Merge pull request #57 from marcomicera/fix_statistics (#55)

Various statistics' fixes

board/followifier/main/components/sniffer.c

@@ -178,7 +178,7 @@ void hexDump(char *desc, void *addr, int len) {
     }
 
     // And print the final ASCII bit.
-    printf("  %s\n\n", buff);
+    printf("  %s\n", buff);
 }
 
 /**
@@ -238,7 +238,8 @@ void sniffer_packet_handler(void *buff, wifi_promiscuous_pkt_type_t type) {
                  now,
                  ppkt->rx_ctrl.rssi
         );
-        hexDump(NULL, ppkt->payload, ppkt->rx_ctrl.sig_len);
+        // hexDump(NULL, ppkt->payload, ppkt->rx_ctrl.sig_len);
+        printf("\n");
         Followifier__ESP32Message message = FOLLOWIFIER__ESP32_MESSAGE__INIT;
         Followifier__ESP32Metadata metadata = FOLLOWIFIER__ESP32_METADATA__INIT;
 

common/message.proto

@@ -3,7 +3,7 @@ syntax = "proto2";
 package followifier;
 
 message ESP32Metadata {
-    required string apMac = 1;
+    required string apMac = 1; // FIXME change it into `deviceMac`
     required string ssid = 2;
     required int64 timestamp = 3;
     required int32 rsi = 5;

core/examples/dummy_packets/dummy_packet_producer.py

@@ -51,13 +51,17 @@ def gen_dummy_batch_base(batch_size):
     return batch
 
 
-def gen_dummy_batch(batch, mac, common_hashes):
+def gen_dummy_batch(batch, mac, common_hashes, a):
     used_common_hashes = 0
     batch.boardMac = mac
     for message in batch.messages:
 
         # Setting a random RSSI
-        message.metadata.rsi = -24
+        if a:
+            message.metadata.rsi = -62;
+        else:
+            message.metadata.rsi = -51;
+
 
         # Introduce a common frame hash as long as there are some available
         if len(common_hashes) > used_common_hashes:
@@ -74,7 +78,7 @@ def fill_message(message):
     message.metadata.ssid = gen_random_ssid()
     message.metadata.timestamp = gen_random_timestamp()
     # message.frame_hash = gen_random_hash()
-    message.metadata.rsi = -24;
+      
 
 
 def main():
@@ -104,15 +108,17 @@ def main():
         print("\nNew round, " + str(num_common_hashes) + " messages will be stored in the database.")
 
         # Simulating multiple boards
+        check = True
         for board_mac_address in args.boards_mac:
             try:
-                batch = gen_dummy_batch(batch_base, board_mac_address, common_hashes).SerializeToString()
+                batch = gen_dummy_batch(batch_base, board_mac_address, common_hashes, check).SerializeToString()
                 s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
                 s.connect((args.ip, args.port))
                 s.send(batch)
                 s.send(b'\n\r\n\r')
                 print("Board " + board_mac_address + " has sent a batch.")
                 s.close()
+                check = not check
             except ConnectionRefusedError:
                 print("Server not available.")
 

core/server/src/point.cpp

@@ -1,6 +1,7 @@
 #include "point.h"
 #include <stdexcept>
 #include <cmath>
+
 double Point::getX() {
     return this->x;
 }
@@ -28,4 +29,8 @@ bool Point::isValid() {
     if(!std::isnan(x) && !std::isnan(y))
         return true;
     return false;
-}
+}
+
+std::ostream& operator<<(std::ostream &ostream, const Point &point) {
+    return ostream << "< x = " << point.x << ", y = " << point.y << ">";
+}

core/server/src/point.h

@@ -2,14 +2,15 @@
 #define CORE_POINT_H
 
 #include <cstdint>
+#include <ostream>
 
 class Point {
 
 public:
 
     Point(double x, double y);
 
-// id is returned as hash function
+    // id is returned as hash function
     bool operator==(const Point &other) const;
 
     struct PointHasher {
@@ -23,6 +24,8 @@ class Point {
     double getY();
     bool isValid();
 
+    friend std::ostream& operator<<(std::ostream&, const Point&);
+
 private:
 
     double x;

core/server/src/receiver.cpp

@@ -86,19 +86,21 @@ void receiver::addBatch(const followifier::Batch &newBatch, database &database)
         if (messagesBuffer.find(newMessage.frame_hash())->second.size() == NUMBER_BOARDS) {
 
             aFrameHasBeenSentByAllBoards = true;
+            cout << "Message " << prettyHash(newMessage.frame_hash()) << " has been sent by all boards." << endl;
 
