[Positioner] Add class Autocalibration
The new class Autocalibration contains the code from the former huge function Stock::generate_reference_point(). It is refactored a bit, but still needs work. The function Stock::generate_reference_points() stays in the Stock class for now.
This commit is contained in:
Matteo Cypriani
parent
d479f9d080
commit
7a631e3962
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@ -74,6 +74,7 @@ SOURCE_TARGET = $(SRC_DIR)/$(TARGET).cc
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OBJ_LIST = \
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posutil.o \
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autocalibration.o \
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stock.o \
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timestamp.o \
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direction.o \
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@ -165,6 +166,10 @@ $(OBJ_DIR)/%.o: $(SRC_DIR)/%.cc $(SRC_DIR)/%.hh
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$(STRIP) $@
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# Dependencies
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$(OBJ_DIR)/autocalibration.o: \
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$(OBJ_DIR)/stock.o \
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$(OBJ_DIR)/configuration.o \
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$(OBJ_DIR)/posexcept.o
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$(OBJ_DIR)/point3d.o: \
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$(OBJ_DIR)/posutil.o \
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$(OBJ_DIR)/posexcept.o
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@ -0,0 +1,251 @@
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#include "autocalibration.hh"
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#include "accesspoint.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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using namespace std ;
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using std::tr1::unordered_map ;
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/* *** Static attribute definitions *** */
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uint32_t Autocalibration::nb_virtual_mobiles = 0 ;
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/**
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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 APs.
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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 AP).
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* To generate the signal strength (SS) received by RX from TRX,
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* we first select two reference APs REF1 and REF2. Then, we average
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* the real measurements REF1->RX and REF2->RX, weighting in function
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* of the angles REF-RX-TRX and the distance from RX to TRX to compute
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* the SS.
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* Hope this is clear enough…
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*/
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void Autocalibration::generate_reference_point()
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{
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// If the point is the coordinates of an existing AP, we don't
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// need to generate it
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if (Stock::is_ap_coordinate(point))
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return ;
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/* Get/create the reference point */
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const ReferencePoint
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¤t_rp = Stock::find_create_reference_point(point) ;
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/* Create the timestamp */
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Timestamp time_sent ;
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time_sent.now() ;
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/* Prepare the virtual mobile */
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string vmob_mac(PosUtil::int_to_mac(nb_virtual_mobiles++)) ;
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// The gain and trx power of the mobile will be the average of
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// those of all the known APs (could be better, probably)
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vmob_gain = 0 ;
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vmob_pow = 0 ;
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/* Generate a SS per AP */
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for (unordered_map<string, AccessPoint>::const_iterator
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rx = Stock::aps.begin() ; rx != Stock::aps.end() ; ++rx)
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generate_ss() ;
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/* Create the virtual mobile */
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Mobile vmob("", vmob_mac, vmob_gain, vmob_pow) ;
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const Mobile &mobile = Stock::find_create_mobile(vmob) ;
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/* Create the calibration request */
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CalibrationRequest cr(OWL_REQUEST_GENERATED) ;
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cr.set_time_sent(time_sent) ;
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cr.set_mobile(&mobile) ;
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cr.set_measurements(measurements) ;
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cr.set_reference_point(¤t_rp) ;
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Stock::store_calibration_request(cr) ;
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}
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void Autocalibration::generate_ss()
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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::aps.size() ;
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vmob_pow += rx->second.get_trx_power() / Stock::aps.size() ;
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/* Skip the AP if it is not at the good level (floor) */
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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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/* Choose the 2 nearest APs in angle */
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choose_reference_aps() ;
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if (sorted_angles.size() < 2)
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throw autocalibration_error("Not enough APs in coverage!") ;
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/* Compute the angle weight of the 2 reference APs */
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weight_aps() ;
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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 AP */
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// Distance RX-P
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float point_dst = rx_coord.distance(point) ;
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// Constant term
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double common_ss = rx->second.friis_constant_term() ;
