179 lines
5.0 KiB
C++
179 lines
5.0 KiB
C++
/*
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* This file is part of the Owl Positioning System (OwlPS) project.
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* It is subject to the copyright notice and license terms in the
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* COPYRIGHT.t2t file found in the top-level directory of this
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* distribution and at
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* http://code.lm7.fr/p/owlps/source/tree/master/COPYRIGHT.t2t
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* No part of the OwlPS Project, including this file, may be copied,
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* modified, propagated, or distributed except according to the terms
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* contained in the COPYRIGHT.t2t file; the COPYRIGHT.t2t file must be
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* distributed along with this file, either separately or by replacing
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* this notice by the COPYRIGHT.t2t file's contents.
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*/
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#include "positioning.hh"
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#include "realposition.hh"
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#include "fbcm.hh"
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#include "frbhmbasic.hh"
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#include "interlinknetworks.hh"
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#include "nss.hh"
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#include "resultlist.hh"
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#include "configuration.hh"
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#include "posexcept.hh"
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#include "stock.hh"
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#include <owlps.h>
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#include <iostream>
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#include <unordered_set>
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using namespace std ;
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/* *** Constructors *** */
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Positioning::Positioning()
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{
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initialise_algorithms() ;
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loop() ;
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}
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Positioning::~Positioning()
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{
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for (vector<PositioningAlgorithm*>::const_iterator i =
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algorithms.begin() ; i != algorithms.end() ; ++i)
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delete *i ;
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algorithms.clear() ;
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}
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/* *** Operations *** */
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void Positioning::initialise_algorithms()
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{
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if (! Configuration::is_configured("positioning.algorithm"))
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throw missing_configuration(
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"No positioning algorithm specified in configuration!") ;
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const vector<string> &algo_names =
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Configuration::string_vector_value("positioning.algorithm") ;
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// We will store the names of the stored algorithms in a set, to
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// avoid multiple occurrences of the same algorithm:
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unordered_set<string> stored_algos ;
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for (vector<string>::const_iterator i = algo_names.begin() ;
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i != algo_names.end() ; ++i)
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{
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if (*i == "Real")
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{
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pair<unordered_set<string>::iterator, bool> stored =
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stored_algos.insert("Real") ;
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if (stored.second) // Check if there was no previous instance
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algorithms.insert(algorithms.begin(), new RealPosition) ;
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/* Note: in order to compute the errors of the other
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* algorithms, Real must be the first for each request,
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* so we add it at the begining. */
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}
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else if (*i == "FBCM")
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{
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pair<unordered_set<string>::iterator, bool> stored =
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stored_algos.insert("FBCM") ;
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if (stored.second) // Check if there was no previous instance
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{
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/* Generate the Friis indexes only if the autocalibration
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* is not activated (if it is, Friis indexes will be
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* regenerated each time FBCM wants to computes a position)
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*/
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if (! Configuration::autocalibration_enabled())
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Stock::update_all_friis_indexes() ;
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algorithms.push_back(new FBCM) ;
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}
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}
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else if (*i == "FRBHMBasic")
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{
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pair<unordered_set<string>::iterator, bool> stored =
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stored_algos.insert("FRBHMBasic") ;
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if (stored.second) // Check if there was no previous instance
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algorithms.push_back(new FRBHMBasic) ;
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// TODO: Pre-compute all per-ReferencePoint friis indexes?
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}
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else if (*i == "InterlinkNetworks")
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{
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pair<unordered_set<string>::iterator, bool> stored =
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stored_algos.insert("InterlinkNetworks") ;
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if (stored.second) // Check if there was no previous instance
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algorithms.push_back(new InterlinkNetworks) ;
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}
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else if (*i == "NSS")
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{
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pair<unordered_set<string>::iterator, bool> stored =
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stored_algos.insert("NSS") ;
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if (stored.second) // Check if there was no previous instance
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algorithms.push_back(new NSS) ;
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}
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else
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throw bad_configuration(
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"The specified positioning_algorithm \""+ *i +
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"\" is unknown!") ;
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}
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}
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void Positioning::loop()
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{
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vector<PositioningAlgorithm*>::const_iterator algo ;
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while (! input.eof() && owl_run)
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{
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const Request &request = input.get_next_request() ;
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if (! request)
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continue ;
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Point3D real_position ;
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bool compute_error = false ;
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ResultList results(&request) ;
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for (algo = algorithms.begin() ; algo != algorithms.end() ;
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++algo)
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{
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Result res ;
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try
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{
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res = (*algo)->compute(request) ;
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}
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catch (exception &e)
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{
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cerr
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<< "Cannot compute with algorithm "
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<< (*algo)->get_name() << ": \""
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<< e.what() << "\"\n" ;
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continue ;
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}
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if (compute_error)
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res.compute_error(real_position) ;
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else if ((*algo)->get_name() == "Real")
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{
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compute_error = true ;
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real_position = res.get_position() ;
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}
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results.add(res) ;
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}
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output.write(results) ;
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}
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}
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