cc
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calibrationrequest.cc
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cartographyalgorithm.cc
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@ -14,15 +14,12 @@
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#include "autocalibration.hh"
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#include "capturepoint.hh"
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#include "stock.hh"
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#include "configuration.hh"
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#include "posexcept.hh"
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#include <map>
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#include <string>
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#include <iostream>
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#include <sstream>
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using namespace std ;
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@ -36,8 +33,9 @@ uint32_t Autocalibration::nb_virtual_mobiles = 0 ;
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/* *** Operations *** */
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/**
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* The reference point P we want to generate will end-up containing
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* The reference point P we want to generate will end up containing
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* as many calibration requests as the total number of CPs.
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* For each of these requests, we consider a transmitter TRX (which is
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* a virtual mobile located in P) and a receiver RX (the current CP).
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@ -68,7 +66,10 @@ void Autocalibration::generate_reference_point()
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/* Generate the SS(s) for each CP */
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for (rx = Stock::cps.begin() ; rx != Stock::cps.end() ; ++rx)
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generate_ss() ;
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{
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if (init_ss_generation())
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generate_ss() ;
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}
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assert(! measurements.empty()) ;
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/* Create the virtual mobile */
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@ -86,7 +87,11 @@ void Autocalibration::generate_reference_point()
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}
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void Autocalibration::generate_ss()
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/**
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* @returns `true` if the SS can be generated.
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* @returns `false` in case of error.
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*/
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bool Autocalibration::init_ss_generation()
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{
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/* Update the mobile's attributes */
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vmob_gain += rx->second.get_antenna_gain() / Stock::cps.size() ;
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@ -96,153 +101,16 @@ void Autocalibration::generate_ss()
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* to generate */
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const Point3D &rx_coord = rx->second.get_coordinates() ;
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if (rx_coord.get_z() != point.get_z())
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return ;
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return false ;
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/* Compute the origin angle P-RX-O */
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Point3D origin(rx_coord) ;
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origin.set_x(rx_coord.get_x() + 10) ;
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origin_angle = rx_coord.angle_2d(point, origin) ;
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if (point.get_y() > rx_coord.get_y())
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origin_angle = -origin_angle ;
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/* Choose the nearest CP(s) in angle */
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sort_reference_cps() ;
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// We need at least one reference CP:
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if (sorted_negative_angles.empty() && sorted_positive_angles.empty())
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throw autocalibration_error("Not enough CPs in coverage!") ;
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/* Compute the angle weight of the reference CPs */
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weight_cps() ;
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/* Compute the SS that would be received from a mobile at a
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* distance of RX-P, in the direction of each reference CP */
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compute_ss() ;
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return true ;
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}
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/**
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* The reference (transmitter) CPs are first filtered (floor, coverage),
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* then sorted according to their angles with RX and P.
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* This function is a simple wrapper around compute_single_packet_ss()
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* and compute_multi_packet_ss(), depending on the configuration.
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*/
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void Autocalibration::sort_reference_cps()
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{
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const Point3D &rx_coord = rx->second.get_coordinates() ;
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sorted_negative_angles.clear() ;
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sorted_positive_angles.clear() ;
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for (unordered_map<string, CapturePoint>::const_iterator
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ref = Stock::cps.begin() ; ref != Stock::cps.end() ; ++ref)
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{
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if (ref == rx)
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continue ;
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/* Skip the CP if it is not at the same floor than the
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* receiver CP */
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const Point3D &ref_coord = ref->second.get_coordinates() ;
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if (ref_coord.get_z() != rx_coord.get_z())
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continue ;
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/* Skip the CP if it is not in coverage with the receiver CP */
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float coverage =
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rx->second.received_calibration_from_cp(ref->second) ;
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if (coverage < 1) // Less than 1% coverage is ridiculous!
