Owl Positioning System: a Wi-Fi-based, infrastructure-centred indoor positioning system.
http://owlps.pu-pm.univ-fcomte.fr/
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534 lines
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534 lines
24 KiB
This file is automatically generated from the Git tag messages.
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v1.3.5 OwlPS, version 1.3.5 (development point release)
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This release features the usual refactoring and code cleaning, fixes and
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improves the build system (the manual pages are now installed), and also
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brings some more important changes listed below.
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The scripts/ directory was added with two Perl scripts and two Perl
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modules that were formerly developed in another repository:
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- OwlPS AggCheck (owlps-aggcheck.pl), that allows one to analyse an
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aggregation file in various ways: print human-readable information,
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extract signal strength distribution, or extract the number of packets
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per request and per capture point.
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- OwlPS AggSetCoord (owlps-aggsetcoord.pl), that can be used to fill an
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aggregation CSV file with coordinates, either statically or by
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interpolation of existing coordinates. It uses the following two
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modules.
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- The OwlPS::CSV module, that provides functions to deal with the CSV
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format used in OwlPS.
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- The OwlPS::TimeInterpolation module, that provides function to
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interpolate timestamped coordinates.
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Documentation:
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- New manual page owlps-aggregatord(1).
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- New manual page owlps-positionerd(1).
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- New manual page owlps-udp-to-http(1).
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- A bunch of figures where added.
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- Perl files from the scripts/ directory are documented with POD and man
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pages are generated directly from the source files.
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API changes:
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- libowlps: the synopsis of owl_create_udp_trx_socket() has changed
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(deletion of the client_description argument).
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- libowlps-client: the synopsis of owl_create_trx_socket(),
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owl_send_request() and owl_send_packet() has changed (struct sockaddr
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instead of struct sockaddr_in).
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- libowlps-resultreader: struct _owl_result.mobile_mac_addr is now a
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static buffer instead of a dynamically allocated string.
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OwlPS Client:
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- -F now supports either an inter-transmission delay (old behaviour) or
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a delay between the start of two transmissions.
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OwlPS UDP-to-HTTP:
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- The error code when no results are stored has been changed
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("NoResults" instead of "NoResult").
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- Command-line options are now handled:
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- -h and -V for help and version messages
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- -v and -q for verbose and quiet modes
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- -l and -t to set the port numbers
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All the modules are now able to deal with host names and not only IP
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addresses.
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v1.3.4 OwlPS, version 1.3.4 (development point release)
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This is again a big release in terms of number of commits. Many of these
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commits are code cleaning, refactoring, and other invisible
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improvements, but there are also a number of noticeable changes, and
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especially two major ones.
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First of all, this release could be called "mine-ready OwlPS". Indeed,
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the most important change is the new autocalibration method in OwlPS
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Positioner that allows to generate reference points along a path defined
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in the configuration, which enables self-calibrated positioning in a
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network of tunnels.
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The other important change is that the aggregation CSV format is now
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versionned. The first field OwlPS Aggregator's CSV output files is now
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an unsigned integer that defines the version of the CSV format used. The
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format was otherwise untouched, and this version has number 1. An
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aggregation file generated with a previous version can therefore still
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be used by adding "1;" at the beginning of each line.
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A summary of all the noticeable changes since 1.3.3 follows.
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Documentation:
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- CMake rules were added to handle the documentation; manual pages are
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now generated in the man/ directory under the build tree.
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- Doxygen is now used to generate manual pages from the libraries' code.
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- The manual page owlps-client(1) is now complete.
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- New manual page owlps-listenerd(1).
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- New manual page owlps-deployment(7).
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- Some improvements in other existing manual pages.
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libowlps API change:
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- To be consistent, every reference to an "Access Point" has been
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changed to "Capture Point"; the only visible change is that all the
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structures that contained a field named "ap_mac_addr_bytes" now
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contain a field "cp_mac_addr_bytes" instead.
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OwlPS Client:
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- New options verbose (-v) and quiet (-q).
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OwlPS Listener:
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- New option -G to dump the current configuration on the standard output
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and exit.
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- Now builds on *BSD (compilation tested on NetBSD, OpenBSD and
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DragonFly).
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OwlPS Aggregator:
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- New option -G (same as for Listener).
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- New option -F to not flush the output.