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const string &rx_mac = rx->second.get_mac_addr() ;
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const ReferencePoint
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&ref1_rp = Stock::get_reference_point(ref1->get_coordinates()),
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&ref2_rp = Stock::get_reference_point(ref2->get_coordinates()) ;
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if (Configuration::
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bool_value("positioning.generate-single-packet-reference-points"))
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{
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/* Friis indexes for REF1 & REF2 */
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float ref1_friis_idx = ref1_rp.friis_index_for_ap(rx_mac) ;
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float ref2_friis_idx = ref2_rp.friis_index_for_ap(rx_mac) ;
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/* SS for REF1 & REF2 */
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double ref1_ss =
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common_ss +
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ref1->get_trx_power() +
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ref1->get_antenna_gain() -
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10 * ref1_friis_idx * log10(point_dst) ;
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double ref2_ss =
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common_ss +
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ref2->get_trx_power() +
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ref2->get_antenna_gain() -
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10 * ref2_friis_idx * log10(point_dst) ;
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/* Compute the consolidated SS */
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ref1_ss = ref1_ss * ref1_percent / 100 ;
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ref2_ss = ref2_ss * ref2_percent / 100 ;
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double rx_ss = ref1_ss + ref2_ss ;
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/* Create the measurement, add it to the list */
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Measurement m(&rx->second) ;
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m.add_ss(1, rx_ss) ;
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measurements[rx_mac] = m ;
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}
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else
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{
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const vector<CalibrationRequest*> &ref1_cr =
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ref1_rp.get_requests() ;
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const Measurement *rx_measurement = NULL ;
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vector<CalibrationRequest*>::const_iterator cr ;
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// Search for the first measurement made by RX in ref1_rp
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for (cr = ref1_cr.begin() ;
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! rx_measurement && cr != ref1_cr.end() ; ++cr)
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rx_measurement = (*cr)->get_measurement(rx_mac) ;
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// The selected reference APs 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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for (pkt_id_t pkt_id = 1 ; pkt_id < (*cr)->get_nb_packets() ;
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++pkt_id)
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{
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/* Friis indexes for REF1 & REF2 */
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float ref1_friis_idx =
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ref1_rp.friis_index_for_ap(rx->second.get_mac_addr(),
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pkt_id) ;
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if (ref1_friis_idx == 0)
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continue ; // The packet pkt_id does not exist in ref1_rp
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float ref2_friis_idx =
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ref2_rp.friis_index_for_ap(rx->second.get_mac_addr(),
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pkt_id) ;
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if (ref2_friis_idx == 0)
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continue ; // The packet pkt_id does not exist in ref2_rp
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/* SS for REF1 & REF2 */
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double ref1_ss =
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common_ss +
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ref1->get_trx_power() +
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ref1->get_antenna_gain() -
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10 * ref1_friis_idx * log10(point_dst) ;
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double ref2_ss =
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common_ss +
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ref2->get_trx_power() +
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ref2->get_antenna_gain() -
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10 * ref2_friis_idx * log10(point_dst) ;
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/* Compute the consolidated SS */
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ref1_ss = ref1_ss * ref1_percent / 100 ;
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ref2_ss = ref2_ss * ref2_percent / 100 ;
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double rx_ss = ref1_ss + ref2_ss ;
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/* Create the measurement, add it to the list */
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Measurement m(&rx->second) ;
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m.add_ss(pkt_id, rx_ss) ;
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measurements[rx_mac] = m ;
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}
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}
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}
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void Autocalibration::choose_reference_aps()
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{
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const Point3D &rx_coord = rx->second.get_coordinates() ;
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for (unordered_map<string, AccessPoint>::const_iterator
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ref = Stock::aps.begin() ; ref != Stock::aps.end() ; ++ref)
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{
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if (ref == rx)
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continue ;
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// Skip the AP if it is not at the same level (floor) than the
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// receiver AP:
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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 AP if it is not in coverage with the receiver AP:
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float coverage =
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rx->second.received_calibration_from_ap(ref->second) ;
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if (coverage < 1) // Less than 1% coverage is ridiculous!