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continue ;
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/* Angle P-RX-REF */
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double angle = rx_coord.angle_2d(point, ref_coord) ;
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/* Weight in the CPs' list according to coverage and angle */
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double weight = angle / coverage ;
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/* Note: this weight is used only to sort the CPs, it has nothing
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to do with the angle weight (see weight_cps()) used to compute
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the SSs. */
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/* Create the list entry */
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pair<double,
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unordered_map<string, CapturePoint>::const_iterator>
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angle_cp(angle, ref) ;
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pair<double, pair<double,
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unordered_map<string, CapturePoint>::const_iterator> >
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weight_angle_cp(weight, angle_cp) ;
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/* Rotate the CP's coordinates to know the angle direction */
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Point3D ref_coord_r(ref_coord) ;
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ref_coord_r.rotate_2d(rx_coord, origin_angle) ;
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// Insert the CP in the right list, according to the direction:
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if (ref_coord_r.get_y() < rx_coord.get_y())
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sorted_negative_angles.insert(weight_angle_cp) ;
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else
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sorted_positive_angles.insert(weight_angle_cp) ;
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}
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}
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void Autocalibration::weight_cps()
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{
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/* Retrieve the reference CPs & angles */
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ref_cps.clear() ;
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map<double, pair<double,
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unordered_map<string, CapturePoint>::const_iterator> >
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::const_iterator s ;
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s = sorted_negative_angles.begin() ;
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if (s != sorted_negative_angles.end())
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init_cp(s) ;
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s = sorted_positive_angles.begin() ;
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if (s != sorted_positive_angles.end())
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init_cp(s) ;
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/* Weight the CPs */
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if (ref_cps.size() == 1)
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ref_cps[0].weight = 100 ;
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else if (ref_cps.size() == 2)
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weight_2_cps() ;
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else
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{
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ostringstream oss ;
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oss << "We should not be here... error when sorting the reference"
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<< " CPs? (" << ref_cps.size() << " CPs sorted)" ;
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throw autocalibration_error(oss.str()) ;
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}
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}
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void Autocalibration::init_cp(
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map<double, pair<double, unordered_map<
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string, CapturePoint>::const_iterator> >::const_iterator s)
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{
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struct cp ref ;
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ref.cp = &s->second.second->second ;
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ref.angle = s->second.first ; // Angle P-REF-RX
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ref_cps.push_back(ref) ;
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}
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void Autocalibration::weight_2_cps()
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{
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assert(ref_cps.size() > 1) ;
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/* Compute the angle REF1-RX-REF2 */
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double reference_angle = ref_cps[0].angle + ref_cps[1].angle ;
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/* Note: the reference angle must be the sum of the two angles
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P-RX-REF1 and P-RX-REF2 instead of simply REF1-RX-REF2, to allow
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the angle to be within [0;360[° instead of [0;180[°. This is needed
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if P-RX-REF1 or P-RX-REF2 are greater than 90°, otherwise the
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weights would be wrong. */
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/* Weight the two CPs */
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if (reference_angle == 0)
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ref_cps[0].weight = ref_cps[1].weight = 50 ;
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else
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{
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ref_cps[0].weight = ref_cps[0].angle * 100 / reference_angle ;
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if (ref_cps[0].weight > 100)
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ref_cps[0].weight = 100 ;
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ref_cps[1].weight = 100 - ref_cps[0].weight ;
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}
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}
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void Autocalibration::compute_ss()
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{
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if (Configuration::
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@ -251,120 +119,3 @@ void Autocalibration::compute_ss()
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else
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compute_single_packet_ss(0) ;
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}
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void Autocalibration::compute_multi_packet_ss()
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{
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const cp &ref1 = ref_cps[0] ;
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const ReferencePoint &ref1_rp =
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Stock::get_reference_point(ref1.cp->get_coordinates()) ;
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const vector<CalibrationRequest*> &ref1_cr =
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ref1_rp.get_requests() ;
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/* Search for the first measurement made by RX in ref1_rp */
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const Measurement *rx_measurement = NULL ;
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vector<CalibrationRequest*>::const_iterator cr ;
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const string &rx_mac = rx->second.get_mac_addr() ;
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for (cr = ref1_cr.begin() ; cr != ref1_cr.end() ; ++cr)
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{
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rx_measurement = (*cr)->get_measurement(rx_mac) ;
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if (rx_measurement)
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break ;
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}
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// The selected reference CPs are in coverage of RX, therefore
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// we should always find a measurement of RX in ref1_rp
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assert(rx_measurement) ;
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/* Generate the SS for each packet */
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bool packet_generated = false ;
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for (pkt_id_t pkt_id = 1 ; pkt_id <= (*cr)->get_nb_packets() ;
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++pkt_id)
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if (compute_single_packet_ss(pkt_id))
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packet_generated = true ;
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if (! packet_generated)
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{
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if (Configuration::is_configured("verbose"))
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cerr << "No packet has been generated for RX CP " << rx_mac
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<< "... failing back to single packet request. Calibration"
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<< " request involved : " << **cr << "\n" ;
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compute_single_packet_ss(0) ;
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}
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}
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/**
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* @param pkt_id The number of the packet to create. Must be 0 if all
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* the generated reference points contain only one packet.
