[Positioning] Add minmax-start & minmax-stop opts.

The start and stop coordinates for the MinMax multilateration method
used to be hard-coded. One should now provide the good coordinates using
the new options positioning.minmax-start and positioning.minmax-stop.

owlps-positioning/Makefile

@@ -245,7 +245,9 @@ $(OBJ_DIR)/output.o: \
 $(OBJ_DIR)/multilaterationalgorithm.o: \
 	$(SRC_DIR)/positioningalgorithm.hh \
 	$(OBJ_DIR)/minmax.o \
-	$(OBJ_DIR)/mobile.o
+	$(OBJ_DIR)/mobile.o \
+	$(OBJ_DIR)/configuration.o \
+	$(OBJ_DIR)/posexcept.o
 $(OBJ_DIR)/cartographyalgorithm.o: \
 	$(SRC_DIR)/positioningalgorithm.hh \
 	$(OBJ_DIR)/referencepoint.o

owlps-positioning/TODO

@@ -33,7 +33,6 @@
 
 - MinMax
    ° Différencier le pas pour X, Y et Z ?
-   ° Régler le start & stop dans MultilaterationAlgorithm.
 
 - Renommages de membres
    ° InputMedium :

owlps-positioning/cfg/owlps-positioning.cfg

@@ -45,6 +45,14 @@ csv-file = /tmp/owlps-positioning.log
 #algorithm = RADAR
 #algorithm = FRBHMBasic
 
+# Start and stop coordinates for the MinMax multilateration method.
+# 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).
+# They are declared as strings (X;Y;Z). Do not quote!
+#minmax-start = -2;-2;0
+#minmax-stop = 20;30;6
+
 [output]
 
 # This is the default output if none is specified.

owlps-positioning/cfg/topology.csv

@@ -2,10 +2,15 @@
 #
 # IMPORTANT:
 #   You need a precise topology description if you use algorithms that
-#   handle it. Since none of them are currenty implemented, you probably
-#   can save a lot of time by only providing a pseudo-area containing
-#   the whole deployment area in this file (in this case you will not
-#   declare any waypoint in the waypoints' definition file).
+#   handle it. Since none of them are currently implemented, you
+#   probably can save a lot of time by skipping the topology (and
+#   waypoints) description.
+#
+# ALSO IMPORTANT (EVEN IF YOU DON'T DESCRIBE THE TOPOLOGY):
+#   If you use the MinMax multilateration method, you should provide
+#   minmax-start and minmax-stop parameters that match the deployment
+#   area. That is, the cuboid formed by these two points should include
+#   the whole deployment area.
 #
 # This file lists the buildings and their "homogeneous areas" (rooms).
 #

owlps-positioning/src/multilaterationalgorithm.cc

@@ -1,6 +1,8 @@
 #include "multilaterationalgorithm.hh"
 #include "minmax.hh"
 #include "mobile.hh"
+#include "configuration.hh"
+#include "posexcept.hh"
 
 using namespace std ;
 using std::tr1::unordered_map ;
@@ -14,10 +16,20 @@ MultilaterationAlgorithm::MultilaterationAlgorithm():
   request(NULL)
 {
   // Will be changed when other multilateration methods will be
-  // implemented
-  multilateration_method = new MinMax(Point3D(-0.5, -0.5, 0),
-                                      Point3D(10, 31.5, 6)) ;
-  // FIXME: minmax start and stop
+  // implemented.
+
+  if (! Configuration::is_configured("positioning.minmax-start") ||
+      ! Configuration::is_configured("positioning.minmax-stop"))
+    throw missing_configuration(
+      "You want to use MinMax, but either positioning.minmax-start or"
+      " positioning.minmax-stop is not defined!") ;
+
+  Point3D minmax_start(
+    Configuration::string_value("positioning.minmax-start")) ;
+  Point3D minmax_stop(
+    Configuration::string_value("positioning.minmax-stop")) ;
+
+  multilateration_method = new MinMax(minmax_start, minmax_stop) ;
 }
 
 

owlps-positioning/src/userinterface.cc

@@ -172,6 +172,12 @@ void UserInterface::fill_positioning_options()
    "Algorithms used to compute positions. You can specify \
 this option more than once (but at least once). Allowed: Real, FBCM, \
 FRBHMBasic, InterlinkNetworks, RADAR.")
+  ("positioning.minmax-start", po::value<string>(),
+   "Coordinates of the start point of the MinMax multilateration \
+method (string format: \"X;Y;Z\").")
+  ("positioning.minmax-stop", po::value<string>(),
+   "Coordinates of the stop point of the MinMax multilateration \
+method (string format: \"X;Y;Z\").")
   ;
 
   file_options->add(options) ;