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continue ;
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double angle = rx_coord.angle_2d(point, ref_coord) ;
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double weight = angle / coverage ;
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pair<double,
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unordered_map<string, AccessPoint>::const_iterator>
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angle_ap(angle, ref) ;
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pair<double, pair<double,
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unordered_map<string, AccessPoint>::const_iterator> >
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weight_angle_ap(weight, angle_ap) ;
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sorted_angles.insert(weight_angle_ap) ;
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}
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}
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void Autocalibration::weight_aps()
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{
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map<double, pair<double,
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unordered_map<string, AccessPoint>::const_iterator> >
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::const_iterator s = sorted_angles.begin() ;
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// Angle REF1-RX-P
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double ref1_angle = s->second.first ;
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ref1 = &s->second.second->second ;
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++s ;
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ref2 = &s->second.second->second ;
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// Angle REF1-RX-REF2
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const Point3D &rx_coord = rx->second.get_coordinates() ;
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const Point3D &ref1_coord = ref1->get_coordinates() ;
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const Point3D &ref2_coord = ref2->get_coordinates() ;
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double reference_angle = rx_coord.angle_2d(ref1_coord, ref2_coord) ;
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if (reference_angle == 0)
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ref1_percent = ref2_percent = 50 ;
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else
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{
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ref1_percent = ref1_angle * 100 / reference_angle ;
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if (ref1_percent > 100)
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ref1_percent = 100 ;
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ref2_percent = 100 - ref1_percent ;
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}
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}
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@ -0,0 +1,61 @@
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/*
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* This file is part of the Owl Positioning System (OwlPS).
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* OwlPS is a project of the University of Franche-Comté
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* (Université de Franche-Comté), France.
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*/
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#ifndef _OWLPS_POSITIONING_AUTOCALIBRATION_HH_
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#define _OWLPS_POSITIONING_AUTOCALIBRATION_HH_
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class AccessPoint ;
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class Point3D ;
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class Measurement ;
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#include <boost/tr1/unordered_map.hpp>
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/**
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* The class Autocalibration contains the code used to generate single
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* reference points from the autocalibration measurements.
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*/
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class Autocalibration
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{
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private:
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/// Current AP to generate a SS for
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std::tr1::unordered_map<std::string, AccessPoint>::const_iterator rx ;
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/// Selected transmitter APs
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const AccessPoint *ref1, *ref2 ;
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/// Weights of the selected transmitter APs
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double ref1_percent, ref2_percent ;
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/// Angles of the transmitter APs
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std::multimap<double,
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std::pair<double,
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std::tr1::unordered_map<
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std::string, AccessPoint>::const_iterator> >
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sorted_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::tr1::unordered_map<std::string, Measurement> measurements ;
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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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/// The coordinates of the reference point to generate
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const Point3D &point ;
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public:
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Autocalibration(const Point3D &_point): point(_point) {}
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/// Generates a single reference point
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void generate_reference_point(void) ;
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/// Generates the SSs for all the APs
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void generate_ss(void) ;
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/// Chooses the reference APs for a receiver AP
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void choose_reference_aps(void) ;
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/// Weihgts the selected APs according to their angles
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void weight_aps(void) ;
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} ;
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#endif // _OWLPS_POSITIONING_AUTOCALIBRATION_HH_
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@ -26,8 +26,6 @@ unordered_map<Point3D, Waypoint> Stock::waypoints ;
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unordered_map<string, Mobile> Stock::mobiles ;
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uint32_t Stock::nb_virtual_mobiles = 0 ;
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unordered_map<string, AccessPoint> Stock::aps ;
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unordered_set<ReferencePoint,
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@ -464,233 +462,17 @@ void Stock::regenerate_reference_points()
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for (float z = start.get_z() ; z <= stop.get_z() ; z += step_z)
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{
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Point3D current_point(x,y,z) ;
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generate_reference_point(current_point) ;
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}
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}
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/**
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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 APs.