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*/
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bool Autocalibration::compute_single_packet_ss(pkt_id_t pkt_id)
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{
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/* Distance RX-P */
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const Point3D &rx_coord = rx->second.get_coordinates() ;
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float point_dst = rx_coord.distance(point) ;
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/* Compute the consolidated SS */
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double rx_ss = 0 ;
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for (unsigned int i = 0 ; i < ref_cps.size() ; ++i)
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{
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double tmp_ss = compute_weighted_ss(i, pkt_id, point_dst) ;
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if (tmp_ss > 0) // error
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return false ;
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rx_ss += tmp_ss ;
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}
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/* Add the SS to the measurements' list */
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const string &rx_mac = rx->second.get_mac_addr() ;
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// 0 is not a valid packet ID, so we use 1 if we generate only one
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// packet per reference point:
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if (pkt_id == 0)
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pkt_id = 1 ;
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// The Measurement measurements[rx_mac] is created if needed:
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measurements[rx_mac].add_ss(pkt_id, rx_ss) ;
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// Useful only if the measurement was just created, but it is not
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// worth a test:
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measurements[rx_mac].set_cp(&rx->second) ;
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return true ;
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}
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/**
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* @param cp_idx The index of the CP in #ref_cps.
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* @param pkt_id The number of the packet to generate, or 0 if we
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* generate only one packet per reference point.
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* @param point_dst The distance RX-P.
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*
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* @returns The weighted SS value in dBm, or 1 in case of error.
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*/
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double Autocalibration::compute_weighted_ss(
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unsigned int cp_idx, pkt_id_t pkt_id, float point_dst)
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{
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const cp &ref = ref_cps[cp_idx] ;
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const ReferencePoint &rp =
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Stock::get_reference_point(ref.cp->get_coordinates()) ;
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/* Friis index */
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const string &rx_mac = rx->second.get_mac_addr() ;
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float friis_idx ;
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if (pkt_id == 0)
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friis_idx = rp.friis_index_for_cp(rx_mac) ;
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else
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{
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friis_idx = rp.friis_index_for_cp(rx_mac, pkt_id) ;
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if (friis_idx == 0)
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return 1 ; // The packet pkt_id does not exist in rp
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}
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/* SS */
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// Constant term
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double common_ss = rx->second.friis_constant_term() ;
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double ss =
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common_ss +
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ref.cp->get_trx_power() +
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ref.cp->get_antenna_gain() -
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10 * friis_idx * log10(point_dst) ;
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return ss * ref.weight / 100 ;
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}
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@ -15,81 +15,45 @@
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#ifndef _OWLPS_POSITIONING_AUTOCALIBRATION_HH_
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#define _OWLPS_POSITIONING_AUTOCALIBRATION_HH_
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class CapturePoint ;
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class Point3D ;
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#include "measurement.hh"
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#include <vector>
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#include <unordered_map>
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/// Generates reference points from autocalibration measurements
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/// Base class for the autocalibration methods
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class Autocalibration
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{
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private:
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struct cp
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{
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const CapturePoint *cp ;
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float weight ; // Weight of the CP in percents
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float angle ;
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} ;
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/// Current CP to generate a SS for
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std::unordered_map<std::string, CapturePoint>::const_iterator rx ;
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/// Angle P-RX-O, O being the origin of the trigonometric circle
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float origin_angle ;
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/// Selected transmitter CPs
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std::vector<cp> ref_cps ;
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/// Angles of the transmitter CPs (before M on the trigonometric
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/// circle)
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/**
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* Note that the angles are stored in absolute value.
