[Positioner] Autocalibration: handle levels

To generate the reference points, use only the APs at the same level as
the virtual mobile. This is very basic for now, please refer to the TODO
update for more details on what should be done.

TODO

@@ -124,6 +124,9 @@
    ° Find why some CalibrationRequest were not deleted when
    calling Stock::delete_calibration_request() (via
    ReferencePoint::delete_requests()).
+   ° Option z-level-number: the Z coordinate represents the number of
+   the building's level. If unactivated, the topology is used to
+   determine a change of level.
 
 - Refactoring
    ° Split Stock::generate_reference_point() into several functions.

owlps-positioner/cfg/owlps-positioner.conf

@@ -87,6 +87,8 @@ csv-file = /tmp/owlps-positioner.log
 # Since MinMax is currently the only multilateration method implemented
 # in OwlPS, you should define these parameters if you use any of the
 # multilateration-based algorithms (InterlinkNetworks, FBCM, FRBHM).
+# With the autocalibration, the Z coordinate is the level's number, not
+# a true coordinate in meters.
 # They are declared as strings (X;Y;Z). Do not quote!
 #area-start = -2;-2;0
 #area-stop = 20;30;6
@@ -106,6 +108,9 @@ csv-file = /tmp/owlps-positioner.log
 # and Y axis.
 #generated-meshing-grain-x = 0.5
 #generated-meshing-grain-y = 0.5
+# The Z option is currently a level number instead of a vertical
+# coordinate in meters.
+#generated-meshing-grain-z = 1
 
 # This option allows the calibration requests sent during the
 # positioning phase to be added to the calibration request's list. They

owlps-positioner/src/stock.cc

@@ -456,14 +456,15 @@ void Stock::regenerate_reference_points()
     Configuration::float_value("positioning.generated-meshing-grain-x") ;
   float step_y =
     Configuration::float_value("positioning.generated-meshing-grain-y") ;
-  float z = 1 ; // FIXME
+  float step_z =
+    Configuration::float_value("positioning.generated-meshing-grain-z") ;
   for (float x = start.get_x() ; x <= stop.get_x() ; x += step_x)
     for (float y = start.get_y() ; y <= stop.get_y() ; y += step_y)
-      //for (float z = start.get_z() ; z <= stop.get_z() ; z += step_z)
-      {
-        Point3D current_point(x,y,z) ;
-        generate_reference_point(current_point) ;
-      }
+      for (float z = start.get_z() ; z <= stop.get_z() ; z += step_z)
+        {
+          Point3D current_point(x,y,z) ;
+          generate_reference_point(current_point) ;
+        }
 }
 
 
@@ -507,12 +508,16 @@ void Stock::generate_reference_point(const Point3D &point)
   for (unordered_map<string, AccessPoint>::const_iterator
        rx = aps.begin() ; rx != aps.end() ; ++rx)
     {
+      /* Skip the AP if it is not at the good level */
+      const Point3D &rx_coord = rx->second.get_coordinates() ;
+      if (rx_coord.get_z() != point.get_z())
+        continue ;
+
       /* Update the mobile's attributes */
       vmob_gain += rx->second.get_antenna_gain() / aps.size() ;
       vmob_pow += rx->second.get_trx_power() / aps.size() ;
 
       /* Choose the 2 nearest APs in angle */
-      const Point3D &rx_coord = rx->second.get_coordinates() ;
       multimap<double, pair<double,
                unordered_map<string, AccessPoint>::const_iterator> >
                sorted_angles ;
@@ -522,14 +527,20 @@ void Stock::generate_reference_point(const Point3D &point)
           if (ref == rx)
             continue ;
 
+          // Skip the AP if it is not at the same level than the
+          // receiver AP:
+          const Point3D &ref_coord = ref->second.get_coordinates() ;
+          if (ref_coord.get_z() != rx_coord.get_z())
+            continue ;
+
+          // Skip the AP if it is not in coverage with the receiver AP:
           float coverage =
             rx->second.received_calibration_from_ap(ref->second) ;
-          // Skip the AP if it is not in coverage with the receiver AP:
           if (coverage < 1) // Less than 1% coverage is ridiculous!
             continue ;
 
           double angle =
-            rx_coord.angle(point, ref->second.get_coordinates()) ;
+            rx_coord.angle(point, ref_coord) ;
           double weight = angle / coverage ;
           pair<double,
                unordered_map<string, AccessPoint>::const_iterator>

owlps-positioner/src/userinterface.cc

@@ -27,6 +27,7 @@ namespace po = boost::program_options ;
 
 /* Positioning options */
 #define DEFAULT_MESHING_GRAIN 0.5
+#define DEFAULT_Z_MESHING_GRAIN 1
 #define DEFAULT_SMALLEST_SS -99
 
 /* Output options */
@@ -249,6 +250,11 @@ void UserInterface::fill_positioning_options()
    po::value<float>()->default_value(DEFAULT_MESHING_GRAIN),
    "When generating reference points, this distance (in meters) will"
    " separate each point to the next in Y.")
+  ("positioning.generated-meshing-grain-z",
+   po::value<float>()->default_value(DEFAULT_Z_MESHING_GRAIN),
+   "When generating reference points, this parameter represents the"
+   " number of the level. Currently, each increment of Y is a new"
+   " level (full 3-D coordinates are not supported yet).")
   ("positioning.accept-new-calibration-requests",
    po::value<bool>()->default_value(false),
    "Add the calibration requests received during the run-time to"