For RADAR, the default is now to compare the current positioning request
to each stored CalibrationRequest instead of each ReferencePoint
(averaging the calibration requests associated with the reference
point).
The new option --positioning.radar-average-reference-points allows to
activate the old behaviour (compare to reference points).
Note: the bug fixed in the previous commit caused the creation of
a ReferencePoint for each CalibrationRequest, implying the 'new'
default behaviour (one ReferencePoint was associated to only one
CalibrationRequest, so comparing each ReferencePoint or each
CalibrationRequest was giving the same result). Anyway, there was
(hopefully) no such bug in OwlPS v0.8, so it is actually the old
behaviour :-)
For each calibration request read, a new ReferencePoint was created in
Stock. This is because of the behaviour of unordered_set: as pertaining
to unordered_set, two elements are not considered equal if the hashes
alone are identical, they must also be actually equal (operator==).
The problem was fixed by using a custom equality check function that
checks the equality only on the coordinates of the ReferencePoint (as if
it was a Point3D).
ReferencePoint::complete_with_dummy_measurements(
map<string, Measurement>,
map<string, Measurement>)
becomes PosUtil::complete_with_dummy_measurements(
unordered_map<string, Measurement>,
unordered_map<string, Measurement>)
ReferencePoint::compute_ss_square_distance(
map<string, Measurement>,
map<string, Measurement>)
becomes PosUtil::ss_square_distance(
unordered_map<string, Measurement>,
unordered_map<string, Measurement>)
map<string, Measurement> ReferencePoint::get_all_measurements_sorted()
is now private, returns an unordered_map instead of a map, and is
renamed ReferencePoint::get_all_measurements().
Note that we now use unordered_maps for these functions. The use of
sorted lists (maps) was useless, as stated in the commit message of
e9eab687 (Wed Jun 2 12:37:43 2010 +0200).
If the real coordinates are passed to the constructor, the distance
error is computed. One can also use Result::compute_error() on a
constructed object.
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.
When compiling in parallel (make -j), the directory 'obj' was sometimes
created too late (i.e. after the end of the first compilation, so the .o
could not be written on the disk). This is now fixed.
Adds OutputUDPSocket.
OutputUDPSocket::write(ResultList) is a mock function, since important
changes have to be done before that.
Conflicts:
owlps-positioning/src/userinterface.cc
Write results computed by several algorithms for the same request
simultaneously for a given medium. This allows to have only one CSV line
for a given request.
To achieve that, the class ResultList was created.
owl_mac_bytes_to_string() now uses a static buffer, so the caller do not
need to free the returned buffer manually. Because of this static
buffer, it is not thread-safe anymore, therefore we introduce
owl_mac_bytes_to_string_r() that is a thread-safe version.
owlps-positioning/Makefile used to use colorgcc as the default compiler,
without testing its existence. This is fixed.
The makefiles for libowlps and infrastructure-centred modules now use
colorgcc when available.
posexcept: Add exception bad_channel.
PosUtil::wifi_channel_to_hz() now throw bad_channel if the argument is
not a valid channel nor a 802.11 frequency value in Hz.
CSVFileReader: Add function read_point3d().
Point3D: Add function set_coordinates(float[3]).
posexcept: Rename malformed_topology -> malformed_input_data.
TopologyReaderCSV:
- Use CSVFileReader::read_point3d() instead of the custom read_point().
- Rename occurrences of malformed_topology.
Add class FRBHMBasic, which derives FBCM and RADAR.
ReferencePoint: Add functions friis_index_for_ap() and
friis_indexes_for_ap() (that takes code away from
Stock::update_all_friis_indexes()).
CartographyAlgorithm and MultilaterationAlgorithm now extend
PositioningAlgorithm with "public virtual" instead of "public".
CartographyAlgorithm: select_point() must now return a ReferencePoint.
MultilaterationMethod: Add pure virtual function multilaterate_2d().
MinMax: Add function multilaterate_2d().
MultilaterationAlgorithm: Add function multilaterate_2d() to map
MultilaterationMethod::multilaterate_2d().
Makefile: Fix some dependencies.
This constant will be used instead of a constant value "300000000", with
a more accurate value.
Make MultilaterationAlgorithm use it, and fix the unit test.
Move the constant term computation from
InterlinkNetworks::estimate_distance() into the new function
MultilaterationAlgorithm::make_constant_term(). This will avoid
duplicate this code into the future FBCM::estimate_distance().
Add classes RADAR and CartographyAlgorithm, which is the super-class of
SS map based algorithms.
Measurement: Add functions:
- add_ss_list(), to add several SS in one operation.
- merge(), to merge a Measurement into another.
- ss_square_distance() (from old commented code), to compute the
distance to a SS value or another Measurement.
posexcept: Add exception cannot_merge, used by Measurement::merge().
ReferencePoint:
- Add ss_square_distance() and functions used by it:
complete_with_dummy_measurements(), compute_ss_square_distance() and
get_all_measurements_sorted(). Use of sorted values (map instead of
unordered_map) is useless, should be fixed soon.
- Delete old commented code: getPowerForAp(), addMeasurement() and old
getSsSquareDistance().
Stock: Add function closest_reference_point().