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*/
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std::multimap<double,
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std::pair<double,
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std::unordered_map<
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std::string, CapturePoint>::const_iterator> >
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sorted_negative_angles ;
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/// Angles of the transmitter CPs (after M on the trigonometric circle)
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std::multimap<double,
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std::pair<double,
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std::unordered_map<
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std::string, CapturePoint>::const_iterator> >
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sorted_positive_angles ;
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/// Characteristics of the virtual mobile
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double vmob_gain, vmob_pow ;
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/// Generated measurements' list
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std::unordered_map<std::string, Measurement> measurements ;
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/// Initialises a struct cp with the values from `s`
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void init_cp(
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std::map<double, std::pair<double, std::unordered_map<
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std::string, CapturePoint>::const_iterator> >::const_iterator s) ;
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protected:
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/// Number of generated "virtual" mobiles
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static uint32_t nb_virtual_mobiles ;
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/// Characteristics of the virtual mobile
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double vmob_gain, vmob_pow ;
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/// Work to do before actually generating a SS with generate_ss()
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bool init_ss_generation(void) ;
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protected:
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/// The coordinates of the reference point to generate
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const Point3D &point ;
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/// Current CP to generate a SS for
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std::unordered_map<std::string, CapturePoint>::const_iterator rx ;
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/// Generated measurements' list
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std::unordered_map<std::string, Measurement> measurements ;
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/// Generates the SSs for all the CPs
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void generate_ss(void) ;
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/// Sorts the reference CPs for a receiver CP
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void sort_reference_cps(void) ;
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/// Computes the weight of the selected CP(s)
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void weight_cps(void) ;
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/// Weights two CPs according to their angles
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void weight_2_cps(void) ;
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/**
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* Once the preliminary work done, this function should call
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* compute_ss() to actually compute the signal strength.
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*/
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virtual void generate_ss(void) = 0 ;
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/// Computes the SS of the virtual mobile
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void compute_ss(void) ;
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/// Computes a SS with several packets in it
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void compute_multi_packet_ss(void) ;
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virtual void compute_multi_packet_ss(void) = 0 ;
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/// Computes a SS with only one packet in it
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bool compute_single_packet_ss(pkt_id_t pkt_id) ;
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/// Computes a SS according to the weight of the CP
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double compute_weighted_ss(
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unsigned int cp_idx, pkt_id_t pkt_id, float point_dst) ;
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virtual bool compute_single_packet_ss(pkt_id_t pkt_id) = 0 ;
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public:
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Autocalibration(const Point3D &_point): point(_point) {}
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@ -99,4 +63,3 @@ public:
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} ;
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#endif // _OWLPS_POSITIONING_AUTOCALIBRATION_HH_
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@ -0,0 +1,297 @@
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/*
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* This file is part of the Owl Positioning System (OwlPS) project.
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* It is subject to the copyright notice and license terms in the
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* COPYRIGHT.t2t file found in the top-level directory of this
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* distribution and at
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* http://code.lm7.fr/p/owlps/source/tree/master/COPYRIGHT.t2t
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* No part of the OwlPS Project, including this file, may be copied,
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* modified, propagated, or distributed except according to the terms
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* contained in the COPYRIGHT.t2t file; the COPYRIGHT.t2t file must be
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* distributed along with this file, either separately or by replacing
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* this notice by the COPYRIGHT.t2t file's contents.