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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 AP).
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* To generate the signal strength (SS) received by RX from TRX,
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* we first select two reference APs REF1 and REF2. Then, we average
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* the real measurements REF1->RX and REF2->RX, weighting in function
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* of the angles REF-RX-TRX and the distance from RX to TRX to compute
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* the SS.
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* Hope this is clear enough…
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*/
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void Stock::generate_reference_point(const Point3D &point)
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{
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// If the point is the coordinates of an existing AP, we don't
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// need to generate it
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if (is_ap_coordinate(point))
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return ;
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/* Get/create the reference point */
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const ReferencePoint ¤t_rp = find_create_reference_point(point) ;
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/* Create the timestamp */
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Timestamp time_sent ;
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time_sent.now() ;
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/* Create the measurement list */
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unordered_map<string, Measurement> measurements ;
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/* Prepare the virtual mobile */
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string vmob_mac(PosUtil::int_to_mac(nb_virtual_mobiles++)) ;
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// The gain and trx power of the mobile will be the average of
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// those of all the known APs (could be better, probably)
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double vmob_gain = 0 ;
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double vmob_pow = 0 ;
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for (unordered_map<string, AccessPoint>::const_iterator
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rx = aps.begin() ; rx != aps.end() ; ++rx)
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{
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/* Update the mobile's attributes */
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vmob_gain += rx->second.get_antenna_gain() / aps.size() ;
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vmob_pow += rx->second.get_trx_power() / aps.size() ;
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/* Skip the AP if it is not at the good level (floor) */
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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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continue ;
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/* Choose the 2 nearest APs in angle */
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multimap<double, pair<double,
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unordered_map<string, AccessPoint>::const_iterator> >
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sorted_angles ;
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for (unordered_map<string, AccessPoint>::const_iterator
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ref = aps.begin() ; ref != aps.end() ; ++ref)
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{
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if (ref == rx)
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continue ;
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// Skip the AP if it is not at the same level (floor) than the
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// receiver AP:
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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 AP if it is not in coverage with the receiver AP:
