[Positioning] Add positioning algorithm FBCM

Add class FBCM.

AccessPoint: Add attribute friis_index.

Measurement: Add function get_ss_list_size().

Stock: Add function update_all_friis_indexes().

owlps-positioning/Makefile

@@ -54,6 +54,7 @@ OBJ_LIST = \
 	result.o \
 	minmax.o \
 	interlinknetworks.o \
+	fbcm.o \
 	radar.o \
 	realposition.o \
 	configuration.o \
@@ -201,6 +202,8 @@ $(OBJ_DIR)/minmax.o: \
 	$(OBJ_DIR)/accesspoint.o
 $(OBJ_DIR)/interlinknetworks.o: \
 	$(OBJ_DIR)/multilaterationalgorithm.o
+$(OBJ_DIR)/fbcm.o: \
+	$(OBJ_DIR)/multilaterationalgorithm.o
 $(OBJ_DIR)/radar.o: \
 	$(OBJ_DIR)/cartographyalgorithm.o
 $(OBJ_DIR)/realposition.o: \

owlps-positioning/TODO

@@ -32,7 +32,6 @@
    Stock ? (Pour l'instant ils ne sont pas dans Stock.)
 
 - AccessPoint
-   ° Attribut float friis_index ?
    ° Lancer une exception si le canal Wi-Fi est mauvais (ou
    directement dans PosUtil::channel_to_frequency() ?).
 

owlps-positioning/src/accesspoint.cc

@@ -16,6 +16,7 @@ const AccessPoint& AccessPoint::operator=(const AccessPoint &source)
   this->WifiDevice::operator=(source) ;
   coordinates = source.coordinates ;
   frequency = source.frequency ;
+  friis_index = source.friis_index ;
 
   return *this ;
 }
@@ -29,7 +30,8 @@ bool AccessPoint::operator==(const AccessPoint &source) const
   return
     this->WifiDevice::operator==(source) &&
     coordinates == source.coordinates &&
-    frequency == source.frequency ;
+    frequency == source.frequency &&
+    friis_index == source.friis_index ;
 }
 
 
@@ -39,6 +41,7 @@ ostream &operator<<(ostream &os, const AccessPoint &ap)
   os
       << "Coordinates: " << ap.coordinates << '\n'
       << "Frequency: " << ap.frequency << " Hz" << '\n'
+      << "Friis index: " << ap.friis_index << '\n'
       << (WifiDevice) ap ;
 
   return os ;

owlps-positioning/src/accesspoint.hh

@@ -14,6 +14,7 @@ class AccessPoint: public WifiDevice
 protected:
   Point3D coordinates ;
   unsigned long frequency ; ///< Frequency (channel) in Hz
+  float friis_index ; ///< Friis index used by FBCM
 
 public:
   /**
@@ -26,25 +27,28 @@ public:
   AccessPoint(const Point3D &_coordinates = Point3D(),
               const std::string &_ip_addr = "",
               const std::string &_mac_addr = "",
-              const float &_antenna_gain = AP_DEFAULT_ANTENNA_GAIN,
-              const float &_trx_power = WIFIDEVICE_DEFAULT_TRX_POWER,
+              const float _antenna_gain = AP_DEFAULT_ANTENNA_GAIN,
+              const float _trx_power = WIFIDEVICE_DEFAULT_TRX_POWER,
               const unsigned int &channel = AP_DEFAULT_CHANNEL):
     WifiDevice(_ip_addr, _mac_addr, _antenna_gain, _trx_power),
     coordinates(_coordinates),
-    frequency(PosUtil::wifi_channel_to_hz(channel)) {}
+    frequency(PosUtil::wifi_channel_to_hz(channel)),
+    friis_index(0) {}
 
   AccessPoint(const WifiDevice &source,
               const Point3D &_coordinates,
-              const unsigned int &channel = AP_DEFAULT_CHANNEL):
+              const unsigned int channel = AP_DEFAULT_CHANNEL):
     WifiDevice(source), coordinates(_coordinates),
-    frequency(PosUtil::wifi_channel_to_hz(channel)) {}
+    frequency(PosUtil::wifi_channel_to_hz(channel)),
+    friis_index(0) {}
 