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*/
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#include "autocalibrationmesh.hh"
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|
||||
#include "point3d.hh"
|
||||
#include "capturepoint.hh"
|
||||
#include "stock.hh"
|
||||
#include "configuration.hh"
|
||||
#include "posexcept.hh"
|
||||
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <iostream>
|
||||
#include <sstream>
|
||||
|
||||
using namespace std ;
|
||||
|
||||
|
||||
|
||||
/* *** Operations *** */
|
||||
|
||||
|
||||
void AutocalibrationMesh::generate_ss()
|
||||
{
|
||||
/* Compute the origin angle P-RX-O */
|
||||
const Point3D &rx_coord = rx->second.get_coordinates() ;
|
||||
Point3D origin(rx_coord) ;
|
||||
origin.set_x(rx_coord.get_x() + 10) ;
|
||||
origin_angle = rx_coord.angle_2d(point, origin) ;
|
||||
if (point.get_y() > rx_coord.get_y())
|
||||
origin_angle = -origin_angle ;
|
||||
|
||||
/* Choose the nearest CP(s) in angle */
|
||||
sort_reference_cps() ;
|
||||
// We need at least one reference CP:
|
||||
if (sorted_negative_angles.empty() && sorted_positive_angles.empty())
|
||||
throw autocalibration_error("Not enough CPs in coverage!") ;
|
||||
|
||||
/* Compute the angle weight of the reference CPs */
|
||||
weight_cps() ;
|
||||
|
||||
/* Compute the SS that would be received from a mobile at a
|
||||
* distance of RX-P, in the direction of each reference CP */
|
||||
compute_ss() ;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* The reference (transmitter) CPs are first filtered (floor, coverage),
|
||||
* then sorted according to their angles with RX and P.
|
||||
*/
|
||||
void AutocalibrationMesh::sort_reference_cps()
|
||||
{
|
||||
const Point3D &rx_coord = rx->second.get_coordinates() ;
|
||||
|
||||
sorted_negative_angles.clear() ;
|
||||
sorted_positive_angles.clear() ;
|
||||
|
||||
for (unordered_map<string, CapturePoint>::const_iterator
|
||||
ref = Stock::cps.begin() ; ref != Stock::cps.end() ; ++ref)
|
||||
{
|
||||
if (ref == rx)
|
||||
continue ;
|
||||
|
||||
/* Skip the CP if it is not at the same floor than the
|
||||
* receiver CP */
|
||||
const Point3D &ref_coord = ref->second.get_coordinates() ;
|
||||
if (ref_coord.get_z() != rx_coord.get_z())
|
||||
continue ;
|
||||
|
||||
/* Skip the CP if it is not in coverage with the receiver CP */
|
||||
float coverage =
|
||||
rx->second.received_calibration_from_cp(ref->second) ;
|
||||
if (coverage < 1) // Less than 1% coverage is ridiculous!
|
||||
continue ;
|
||||
|
||||
/* Angle P-RX-REF */
|
||||
double angle = rx_coord.angle_2d(point, ref_coord) ;
|
||||
|
||||
/* Weight in the CPs' list according to coverage and angle */
|
||||
double weight = angle / coverage ;
|
||||
/* Note: this weight is used only to sort the CPs, it has nothing
|
||||
to do with the angle weight (see weight_cps()) used to compute
|
||||
the SSs. */
|
||||
|
||||
/* Create the list entry */
|
||||
pair<double,
|
||||
unordered_map<string, CapturePoint>::const_iterator>
|
||||
angle_cp(angle, ref) ;
|
||||
pair<double, pair<double,
|
||||
unordered_map<string, CapturePoint>::const_iterator> >
|
||||
weight_angle_cp(weight, angle_cp) ;
|
||||
|
||||
/* Rotate the CP's coordinates to know the angle direction */
|
||||
Point3D ref_coord_r(ref_coord) ;
|
||||
ref_coord_r.rotate_2d(rx_coord, origin_angle) ;
|
||||
// Insert the CP in the right list, according to the direction:
|
||||
if (ref_coord_r.get_y() < rx_coord.get_y())
|
||||
sorted_negative_angles.insert(weight_angle_cp) ;
|
||||
else
|
||||
sorted_positive_angles.insert(weight_angle_cp) ;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void AutocalibrationMesh::weight_cps()
|
||||
{
|
||||