-            Point position = statistics::getPosition(newMessage.frame_hash(),
-                                                     messagesBuffer.find(newMessage.frame_hash())->second);
-            if (!position.isValid()){
+            /* Computing device position */
+            Point devicePosition = statistics::getDevicePosition(messagesBuffer.find(newMessage.frame_hash())->second);
+            cout << "Device location: " << devicePosition << endl;
+            if (!devicePosition.isValid()){
                 cerr << "Message " << prettyHash(newMessage.frame_hash()) << " discarded for invalid position" << endl;
                 return;
             }
+            cout << endl;
+
             /* Storing it into the database */
-            cout << "Message " << prettyHash(newMessage.frame_hash()) << " has been sent by all boards from position "
-                 << position.getX() << "," << position.getY() << endl;
-            /* Compute position */
             // FIXME The following should store all these statistics
-            database.insert_message(newMessage, position); // TODO check object internal representation in MongoDB
+            // TODO check object internal representation in MongoDB
+            database.insert_message(newMessage, devicePosition);
 
             /* Clearing the entry relative to this frame */
             messagesBuffer.erase(newMessage.frame_hash());

core/server/src/receiver.h

@@ -64,14 +64,16 @@ class receiver {
      * @param cause     the cause that led the start of a new round.
      */
     static void newRound(const std::string &cause) {
-        std::cout << cause << " " << std::flush; // TODO glog
-        std::cout << "Starting a new round..." << std::endl;
-        if (lastRoundBoardMacs.size() == NUMBER_BOARDS) {
-            std::cout << std::endl << std::endl;
-        }
         if (!ROUNDLESS_MODE) {
+            std::cout << cause << " " << std::flush; // TODO glog
+            std::cout << "Starting a new round..." << std::endl;
+            if (lastRoundBoardMacs.size() == NUMBER_BOARDS) {
+                std::cout << std::endl << std::endl;
+            }
             lastRoundBoardMacs.clear();
             messagesBuffer.clear();
+        } else {
+            std::cout << std::endl << std::endl;
         }
     }
 

core/server/src/statistics.cpp

@@ -2,38 +2,52 @@
 #include "settings.h"
 #include <iostream>
 
-Point statistics::getPosition(std::string hash, std::unordered_map< std::string, followifier::ESP32Metadata> &messageBoardsAndMetadata) {
+Point statistics::getDevicePosition(std::unordered_map<std::string, followifier::ESP32Metadata> &boardMetadatas) {
+
     std::unordered_set<Point, Point::PointHasher> listPossiblePoints;
-    for (auto i = messageBoardsAndMetadata.begin(); i != messageBoardsAndMetadata.end(); i++) {
-        for (auto j = std::next(i, 1); j != messageBoardsAndMetadata.end(); j++) {
-            //calculate interception points
-            //d = sqrt((x1-x2)^2 + (y1-y2)^2)
-            double d = std::sqrt(
-                    std::pow(Settings::configuration.boards.find(i->first)->second.getCoordinates().getX() -
-                             Settings::configuration.boards.find(j->first)->second.getCoordinates().getX(), 2) +
-                    std::pow(Settings::configuration.boards.find(i->first)->second.getCoordinates().getY() -
-                             Settings::configuration.boards.find(j->first)->second.getCoordinates().getY(), 2));
-
-            //l = r1^2-r2^2 + d^2 / 2d
-            double l = (std::pow(statistics::estimatedDistance(i->second.rsi()), 2) - std::pow(statistics::estimatedDistance(j->second.rsi()), 2) + std::pow(d, 2)) / (2 * d);
-
-            //h = sqrt(r1^2 - l^2)
-            double h = std::sqrt(std::pow(statistics::estimatedDistance(i->second.rsi()), 2) - std::pow(l, 2));
-                 //x = l(x2 - x1) / d + -h(y2 - y1) / d + x1
-            double x = (l * (Settings::configuration.boards.find(j->first)->second.getCoordinates().getX() -
-                             Settings::configuration.boards.find(i->first)->second.getCoordinates().getX())) / d +
-                       (h * (Settings::configuration.boards.find(j->first)->second.getCoordinates().getY() -
-                             Settings::configuration.boards.find(i->first)->second.getCoordinates().getY())) / d +
-                       Settings::configuration.boards.find(i->first)->second.getCoordinates().getX();
-            //y = h(y2 - y1) / d -+ l(x2 - x1) / d + y1
-            double y = (l * (Settings::configuration.boards.find(j->first)->second.getCoordinates().getY() -
-                             Settings::configuration.boards.find(i->first)->second.getCoordinates().getY())) / d -
-                       (h * (Settings::configuration.boards.find(j->first)->second.getCoordinates().getX() -
-                             Settings::configuration.boards.find(i->first)->second.getCoordinates().getX())) / d +
-                       Settings::configuration.boards.find(i->first)->second.getCoordinates().getY();
-
-            if (checkPoint(std::round(x), std::round(y), messageBoardsAndMetadata)) {
-                listPossiblePoints.insert(Point(std::round(x), std::round(y)));
+
+    for (auto i = boardMetadatas.begin(); i != boardMetadatas.end(); ++i) {
+        for (auto j = std::next(i, 1); j != boardMetadatas.end(); ++j) {
+
+            double x1 = Settings::configuration.boards.find(i->first)->second.getCoordinates().getX();
+            double x2 = Settings::configuration.boards.find(j->first)->second.getCoordinates().getX();
+            double y1 = Settings::configuration.boards.find(i->first)->second.getCoordinates().getY();
+            double y2 = Settings::configuration.boards.find(j->first)->second.getCoordinates().getY();
+
+            // Interception points
+            double r1 = statistics::estimatedDistance(i->second.rsi());
+            double r2 = statistics::estimatedDistance(j->second.rsi());
+            std::cout << "Board " << i->first << " announced device " << i->second.apmac() << " at a distance of " << r1
+                      << " cm." << std::endl;
+            std::cout << "Board " << j->first << " announced device " << j->second.apmac() << " at a distance of " << r2
+                      << " cm." << std::endl;
+
+            // d = sqrt((x1-x2)^2 + (y1-y2)^2)
+            double d = std::sqrt(std::pow(x1 - x2, 2) + std::pow(y1 - y2, 2));
+
+            // l = r1^2-r2^2 + d^2 / 2d
+            double l = (std::pow(r1, 2) - std::pow(r2, 2) + std::pow(d, 2)) / (2 * d);
+
+            // h = sqrt(r1^2 - l^2)
+            double h = std::sqrt(std::pow(r1, 2) - std::pow(l, 2));
+
+            /*
+             * Results
+             */
+
+            // x results = l(x2 - x1) / d + -h(y2 - y1) / d + x1
+            double xr1 = l * (x2 - x1) / d + h * (y2 - y1) / d + x1;
+            double xr2 = l * (x2 - x1) / d - h * (y2 - y1) / d + x1;
+
+            // y results = l(y2 - y1) / d -+ h(x2 - x1) / d + y1
+            double yr1 = l * (y2 - y1) / d - h * (x2 - x1) / d + y1;
+            double yr2 = l * (y2 - y1) / d + h * (x2 - x1) / d + y1;
+
+            if (xr1 >= 0 && yr1 >= 0 && checkPoint(xr1, yr1, boardMetadatas) && Point(xr1, yr1).isValid()) {
+                listPossiblePoints.insert(Point(std::round(xr1), std::round(yr1)));
+            }
+            if (xr2 >= 0 && yr2 >= 0 && checkPoint(xr2, yr2, boardMetadatas) && Point(xr2, yr2).isValid()) {
+                listPossiblePoints.insert(Point(std::round(xr2), std::round(yr2)));
             }
         }
     }
@@ -49,19 +63,22 @@ Point statistics::getPosition(std::string hash, std::unordered_map< std::string,
     return center;
 }
 