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- Option -o is now optional, and the default output file is the standard
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output.
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- When exiting, the requests in memory are output instead of being
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deleted.
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OwlPS Positioner:
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- Should now build with clang++.
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- Now requires to be linked against libclaw_tween.
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- The unit tests were brought back to live, although they are very
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incomplete.
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- A new autocalibration method was implemented, that allows to generate
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reference points along a path instead of a meshing of reference
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points. The behaviour of the positioning.generate-reference-points
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option was changed, and two new options were added:
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positioning.generated-line-path and positioning.generated-line-step.
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v1.3.3 OwlPS, version 1.3.3 (development point release)
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We've got a real build system, and that's worth a point release!
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OwlPS has abandoned without any regret its old set of custom Makefiles,
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and is now using CMake. Dependency checks, improved maintainability,
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portability and (hopefully) readability: long story short, it's a great
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improvement.
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This is a big release in terms of number of commits, though not that
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much in terms of features. The important changes since v1.3.2 follow.
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Some initial work has been done on the documentation:
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- README.t2t is an entry point that directs the reader to other
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documentation files.
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- INSTALL.t2t is a guide on how to build and install OwlPS.
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- The doc/ directory contains other txt2tags files that can be built as
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man pages. Beside the owlps(7) and owlps-architecture(7) pages, only
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OwlPS Client has a man page (owlps-client(1)), so there is still some
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work to do in this area.
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libowlps API changes:
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- Doesn't define the owl_bool type any more, we are now using stdbool.h.
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OwlPS Listener:
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- Can now read packets from a pcap file instead of a capture interface,
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which is useful for testing (option -R).
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- The radiotap parser code has been cleaned and two non-trivial bugs
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were fixed: the alignment of the radiotap fields is now handled
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correctly, and the signal strength (Antenna Signal) is now stored as a
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signed 8-bit value instead of an unsigned one (which was problematic
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only with positive signal strengths).
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OwlPS Positioner:
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- Now requires GCC 4.7 with C++11 enabled.
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- New option positioning.generated-points-list, which allows to generate
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a pre-determined list of reference points instead of a regular
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meshing. The positioning.generate-reference-points option is now a
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string with values "false" (autocalibration deactivated), "mesh" (to
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generate a meshing, old default for "true"), "list" (to generate only
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a list of reference point") or "both" (combination of "mesh" and
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"list").
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v1.3.2 OwlPS, version 1.3.2 (development point release)
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This is the last release "made in Université de Franche-Comté" by Matteo
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Cypriani (or to be more precise, as an employee of the University). It
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is also the first public release.
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Due to the fact that it is a "time-based" release, it does not
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correspond to a particular important change, but here are the major
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modifications since v1.3.1:
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- OwlPS Positioner can now compute the error in two dimension by setting
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the option output.2d-error.
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- One can now specify the number of requests OwlPS Client will send (-N
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option).
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- libowlps: owl_timestamp_to_string() now always displays nanoseconds on
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9 digits.
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- A bunch of bug and cosmetic fixes, mainly in OwlPS Positioner.
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v1.3.1 OwlPS, version 1.3.1 (development point release)
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This release features various important changes.
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First of all, we finally got rid of the OpenWrt-specific makefiles,
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and unified all the makefiles thanks to the new common files
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(common.mk and common-rules.mk). To compile for OpenWrt, one has to
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set the variable OPENWRT_VERSION (for example make
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OPENWRT_VERSION=10.03), or to use the main Makefile_atheros_openwrt.
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The format of the positioning requests has changed, and now includes
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padding bytes. OwlPS Client features a new option (-s) to set the size
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of the transmitted data.
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Major autocalibration bugs fixed in OwlPS Positioner:
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- Segfault with positioning.generate-reference-points.
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- Failed assertion with positioning.calibration-requests-timeout > 0.
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- Several problems preventing the generation of multi-packet reference
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points (positioning.generate-single-packet-reference-points=false).
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The Positioner option generate-single-packet-reference-points has been
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renamed generate-multi-packet-reference-points and the default is now
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to generate multi-packet reference points.