CalibrationRequest::operator==() was not marked as const, which caused
trouble with unordered_set.
This commit corrects also CalibrationRequest::operator!=(),
Result::operator==() and Result::operator!=().
For object types that we needed to store into an unordered_set, we used
string-based hashes, defined into stock.cc. We now define new hash
functions as friend of target classes, based on boost::hash_combine.
The following classes now have a hash_value() function:
- Request
- CalibrationRequest
- Direction
- Timestamp
- Point3D
- ReferencePoint
Stock: add Waypoint list and support functions.
Waypoint:
- Use an unordered_set instead of a vector for the Building list.
- Add functions add_building(), add_buildings() and remove_building().
- Add operator string().
cfg/waypoints.csv: change format (add building name).
InputDataReader handles all data input, i.e. data needed to prepare
computation (topology, calibration measurements, etc.).
TopologyReaderCSV reads topology from a CSV file (just Building and Area
for the moment).
cfg/topo.csv: change format (add building name and reorder coordinates).
UserInterface: add data input options.
posexcept: add data input exceptions.
Building:
- Display areas & waypoints statistics in operator<<().
- Use an unordered_map for areas.
- Use an unordered_set for waypoints.
(instead of two vectors)
Area: display building name in operator<<().
CSVFileReader is a specialisation of TextFileReader, that allow reading
a CSV line field by field.
TextFileReader:
- Make private attributes protected to allow derivation.
- Add attribute current_line_nb.
- Add function read_nonblank_line().
- Delete useless accessor get_name().
Update InputCSV to use CSVFileReader.
Adapt unit tests for InputCSV and InputLogCSV: EOF is not reached right
after reading the last line, but after trying (and failing) to read one
more line.
TextFileReader read lines from a text file. It is aimed to be used by
all classes that read from a text file, as TextFileWriter is used by
those which write to a text file.
Code of TextFileReader is taken from class InputCSV.
Minor fixes on the TextFileWriter unit test.
Fix mistake in TextFileWriter::TextFileWriter(), that thrown
error_opening_input_file instead of error_opening_output_file.
Creation of class error_opening_output_file in posexcept.
- Add function set_coordinates(float, float, float).
- Add function distance_to_sphere().
- Suppress calls by reference for simple types (use const float instead
of const &float).
TextFileWriter:
- OutputFileMedium becomes TextFileWriter.
- Method write_string_to_file() becomes write_text() and is made public.
- Add a unit test.
InputLogCSV and OutputCSV do not extend OutputFileMedium anymore, but
use a TextFileWriter as an attribute.
OutputCSV writes Result to a CSV file. It extends OutputFileMedium.
Update:
- Output.
- UserInterface (add option "output.csv-file").
- posexcept (add class no_output_csv_file).
OutputFileMedium is designed to be a super-class for classes that need
to write to a text file. It could also be a simple writer if the method
write_string_to_file() was public (maybe we should change that and
rename OutputFileMedium to OutputFileWriter or something like that).
InputLogCSV:
- Now extends InputLogMedium *and* OutputFileMedium.
- Make log_request() inline.
Add Positioning creation in owlps-positioning, so the program is usable,
configuration is checked in Positioning, Input and Output, and objects
are created and run normally.
UserInterface: Minor modification, config_file_name is not initialised
in constructor anymore, it is now a default value of the configuration
entry "config-file".
- Where possible, use initialisation lists in class definition instead
of explicit variable initialisations in source file.
- Rename some variables (use of "source" in copy constructors and
operators…).
- Suppress useless Doxygen comments, allow non-documented members in
Doxyfile.
In cxxtest, TS_ASSERT_DIFFERS(a, b) tests !(a == b) and not (a != b).
Therefore, to test a::operator!=(b), we must avoid TS_ASSERT_DIFFERS()
(that will test !a::operator==(b)) and write instead TS_ASSERT(a != b).
The new class Positioning is the interface between Input and Output,
using positioning algorithms to compute results from requests.
Update UserInterface to add option "positioning.algorithm"; update posexcept.
PositioningAlgorithm is the super-class of all positioning algorithms.
RealPosition is the first "positioning algorithm" (it actually computes
nothing, but returns the position declared in a CalibrationRequest).
- Replace occurences of `container.size() == 0` with
`container.empty()`.
- Fix an allocation in posexcept.cc (false positive?).
- UserInterface: in constructor, handle bad_alloc exception possibly
thrown by `new`.
InputLogCSV now handles calibration requests.
TestUtil:
- Request list become a Request pointer list (to handle polymorphism).
- Add a ReferencePoint list.
- Reorganise create_test_csv_file().
InputCSV now handles CalibrationRequest, adding position and direction
information.
Input:
- Add add_request_to_stock().
Stock:
- Add list of ReferencePoint.
- Add list of CalibrationRequest.
The new class Direction will be used to represent the direction of a
calibration request.
Update posexcept.hh to add new exception bad_direction, used in class
Direction.
InputMedium:
- Split into two files (inputmedium.{hh,cc}).
- Add polymorphic handling of CalibrationRequest.
- Write unit tests.
InputCSV:
- Use new code of InputMedium to handle calibration requests.
- We detect if the read request is a calibration request, but
specific attributes are not initialised.
Matteo Cypriani
Florian Taillard