-double statistics::estimatedDistance(double rssi){
-    double distance = std::pow(10, (ONE_METER_RSSI - rssi)/(10*2));
-    distance *= 1.1; // FIXME Make tolerance a variable
-    std::cout << "Estimated distance: " << distance << std::endl; // TODO glog
-    return distance * 100;
+double statistics::estimatedDistance(double rssi) {
+    double distance = std::pow(10, (ONE_METER_RSSI - rssi) / (10 * 2)) * 100;
+    return distance * 1.1; // FIXME Make tolerance a variable
 }
 
 bool statistics::checkPoint(double x, double y,
-                            std::unordered_map<std::string, followifier::ESP32Metadata> &boardsMedatada) {
-    for (auto & board : Settings::configuration.boards) {
-        if ((std::pow(x - board.second.getCoordinates().getX(), 2) + std::pow(y - board.second.getCoordinates().getY(), 2) -
-             std::pow(statistics::estimatedDistance(boardsMedatada.find(board.first)->second.rsi()), 2)) > 0)
+                            std::unordered_map<std::string, followifier::ESP32Metadata> &boardMetadatas) {
+
+    for (auto &board : Settings::configuration.boards) {
+
+        if (std::sqrt(std::pow(x - board.second.getCoordinates().getX(), 2) +
+                      std::pow(y - board.second.getCoordinates().getY(), 2)) -
+            std::pow(statistics::estimatedDistance(boardMetadatas.find(board.first)->second.rsi()), 2) > 0) {
+
             return false;
+        }
     }
     return true;
 }

core/server/src/statistics.h

@@ -6,11 +6,11 @@
 #include <unordered_map>
 #include "../gen/message.pb.h"
 #include "receiver.h"
-#define ONE_METER_RSSI -67
+#define ONE_METER_RSSI -65
 
 class statistics {
 public:
-    static Point getPosition(std::string, std::unordered_map <std::string, followifier::ESP32Metadata>&);
+    static Point getDevicePosition(std::unordered_map <std::string, followifier::ESP32Metadata> &boardMetadatas);
 
 private:
 

core/server/start.sh

@@ -1,9 +1,5 @@
 #!/bin/bash
 
-# Building the project
-cmake .
-make
-
 # Allowing inbound and outbound TCP connections on the specified port
 PORT=$(python3 -c "import json; print(json.load(open('./config.json'))['port'])")
 echo Asking password to allow TCP inbound and outbound connections on port "$PORT" on this machine...
@@ -16,4 +12,4 @@ sudo apt-get install -y ntp
 /etc/init.d/ntp start
 
 # Launching the server
-./core
+cmake . && make && ./core