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Positioner now features the option replay (--replay on), which change
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the time-related behaviour, and is useful for the option
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positioning.calibration-requests-timeout: instead of computing the
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elapsed time with the current time on the machine running Positioner,
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we keep track of the most recent received request's timestamp, and use
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it as the current time. Unfortunately, this option is quite useless if
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the clock of the mobile terminals and listeners are not synchronised
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(actually if this is the case, one should run the server without
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enabling the replay mode, because this option could cause the deletion
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of non-obsolete calibration requests).
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Positioner now features the option
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positioning.unique-calibration-request. Thanks to this behaviour
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(which was already the default), it is not too annoying (at least when
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using autocalibration) that the replay option does not work without
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synchronised clocks.
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And last but not least, the OwlPS logo enters the repository.
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v1.3.0 OwlPS, version 1.3.0 (development point release)
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This is the first release of the development branch 1.3.
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The positioning requests now contain the total number of packets of
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the request, along with the current packet number (libowlps API
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change).
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This allows for the introduction of new similarity methods for
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cartography-based algorithms, based on the distribution of the SSs:
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- “interval” uses the number of values within the interval
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[mean-std.dev.;mean+std.dev.].
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- “interval2” computes the percent of packets in both the intervals
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[Im-0.674×Is, Im+0.674×Is] and [Im-Is, Im+Is], and selects the
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measurement which have the closest percentage of packets to the
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theoretical percentages of the two intervals (see
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owlps-positioner.conf for details).
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Autocalibration improvements:
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- Due to the availability of packet numbers, we are now able to
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generate multi-packet requests (which is required for the new
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similarity methods to work properly).
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- The APs are now selected not only by their angle, but also in
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function of the coverage with the receiver AP.
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- The APs are now selected with signed angles, which improves the
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selection in some cases. The minimum number of reference AP is
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lowered to one.
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- The building's floors are now handled (2.5-D positioning).
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New Positioner options:
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- positioning.calibration-requests-timeout: allows to delete old
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calibration requests.
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- positioning.generate-single-packet-reference-points: allows to
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choose between single and multi-packet reference points in the
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autocalibration.
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- positioning.generated-meshing-grain-z: vertical grain of the
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autocalibration meshing (should be 1 in most cases, as it is
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currently a floor number).
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- positioning.smallest-ss: allows to specify the smallest possible SS
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value received by the listeners.
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- positioning.ss-similarity: allows to choose the similarity method
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used.
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v1.2 OwlPS, version 1.2
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Changes since v1.1.8:
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- The Positioning module has been renamed Positioner, to be consistent
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with the other modules, and the executable file is owlps-positionerd.
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- Positioner: the RADAR algorithm is renamed NSS.
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- CLI option are standardised amongst all the modules (e.g. -i as
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destination IP).
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- A daemon mode has been implemented in Client, Listener and
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Aggregator (option -D).
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- All the requests (positioning, calibration, autocalibration) are now
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sent to the same port by default.
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- Two different ports are now used for autocalibration hello messages
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and autocalibration orders. This allows to run a listener and an
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aggregator on the same machine with the autocalibration enabled.
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- The default time-related values has been updated. By default the
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aggregator will not be able to fully aggregate calibration requests
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any more, only the positioning and autocalibration requests. In
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order to aggregate calibration requests, the aggregation timeout
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needs to be increased, or the number of packets of the request and
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the delay between each of them lowered.
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- Some bug fixes, minor improvements and cosmetic changes.
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Release notes:
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- Those programs are developped and tested on GNU/Linux. All the modules
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but the Listener (which is Linux-specific for the moment) also build
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on NetBSD, FreeBSD, OpenBSD and DragonFly BSD. The Positioner does not
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build with versions of GCC older than 4.4; for some reason, it also
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does not compile on DragonFly BSD with GCC 4.4.
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- The implicit mode is still an experimental feature. It is pretty much
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untested and needs to be redesigned properly.
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- The full changelog is long, please refer to the development point
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releases' changelogs to have an overview of the changes since v1.0.
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Long story short: autocalibration!
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v1.1.8 OwlPS, version 1.1.8 (development point release)
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Along with the usual bug fixes, minor improvements, and more or less
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important changes (listed below), two modules were added:
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- owlps-udp-to-http: a program that serves the results of OwlPS
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Positioning through HTTP.
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- libowlps-resultreader: a library that handles results sent by OwlPS
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Positioning (with its sample program owlps-resultreader-udp). It
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supports the previous new module OwlPS UDP-to-HTTP, as well as OwlPS
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Client (for the -l option).