   AccessPoint(const WifiDevice &source):
-    WifiDevice(source), coordinates(Point3D()), frequency(0) {}
+    WifiDevice(source), coordinates(Point3D()), frequency(0),
+    friis_index(0) {}
 
   AccessPoint(const AccessPoint &source):
     WifiDevice(source), coordinates(source.coordinates),
-    frequency(source.frequency) {}
+    frequency(source.frequency), friis_index(0) {}
 
   ~AccessPoint(void) {}
 
@@ -52,6 +56,7 @@ public:
   //@{
   const Point3D& get_coordinates(void) const ;
   unsigned long get_frequency(void) const ;
+  float get_friis_index(void) const ;
   //@}
 
   /** @name Write accessors */
@@ -59,6 +64,7 @@ public:
   void set_coordinates(const Point3D &_coordinates) ;
   void set_channel(const unsigned int channel) ;
   void set_frequency(const unsigned long _frequency) ;
+  void set_friis_index(const float _friis_index) ;
   //@}
 
   /** @name Operators */
@@ -89,6 +95,12 @@ inline unsigned long AccessPoint::get_frequency() const
 }
 
 
+inline float AccessPoint::get_friis_index() const
+{
+  return friis_index ;
+}
+
+
 
 /* *** Write accessors *** */
 
@@ -123,6 +135,12 @@ inline void AccessPoint::set_frequency(const unsigned long _frequency)
 }
 
 
+inline void AccessPoint::set_friis_index(const float _friis_index)
+{
+  friis_index = _friis_index ;
+}
+
+
 
 /* *** Operators *** */
 

owlps-positioning/src/fbcm.cc

@@ -0,0 +1,12 @@
+#include "fbcm.hh"
+
+
+
+float FBCM::estimate_distance(const Measurement &measurement)
+{
+  double constant_term = make_constant_term(measurement) ;
+  const float &average_ss = measurement.get_average_ss() ;
+  const AccessPoint *ap = measurement.get_ap() ;
+  return pow(10, (constant_term - average_ss) /
+             (10 * ap->get_friis_index())) ;
+}

owlps-positioning/src/fbcm.hh

@@ -0,0 +1,16 @@
+#ifndef _OWLPS_POSITIONING_FBCM_HH_
+#define _OWLPS_POSITIONING_FBCM_HH_
+
+#include "multilaterationalgorithm.hh"
+
+/// Computes a position using the Interlink Networks formula
+class FBCM: public MultilaterationAlgorithm
+{
+public:
+  FBCM(void) {}
+  ~FBCM(void) {}
+
+  float estimate_distance(const Measurement &measurement) ;
+} ;
+
+#endif // _OWLPS_POSITIONING_FBCM_HH_

owlps-positioning/src/measurement.hh

@@ -42,6 +42,7 @@ public:
   AccessPoint* get_ap() const ;
   const std::vector<int>& get_ss_list() const ;
   double get_average_ss() const ;
+  int get_ss_list_size() const ;
   //@}
 
   /** @name Write accessors */
@@ -100,6 +101,12 @@ inline double Measurement::get_average_ss() const
 }
 
 
+inline int Measurement::get_ss_list_size() const
+{
+  return ss_list.size() ;
+}
+
+
 
 /* *** Write accessors *** */
 

owlps-positioning/src/positioning.cc

@@ -1,9 +1,11 @@
 #include "positioning.hh"
 #include "realposition.hh"
-#include "radar.hh"
+#include "fbcm.hh"
 #include "interlinknetworks.hh"
+#include "radar.hh"
 #include "configuration.hh"
 #include "posexcept.hh"
+#include "stock.hh"
 
 using namespace std ;
 
@@ -47,6 +49,12 @@ void Positioning::initialise_algorithms()
       if (*i == "Real")
         algorithms.push_back(new RealPosition) ;
 
+      else if (*i == "FBCM")
+        {
+          Stock::update_all_friis_indexes() ;
+          algorithms.push_back(new FBCM) ;
+        }
+
       else if (*i == "InterlinkNetworks")
         algorithms.push_back(new InterlinkNetworks) ;
 

owlps-positioning/src/stock.cc

@@ -153,6 +153,61 @@ const AccessPoint& Stock::find_create_ap(const string &mac)
 }
 