/* Retrieve the reference CPs & angles */
|
||||
ref_cps.clear() ;
|
||||
map<double, pair<double,
|
||||
unordered_map<string, CapturePoint>::const_iterator> >
|
||||
::const_iterator s ;
|
||||
s = sorted_negative_angles.begin() ;
|
||||
if (s != sorted_negative_angles.end())
|
||||
init_cp(s) ;
|
||||
s = sorted_positive_angles.begin() ;
|
||||
if (s != sorted_positive_angles.end())
|
||||
init_cp(s) ;
|
||||
|
||||
/* Weight the CPs */
|
||||
if (ref_cps.size() == 1)
|
||||
ref_cps[0].weight = 100 ;
|
||||
else if (ref_cps.size() == 2)
|
||||
weight_2_cps() ;
|
||||
else
|
||||
{
|
||||
ostringstream oss ;
|
||||
oss << "We should not be here... error when sorting the reference"
|
||||
<< " CPs? (" << ref_cps.size() << " CPs sorted)" ;
|
||||
throw autocalibration_error(oss.str()) ;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void AutocalibrationMesh::init_cp(
|
||||
map<double, pair<double, unordered_map<
|
||||
string, CapturePoint>::const_iterator> >::const_iterator s)
|
||||
{
|
||||
struct cp ref ;
|
||||
ref.cp = &s->second.second->second ;
|
||||
ref.angle = s->second.first ; // Angle P-REF-RX
|
||||
ref_cps.push_back(ref) ;
|
||||
}
|
||||
|
||||
|
||||
void AutocalibrationMesh::weight_2_cps()
|
||||
{
|
||||
assert(ref_cps.size() > 1) ;
|
||||
|
||||
/* Compute the angle REF1-RX-REF2 */
|
||||
double reference_angle = ref_cps[0].angle + ref_cps[1].angle ;
|
||||
/* Note: the reference angle must be the sum of the two angles
|
||||
P-RX-REF1 and P-RX-REF2 instead of simply REF1-RX-REF2, to allow
|
||||
the angle to be within [0;360[° instead of [0;180[°. This is needed
|
||||
if P-RX-REF1 or P-RX-REF2 are greater than 90°, otherwise the
|
||||
weights would be wrong. */
|
||||
|
||||
/* Weight the two CPs */
|
||||
if (reference_angle == 0)
|
||||
ref_cps[0].weight = ref_cps[1].weight = 50 ;
|
||||
else
|
||||
{
|
||||
ref_cps[0].weight = ref_cps[0].angle * 100 / reference_angle ;
|
||||
if (ref_cps[0].weight > 100)
|
||||
ref_cps[0].weight = 100 ;
|
||||
ref_cps[1].weight = 100 - ref_cps[0].weight ;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void AutocalibrationMesh::compute_multi_packet_ss()
|
||||
{
|
||||
const cp &ref1 = ref_cps[0] ;
|
||||
const ReferencePoint &ref1_rp =
|
||||
Stock::get_reference_point(ref1.cp->get_coordinates()) ;
|
||||
const vector<CalibrationRequest*> &ref1_cr =
|
||||
ref1_rp.get_requests() ;
|
||||
|
||||
/* Search for the first measurement made by RX in ref1_rp */
|
||||
const Measurement *rx_measurement = NULL ;
|
||||
vector<CalibrationRequest*>::const_iterator cr ;
|
||||
const string &rx_mac = rx->second.get_mac_addr() ;
|
||||
for (cr = ref1_cr.begin() ; cr != ref1_cr.end() ; ++cr)
|
||||
{
|
||||
rx_measurement = (*cr)->get_measurement(rx_mac) ;
|
||||
if (rx_measurement)
|
||||
break ;
|
||||
}
|
||||
|
||||
// The selected reference CPs are in coverage of RX, therefore
|
||||
// we should always find a measurement of RX in ref1_rp
|
||||
assert(rx_measurement) ;
|
||||
|
||||
/* Generate the SS for each packet */
|
||||
bool packet_generated = false ;
|
||||
for (pkt_id_t pkt_id = 1 ; pkt_id <= (*cr)->get_nb_packets() ;
|
||||
++pkt_id)
|
||||
if (compute_single_packet_ss(pkt_id))
|
||||
packet_generated = true ;
|
||||
|
||||
if (! packet_generated)
|
||||
{
|
||||
if (Configuration::is_configured("verbose"))
|
||||
cerr << "No packet has been generated for RX CP " << rx_mac
|
||||
<< "... failing back to single packet request. Calibration"
|
||||
<< " request involved : " << **cr << "\n" ;
|
||||
compute_single_packet_ss(0) ;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @param pkt_id The number of the packet to create. Must be 0 if all
|
||||
* the generated reference points contain only one packet.