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API changes:
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- libowlps:
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+ Listener-specific code was moved into owlps-listener.
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+ OWL_TIMESTAMP_STR_LEN was renamed OWL_TIMESTAMP_STRLEN.
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+ All the elements declared in owlps.h are now prefixed with "owl_".
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- libowlps-client: the functions are now prefixed with "owl_" instead of
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"owlclient_".
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OwlPS Positioning:
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- The options minmax-start and minmax stop are renamed area-start and
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area-stop.
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- FBCM did not work with autocalibration, this is fixed.
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- Fixed a segfault that occurred in certain circumstances with the
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option positioning.radar-ignore-ap-reference-points activated.
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- CSV format changes (CSV & UDP outputs):
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+ Removed the useless "Error" string before the error field.
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+ Added the area in which is the result for each algorithm.
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v1.1.7 OwlPS, version 1.1.7 (development point release)
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Finally the autocalibration is here! All the commits of this release are
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more or less related to the autocalibration development, in OwlPS
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Positioning. There is some work remaining, but this release features the
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main basis of the autocalibration.
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Most user visible changes: a lot of new options, including reading the
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mobiles' characteristics from a CSV file; see the sample configuration
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file for details.
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Note: this is the version used to participate at the EvAAL 2011
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competition, with the required post-competition cleaning.
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v1.1.6 OwlPS, version 1.1.6 (development point release)
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This release was developed in parallel with the autocalibration
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development branch, so it contains a relatively large amount of things
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(as usual, fixes, cleaning and a few new features).
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Here are the most noticeable changes introduced, module by module.
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Positioning:
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- The long-term, unnoticed, and hard to debug ReferencePoint creation
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bug was fixed, and
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- the option --radar-average-reference-points was added; the default is
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to keep the old bug's consequent behaviour, i.e to search for the
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nearest calibration request in SS instead of the nearest reference
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point, since it gives better results (for a calibration with several
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mobile's orientation).
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- The option --verbose was added.
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Aggregator:
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- Semaphores are now used to lock the lists of APs and requests.
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- The verbose mode was changed into a verbose level.
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- The -q (quiet) option was added.
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Listener:
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- The verbose mode was changed into a verbose level.
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Client:
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- The option -f (flood mode) was added, to allow the client to
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continuously send requests.
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Other changes:
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- libowlps, libowlps-client, owlps-client and owlps-aggregator now build
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on OpenBSD and DragonFlyBSD, thanks to some cleaning and fixes (mainly
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in the libraries and makefiles). Untested on FreeBSD and NetBSD, but
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it should work painlessly.
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- All the configurable delays are now in milliseconds or seconds (no
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more microseconds).
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- We finally deleted writeInDb, since it is useless for the moment.
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v1.1.5 OwlPS, version 1.1.5 (development point release)
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This small release includes the following changes:
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- Positioning computes the error for each algorithm when the
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pseudo-algorithm "Real" is used.
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That changes the results' CSV format (OutputCSV & OutputUDPSocket).
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- Positioning: add --minmax-start & --minmax-stop to limit the search
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space of MinMax.
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- Positioning's configuration files updated (they are now really example
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files).
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- Add -V to print the version, in each module.
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- A fair amount of bug fixes and small improvements.
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v1.1.4 OwlPS, version 1.1.4 (development point release)
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Here are the most noticeable changes for this release:
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- The request type and calibration data (position & direction) are now
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handled in all modules.
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- The listener can send its own position in autocalibration requests.
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- The OwlPS Positioning module:
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+ handles SIGINT and SIGTERM to exit correctly;
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+ adds the option flush-output-files;
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+ includes the algorithm name in the result output;
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+ writes all the results for a given request in a bunch;
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+ accepts '-' as file names to read the standard input or write to the
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standard output;
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+ sends the computed results by UDP (CSV string format); note that
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currently, the mobile cannot receive this format.
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- The last endianness issues have (hopefully) been fixed.
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- libowlps API change: constants for localisation request types
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(PACKET_TYPE_*) are now OWL_REQUEST_*; the global variable run is
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renamed owl_run; owl_request includes the position; float endianness
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conversion functions were added.