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float coverage =
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rx->second.received_calibration_from_ap(ref->second) ;
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if (coverage < 1) // Less than 1% coverage is ridiculous!
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continue ;
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double angle = rx_coord.angle_2d(point, ref_coord) ;
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double weight = angle / coverage ;
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pair<double,
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unordered_map<string, AccessPoint>::const_iterator>
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angle_ap(angle, ref) ;
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pair<double, pair<double,
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unordered_map<string, AccessPoint>::const_iterator> >
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weight_angle_ap(weight, angle_ap) ;
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sorted_angles.insert(weight_angle_ap) ;
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}
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if (sorted_angles.size() < 2)
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{
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if (Configuration::is_configured("verbose"))
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cerr << "Can't generate reference point, not enough APs"
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<< " in coverage!\n" ;
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return ;
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}
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/* Compute the angle weight of the 2 reference APs */
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map<double, pair<double,
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unordered_map<string, AccessPoint>::const_iterator> >
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::const_iterator s = sorted_angles.begin() ;
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// Angle REF1-RX-P
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double ref1_angle = s->second.first ;
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const AccessPoint &ref1 = s->second.second->second ;
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++s ;
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const AccessPoint &ref2 = s->second.second->second ;
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// Angle REF1-RX-REF2
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const Point3D &ref1_coord = ref1.get_coordinates() ;
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const Point3D &ref2_coord = ref2.get_coordinates() ;
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double reference_angle = rx_coord.angle_2d(ref1_coord, ref2_coord) ;
|
||||
double ref1_percent, ref2_percent ;
|
||||
if (reference_angle == 0)
|
||||
ref1_percent = ref2_percent = 50 ;
|
||||
else
|
||||
{
|
||||
ref1_percent = ref1_angle * 100 / reference_angle ;
|
||||
if (ref1_percent > 100)
|
||||
ref1_percent = 100 ;
|
||||
ref2_percent = 100 - ref1_percent ;
|
||||
}
|
||||
|
||||
/* Compute the SS that would be received from a mobile at a
|
||||
* distance of RX-P, in the direction of each reference AP */
|
||||
// Distance RX-P
|
||||
float point_dst = rx_coord.distance(point) ;
|
||||
// Constant term
|
||||
double common_ss = rx->second.friis_constant_term() ;
|
||||
|
||||
const string &rx_mac = rx->second.get_mac_addr() ;
|
||||
const ReferencePoint &ref1_rp = get_reference_point(ref1_coord) ;
|
||||
const ReferencePoint &ref2_rp = get_reference_point(ref2_coord) ;
|
||||
|
||||
if (Configuration::
|
||||
bool_value("positioning.generate-single-packet-reference-points"))
|
||||
{
|
||||
/* Friis indexes for REF1 & REF2 */
|
||||
float ref1_friis_idx = ref1_rp.friis_index_for_ap(rx_mac) ;
|
||||
float ref2_friis_idx = ref2_rp.friis_index_for_ap(rx_mac) ;
|
||||
|
||||
/* SS for REF1 & REF2 */
|
||||
double ref1_ss =
|
||||
common_ss +
|
||||
ref1.get_trx_power() +
|
||||
ref1.get_antenna_gain() -
|
||||
10 * ref1_friis_idx * log10(point_dst) ;
|
||||
double ref2_ss =
|
||||
common_ss +
|
||||
ref2.get_trx_power() +
|
||||
ref2.get_antenna_gain() -
|
||||
10 * ref2_friis_idx * log10(point_dst) ;
|
||||
|
||||