 
+void Stock::update_all_friis_indexes()
+{
+  for (unordered_map<string, AccessPoint>::iterator ap = aps.begin() ;
+       ap != aps.end() ; ++ap)
+    {
+      string ap_mac = ap->second.get_mac_addr() ;
+      double friis_idx_sum = 0 ;
+      int nb_friis_idx = 0 ;
+
+      // Compute main general term, independant from scans
+      double ap_freq = ap->second.get_frequency() ;
+      double const_term =
+        ap->second.get_antenna_gain()
+        - 20 * log10(4 * M_PI)
+        + 20 * log10(PosUtil::LIGHT_SPEED / ap_freq)
+        + ap->second.get_trx_power() ;
+
+      /*
+       * Compute an index for each Measurement in each Request in each
+       * ReferencePoint. The Friis index for an AP is the average of all
+       * these indexes.
+       */
+      for (unordered_set<ReferencePoint>::const_iterator rp =
+             reference_points.begin() ; rp != reference_points.end() ;
+           ++rp)
+        {
+          for (vector<CalibrationRequest*>::const_iterator request =
+                 rp->get_requests().begin() ;
+               request != rp->get_requests().end() ; ++request)
+            {
+              const unordered_map<string, Measurement> &measurements =
+                (*request)->get_measurements() ;
+              unordered_map<string, Measurement>::const_iterator
+              measurement = measurements.find(ap_mac) ;
+              if (measurement != measurements.end())
+                {
+                  double ss = measurement->second.get_average_ss() ;
+                  float distance =
+                    rp->distance(ap->second.get_coordinates()) ;
+                  float mobile_gain =
+                    (*request)->get_mobile()->get_antenna_gain() ;
+                  friis_idx_sum +=
+                    (const_term + mobile_gain - ss)
+                    / (10 * log10(distance)) ;
+                  ++nb_friis_idx ;
+                }
+            }
+        }
+
+      if (nb_friis_idx > 0)
+        ap->second.set_friis_index(friis_idx_sum / nb_friis_idx) ;
+    }
+}
+
+
 const ReferencePoint& Stock::
 find_create_reference_point(const ReferencePoint &point)
 {

owlps-positioning/src/stock.hh

@@ -64,6 +64,8 @@ public:
   static const AccessPoint& find_create_ap(const std::string &mac) ;
   /// Get a reference to the AccessPoint corresponding to a given MAC address
   static AccessPoint& getw_ap(const std::string &mac) ;
+  /// Update the friis indexes of all the APs
+  static void update_all_friis_indexes(void) ;
 
   /// Look for a ReferencePoint and add it if it does not exist
   static const ReferencePoint&

owlps-positioning/src/userinterface.cc

@@ -171,7 +171,7 @@ void UserInterface::fill_positioning_options()
   options.add_options()
   ("positioning.algorithm,a", po::value< vector<string> >()->composing(),
    "Algorithms used to compute positions. You can specify \
-this option more than once (but at least once). Allowed: Real, \
+this option more than once (but at least once). Allowed: Real, FBCM, \
 InterlinkNetworks, RADAR.")
   ;
 

owlps-positioning/tests/fbcm_test.hh

@@ -0,0 +1,24 @@
+#include <cxxtest/TestSuite.h>
+
+#include "fbcm.hh"
+
+class FBCM_test: public CxxTest::TestSuite
+{
+public:
+
+  void test_select_point(void)
+  {
+    MultilaterationAlgorithm *algo = new FBCM() ;
+
+    /*
+     * TODO: implement the test.
+     * I was told to accelerate the development, so I leave unneeded unit
+     * tests for later. This tests *is* actually needed, but I did some
+     * result comparison between the old version of OWLPS Positioning and
+     * the current one, and, hm, let's say it's OK for now…
+     */
+
+    delete algo ;
+  }
+
+} ;

owlps-positioning/tests/stock_test.hh

@@ -101,6 +101,11 @@ public:
                      element_not_found) ;
   }
 
+  void test_update_all_friis_indexes(void)
+  {
+    // TODO: implement that
+  }
+
   void test_reference_points(void)
   {
     ReferencePoint referencepoint1(3,5,7) ;