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v1.1.3 OwlPS, version 1.1.3 (development point release)
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We finally got rid of mobile-centred. The code is still in the memory
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of the VCS, of course, but we do not have time to bother maintaining
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it.
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owlps-positioning is now linked to libowlps, and is able to read
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aggregated requests sent by the aggregator via UDP, thanks to the new
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class InputUDPSocket. This exchange does not concern calibration nor
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autocalibration requests yet, since the aggregator do not send
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calibration data.
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As usual, this release includes some refactoring, code improvement,
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bug fixes and various minor new features. The most important code
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improvement concerns thread handling in the listener and the
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aggregator, that is now far cleaner.
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libowlps API changes: types are now all lowercase and prefixed,
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several new functions were added, and the behaviour of
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owl_mac_bytes_to_string() is changed.
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v1.1.2 OwlPS, version 1.1.2 (development point release)
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Note the new case of "OwlPS": Owl Positioning System should make
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easier to memorise "Open Wireless Positioning System".
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We are still on the way to autocalibration, and a lot of things were
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done since v1.1.1, mostly on libowlps and infrastructure-centred code.
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|
The emission of autocalibration requests by the listeners now works as
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|
intended. The code has been adapted to be able to work in a complex
|
|
network configuration: multiple Wi-Fi modes (e.g. monitor, master and
|
|
ad-hoc), multiple IP addresses, etc. Endianness issues have been
|
|
addressed, and everything works well now.
|
|
|
|
This release includes major library API changes: functions are now
|
|
prefixed, several functions were renamed, and stdint types are used in
|
|
custom types.
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|
|
|
The data format also changes: we now use nanosecond precision in all
|
|
modules, via the new type TIMESTAMP which is inspired from the C++
|
|
class Timestamp created for the Positioning module. Therefore, the
|
|
timestamp field of the CSV outputs has a nanosecond precision, and its
|
|
format is "seconds.nanoseconds".
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|
|
|
Finally, a lot of other less visible things were accomplished: bug
|
|
fixes and improvements, code refactoring, new options, etc.
|
|
|
|
|
|
v1.1.1 OWLPS, version 1.1.1 (development point release)
|
|
|
|
We are on the way to autocalibration. The listeners can send Hello
|
|
messages to the aggregator, which now handles a list of listeners and
|
|
schedules autocalibration requests. Emission of autocalibration requests
|
|
by the listeners has been worked on, but is very buggy at this time, and
|
|
therefore not operational yet.
|
|
|
|
|
|
v1.1.0 OWLPS, version 1.1.0 (development point release)
|
|
|
|
Cleaning, refactoring, translation of comments from French to English,
|
|
bug fixes and minor features. The only very noticeable thing is the
|
|
creation of the libowlps-client library; it is to prepare the future
|
|
ability of the listener to send autocalibration requests.
|
|
|
|
|
|
v1.0 OWLPS, version 1.0
|
|
|
|
Few changes are actually visible since version 0.8. This release is a
|
|
new start for owlps-positioning, which was rewritten almost completely.
|
|
Support for Viterbi-enabled algorithms has been dropped; this could be
|
|
reintegrated someday, but it is not needed for our current researches,
|
|
so it is not in the top-priority list.
|
|
|
|
Extensive non-regression tests have not been conducted yet (we need to
|
|
ensure that the results obtained with v1.0 are consistent with those
|
|
obtained with v0.8).
|
|
|
|
|
|
v0.9.0 OWLPS, version 0.9.0 (development point release)
|
|
|
|
This release includes the internship work of Julien Graeffly (mostly on
|
|
the positioning server), and some improvements (configuration file
|
|
support, better handling of command-line options, Fonera compilation,
|
|
passive mode, etc.).
|
|
|
|
|
|
v0.8 OWLPS, version 0.8
|
|
|
|
Version 0.8, as documented in the technical report "Open Wireless
|
|
Positioning System, Version 0.8".
|
|
|
|
|
|
v0.6 "OWLPS", version 0.6
|
|
|
|
The system allows to perform infrastructure-based measurements.
|
|
Computation has to be done manually.
|
|
|
|
Note: at this time, the system was not called "OWLPS" yet.
|
|
|
|
|
|
v0.4 "OWLPS", version 0.4
|
|
|
|
First, early release of the student works TX (mobile-centred
|
|
measurements) and TO (infrastructure-centred).
|