/* Compute the consolidated SS */
|
||||
ref1_ss = ref1_ss * ref1_percent / 100 ;
|
||||
ref2_ss = ref2_ss * ref2_percent / 100 ;
|
||||
double rx_ss = ref1_ss + ref2_ss ;
|
||||
|
||||
/* Create the measurement, add it to the list */
|
||||
Measurement m(&rx->second) ;
|
||||
m.add_ss(1, rx_ss) ;
|
||||
measurements[rx_mac] = m ;
|
||||
}
|
||||
else
|
||||
{
|
||||
const vector<CalibrationRequest*> &ref1_cr =
|
||||
ref1_rp.get_requests() ;
|
||||
const Measurement *rx_measurement = NULL ;
|
||||
vector<CalibrationRequest*>::const_iterator cr ;
|
||||
|
||||
// Search for the first measurement made by RX in ref1_rp
|
||||
for (cr = ref1_cr.begin() ;
|
||||
! rx_measurement && cr != ref1_cr.end() ; ++cr)
|
||||
rx_measurement = (*cr)->get_measurement(rx_mac) ;
|
||||
|
||||
// The selected reference APs are in coverage of RX, therefore
|
||||
// we should always find a measurement of RX in ref1_rp
|
||||
assert(rx_measurement) ;
|
||||
|
||||
for (pkt_id_t pkt_id = 1 ; pkt_id < (*cr)->get_nb_packets() ;
|
||||
++pkt_id)
|
||||
Autocalibration ac(current_point) ;
|
||||
try
|
||||
{
|
||||
/* Friis indexes for REF1 & REF2 */
|
||||
float ref1_friis_idx =
|
||||
ref1_rp.friis_index_for_ap(rx->second.get_mac_addr(),
|
||||
pkt_id) ;
|
||||
if (ref1_friis_idx == 0)
|
||||
continue ; // The packet pkt_id does not exist in ref1_rp
|
||||
float ref2_friis_idx =
|
||||
ref2_rp.friis_index_for_ap(rx->second.get_mac_addr(),
|
||||
pkt_id) ;
|
||||
if (ref2_friis_idx == 0)
|
||||
continue ; // The packet pkt_id does not exist in ref2_rp
|
||||
|
||||
/* SS for REF1 & REF2 */
|
||||
double ref1_ss =
|
||||
common_ss +
|
||||
ref1.get_trx_power() +
|
||||
ref1.get_antenna_gain() -
|
||||
10 * ref1_friis_idx * log10(point_dst) ;
|
||||
double ref2_ss =
|
||||
common_ss +
|
||||
ref2.get_trx_power() +
|
||||
ref2.get_antenna_gain() -
|
||||
10 * ref2_friis_idx * log10(point_dst) ;
|
||||
|
||||
/* Compute the consolidated SS */
|
||||
ref1_ss = ref1_ss * ref1_percent / 100 ;
|
||||
ref2_ss = ref2_ss * ref2_percent / 100 ;
|
||||
double rx_ss = ref1_ss + ref2_ss ;
|
||||
|
||||
/* Create the measurement, add it to the list */
|
||||
Measurement m(&rx->second) ;
|
||||
m.add_ss(pkt_id, rx_ss) ;
|
||||
measurements[rx_mac] = m ;
|
||||
ac.generate_reference_point() ;
|
||||
}
|
||||
catch (autocalibration_error &e)
|
||||
{
|
||||
if (Configuration::is_configured("verbose"))
|
||||
cerr << e.what() << '\n' ;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Create the virtual mobile */
|
||||
Mobile vmob("", vmob_mac, vmob_gain, vmob_pow) ;
|
||||
const Mobile &mobile = find_create_mobile(vmob) ;
|
||||
|
||||
/* Create the calibration request */
|
||||
CalibrationRequest cr(OWL_REQUEST_GENERATED) ;
|
||||
cr.set_time_sent(time_sent) ;
|
||||
cr.set_mobile(&mobile) ;
|
||||
cr.set_measurements(measurements) ;
|
||||
cr.set_reference_point(¤t_rp) ;
|
||||
|
||||
store_calibration_request(cr) ;
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -8,6 +8,7 @@
|
|||
#ifndef _OWLPS_POSITIONING_STOCK_HH_
|
||||
#define _OWLPS_POSITIONING_STOCK_HH_
|
||||
|
||||
#include "autocalibration.hh"
|
||||
#include "building.hh"
|
||||
#include "waypoint.hh"
|
||||
#include "mobile.hh"
|
||||
|
|
@ -21,6 +22,8 @@
|
|||
/// Storage class
|
||||
class Stock
|
||||
{
|
||||
friend class Autocalibration ;
|
||||
|
||||
private:
|
||||
/// List of known Building
|
||||
/** The string key of the map is the Building name. */
|
||||
|
|
@ -33,9 +36,6 @@ private:
|
|||
/** The string key of the map is the Mobile MAC address. */
|
||||
static std::tr1::unordered_map<std::string, Mobile> mobiles ;
|
||||
|
||||
/// Number of generated "virtual" mobiles
|
||||
static uint32_t nb_virtual_mobiles ;
|
||||
|
||||
/// List of known AccessPoint
|
||||
/** The string key of the map is the AccessPoint MAC address. */
|
||||
static std::tr1::unordered_map<std::string, AccessPoint> aps ;
|
||||
|
|
@ -48,12 +48,6 @@ private:
|
|||
/// List of known CalibrationRequest
|
||||
static std::tr1::unordered_set<CalibrationRequest> calibration_requests ;
|
||||
|
||||
/** @name ReferencePoint operations */
|
||||
//@{
|
||||
/// Generates a single reference point
|
||||
static void generate_reference_point(const Point3D &point) ;
|
||||
//@}
|
||||
|
||||
/** @name CalibrationRequest operations */
|
||||
//@{
|
||||
/// Delete calibration requests that do not come from the APs
|
||||
|
|
|
|||
Loading…
Reference in New Issue