|
||||
*/
|
||||
bool AutocalibrationMesh::compute_single_packet_ss(pkt_id_t pkt_id)
|
||||
{
|
||||
/* Distance RX-P */
|
||||
const Point3D &rx_coord = rx->second.get_coordinates() ;
|
||||
float point_dst = rx_coord.distance(point) ;
|
||||
|
||||
/* Compute the consolidated SS */
|
||||
double rx_ss = 0 ;
|
||||
for (unsigned int i = 0 ; i < ref_cps.size() ; ++i)
|
||||
{
|
||||
double tmp_ss = compute_weighted_ss(i, pkt_id, point_dst) ;
|
||||
if (tmp_ss > 0) // error
|
||||
return false ;
|
||||
rx_ss += tmp_ss ;
|
||||
}
|
||||
|
||||
/* Add the SS to the measurements' list */
|
||||
const string &rx_mac = rx->second.get_mac_addr() ;
|
||||
// 0 is not a valid packet ID, so we use 1 if we generate only one
|
||||
// packet per reference point:
|
||||
if (pkt_id == 0)
|
||||
pkt_id = 1 ;
|
||||
// The Measurement measurements[rx_mac] is created if needed:
|
||||
measurements[rx_mac].add_ss(pkt_id, rx_ss) ;
|
||||
// Useful only if the measurement was just created, but it is not
|
||||
// worth a test:
|
||||
measurements[rx_mac].set_cp(&rx->second) ;
|
||||
|
||||
return true ;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @param cp_idx The index of the CP in #ref_cps.
|
||||
* @param pkt_id The number of the packet to generate, or 0 if we
|
||||
* generate only one packet per reference point.
|
||||
* @param point_dst The distance RX-P.
|
||||
*
|
||||
* @returns The weighted SS value in dBm, or 1 in case of error.
|
||||
*/
|
||||
double AutocalibrationMesh::compute_weighted_ss(
|
||||
unsigned int cp_idx, pkt_id_t pkt_id, float point_dst)
|
||||
{
|
||||
const cp &ref = ref_cps[cp_idx] ;
|
||||
const ReferencePoint &rp =
|
||||
Stock::get_reference_point(ref.cp->get_coordinates()) ;
|
||||
|
||||
/* Friis index */
|
||||
const string &rx_mac = rx->second.get_mac_addr() ;
|
||||
float friis_idx ;
|
||||
if (pkt_id == 0)
|
||||
friis_idx = rp.friis_index_for_cp(rx_mac) ;
|
||||
else
|
||||
{
|
||||
friis_idx = rp.friis_index_for_cp(rx_mac, pkt_id) ;
|
||||
if (friis_idx == 0)
|
||||
return 1 ; // The packet pkt_id does not exist in rp
|
||||
}
|
||||
|
||||
/* SS */
|
||||
// Constant term
|
||||
double common_ss = rx->second.friis_constant_term() ;
|
||||
double ss =
|
||||
common_ss +
|
||||
ref.cp->get_trx_power() +
|
||||
ref.cp->get_antenna_gain() -
|
||||
10 * friis_idx * log10(point_dst) ;
|
||||
|
||||
return ss * ref.weight / 100 ;
|
||||
}
|
||||
|
|
@ -0,0 +1,83 @@
|
|||
/*
|
||||
* This file is part of the Owl Positioning System (OwlPS) project.
|
||||
* It is subject to the copyright notice and license terms in the
|
||||
* COPYRIGHT.t2t file found in the top-level directory of this
|
||||
* distribution and at
|
||||
* http://code.lm7.fr/p/owlps/source/tree/master/COPYRIGHT.t2t
|
||||
* No part of the OwlPS Project, including this file, may be copied,
|
||||
* modified, propagated, or distributed except according to the terms
|
||||
* contained in the COPYRIGHT.t2t file; the COPYRIGHT.t2t file must be
|
||||
* distributed along with this file, either separately or by replacing
|
||||
* this notice by the COPYRIGHT.t2t file's contents.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef _OWLPS_POSITIONING_AUTOCALIBRATIONMESH_HH_
|
||||
#define _OWLPS_POSITIONING_AUTOCALIBRATIONMESH_HH_
|
||||
|
||||
class CapturePoint ;
|
||||
class Point3D ;
|
||||
|
||||
#include "autocalibration.hh"
|
||||
|
||||
#include <vector>
|
||||
#include <unordered_map>
|
||||
|
||||
/// Generates reference points in a mesh
|
||||
class AutocalibrationMesh: public Autocalibration
|
||||
{
|
||||
protected:
|
||||
struct cp
|
||||
{
|
||||
const CapturePoint *cp ;
|
||||
float weight ; // Weight of the CP in percents
|
||||
float angle ;
|
||||
} ;
|
||||
|
||||
/// Angle P-RX-O, O being the origin of the trigonometric circle
|
||||
float origin_angle ;
|
||||
/// Selected transmitter CPs
|
||||
std::vector<cp> ref_cps ;
|
||||
/// Angles of the transmitter CPs (before M on the trigonometric
|
||||
/// circle)
|
||||
/**
|
||||
* Note that the angles are stored in absolute value.
|
||||
*/
|
||||
std::multimap<double,
|
||||
std::pair<double,
|
||||
std::unordered_map<
|
||||
std::string, CapturePoint>::const_iterator> >
|
||||
sorted_negative_angles ;
|
||||
/// Angles of the transmitter CPs (after M on the trigonometric circle)
|
||||
std::multimap<double,
|
||||
std::pair<double,
|
||||
std::unordered_map<
|
||||
std::string, CapturePoint>::const_iterator> >
|
||||
sorted_positive_angles ;
|
||||
|
||||
/// Initialises a struct cp with the values from `s`
|
||||
void init_cp(
|
||||
std::map<double, std::pair<double, std::unordered_map<
|
||||
std::string, CapturePoint>::const_iterator> >::const_iterator s) ;
|
||||
|
||||
/// Generates the SSs for all the CPs
|
||||
void generate_ss(void) ;
|
||||
/// Sorts the reference CPs for a receiver CP
|
||||
void sort_reference_cps(void) ;
|
||||
/// Computes the weight of the selected CP(s)
|
||||
void weight_cps(void) ;
|
||||
/// Weights two CPs according to their angles
|
||||
void weight_2_cps(void) ;
|
||||
/// Computes a SS with several packets in it
|
||||
void compute_multi_packet_ss(void) ;
|
||||
/// Computes a SS with only one packet in it
|
||||
bool compute_single_packet_ss(pkt_id_t pkt_id) ;
|
||||
/// Computes a SS according to the weight of the CP
|
||||
double compute_weighted_ss(
|
||||
unsigned int cp_idx, pkt_id_t pkt_id, float point_dst) ;
|
||||
|
||||
public:
|
||||
AutocalibrationMesh(const Point3D &_point): Autocalibration(_point) {}
|
||||
} ;
|
||||
|
||||
#endif // _OWLPS_POSITIONING_AUTOCALIBRATIONMESH_HH_
|
||||
|
|
@ -17,6 +17,7 @@
|
|||
#include "posexcept.hh"
|
||||
#include "area.hh"
|
||||
#include "csvstringreader.hh"
|
||||
#include "autocalibrationmesh.hh"
|
||||
|
||||
#include <iostream>
|
||||
|
||||
|
|
@ -503,7 +504,7 @@ void Stock::generate_reference_points_list()
|
|||
*/
|
||||
void Stock::generate_reference_point(const Point3D &coord)
|
||||
{
|
||||
Autocalibration ac(coord) ;
|
||||
AutocalibrationMesh ac(coord) ;
|
||||
try
|
||||
{
|
||||
ac.generate_reference_point() ;
|
||||
|
|
|
|||
|
|
@ -15,7 +15,6 @@
|
|||
#ifndef _OWLPS_POSITIONING_STOCK_HH_
|
||||
#define _OWLPS_POSITIONING_STOCK_HH_
|
||||
|
||||
#include "autocalibration.hh"
|
||||
#include "building.hh"
|
||||
#include "waypoint.hh"
|
||||
#include "mobile.hh"
|
||||
|
|
@ -30,6 +29,7 @@
|
|||
class Stock
|
||||
{
|
||||
friend class Autocalibration ;
|
||||
friend class AutocalibrationMesh ;
|
||||
|
||||
private:
|
||||
/// List of known Building
|
||||
|
|
|
|||
Loading…
Reference in New Issue