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This commit is contained in:
Gunnar Beutner 2023-12-09 07:39:03 +01:00
parent eeedb1fba7
commit 00ff50e71f
3 changed files with 31 additions and 73 deletions
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86
lib/BleFingerprint/BleFingerprint.cpp
View File

@ -408,11 +408,6 @@ void BleFingerprint::fingerprintManufactureData(NimBLEAdvertisedDevice *advertis
void BleChannelObservation::observe(unsigned long timestamp, int rssi1m, int rssi) {
this->rssi = rssi;
raw = pow(10, float(rssi1m - rssi) / (10.0f * BleFingerprintCollection::absorption));
filter.addMeasurement(raw);
dist = filter.getDistance();
vari = filter.getVariance();
ci = 1.959 * std::sqrt(vari) / std::sqrt(12);
mean = filter.getMeanDistance();
lastSeenMillis = timestamp;
}
@ -428,6 +423,18 @@ bool BleFingerprint::seen(BLEAdvertisedDevice *advertisedDevice, uint8_t channel
lastChannel = channel;
channels[ble_channel_to_index(channel)].observe(millis(), get1mRssi(), advertisedDevice->getRSSI());
int maxRssiRecent = NO_RSSI, maxRssiOverall = NO_RSSI;
for (const auto& channel : channels) {
if (channel.rssi > maxRssiOverall)
maxRssiOverall = channel.rssi;
if (channel.rssi > maxRssiRecent && channel.lastSeenMillis > millis() - 5000)
maxRssiRecent = channel.rssi;
}
int rssi = (maxRssiRecent != NO_RSSI) ? maxRssiRecent : maxRssiOverall;
auto raw = pow(10, float(get1mRssi() - rssi) / (10.0f * BleFingerprintCollection::absorption));
filter.addMeasurement(raw);
if (!added) {
added = true;
return true;
@ -443,71 +450,30 @@ bool BleFingerprint::fill(JsonObject *doc) {
if (idType) (*doc)[F("idType")] = idType;
(*doc)[F("rssi@1m")] = get1mRssi();
(*doc)[F("rssi")] = getMaxObservedRssi();
(*doc)[F("rssi")] = channels[ble_channel_to_index(lastChannel)].rssi;
(*doc)[F("raw")] = serialized(String(channels[ble_channel_to_index(lastChannel)].raw, 2));
switch (lastChannel) {
case 37:
(*doc)[F("rssi37")] = channels[0].rssi;
(*doc)[F("raw37")] = serialized(String(channels[0].raw, 2));
(*doc)[F("distance37")] = serialized(String(channels[0].dist, 2));
(*doc)[F("var37")] = serialized(String(channels[0].vari, 2));
(*doc)[F("mean37")] = serialized(String(channels[0].mean, 2));
(*doc)[F("ci37")] = serialized(String(channels[0].ci, 2));
break;
case 38:
(*doc)[F("rssi38")] = channels[1].rssi;
(*doc)[F("raw38")] = serialized(String(channels[1].raw, 2));
(*doc)[F("distance38")] = serialized(String(channels[1].dist, 2));
(*doc)[F("var38")] = serialized(String(channels[1].vari, 2));
(*doc)[F("mean38")] = serialized(String(channels[1].mean, 2));
(*doc)[F("ci39")] = serialized(String(channels[1].ci, 2));
break;
case 39:
(*doc)[F("rssi39")] = channels[2].rssi;
(*doc)[F("raw39")] = serialized(String(channels[2].raw, 2));
(*doc)[F("distance39")] = serialized(String(channels[2].dist, 2));
(*doc)[F("var39")] = serialized(String(channels[2].vari, 2));
(*doc)[F("mean39")] = serialized(String(channels[2].mean, 2));
(*doc)[F("ci39")] = serialized(String(channels[2].ci, 2));
break;
}
(*doc)[F("channel")] = lastChannel;
float weightedDistances = 0, weightedMeans = 0, weightedVariances = 0, weightedCIs = 0;
float sumWeights = 0;
int channelCount = 0;
for (const auto& channel : channels) {
if (channel.lastSeenMillis < millis() - 5000)
continue;
float weight = 1 / std::max(channel.vari, 0.05f);
weightedDistances += channel.dist * weight;
weightedMeans += channel.mean * weight;
weightedVariances += channel.vari * weight;
weightedCIs += channel.ci * weight;
sumWeights += weight;
channelCount++;
}
// FIXME: weight channels by timestamp of last packet, so we can ignore stale values?
if (!channelCount) {
weightedDistances = channels[0].dist;
weightedMeans = channels[0].mean;
weightedVariances = channels[0].vari;
sumWeights = 1;
channelCount = 1;
}
float fusedDistance = weightedDistances / sumWeights;
(*doc)[F("distance")] = serialized(String(fusedDistance, 2));
(*doc)[F("distance")] = serialized(String(filter.getDistance(), 2));
(*doc)[F("mean")] = serialized(String(filter.getMeanDistance(), 2));
(*doc)[F("var")] = serialized(String(filter.getVariance(), 2));
(*doc)[F("ci")] = serialized(String(1.959 * std::sqrt(filter.getVariance()) / std::sqrt(12), 2));
float fusedMean = weightedMeans / sumWeights;
(*doc)[F("mean")] = serialized(String(fusedMean, 2));
float fusedVariance = weightedVariances / sumWeights;
(*doc)[F("var")] = serialized(String(fusedVariance, 2));
float fusedCI = weightedCIs / sumWeights;
(*doc)[F("ci")] = serialized(String(fusedCI, 2));
auto minRaw = std::min_element(channels.begin(), channels.end(), [](const BleChannelObservation& a, const BleChannelObservation& b) { return a.raw < b.raw; })->raw;
(*doc)[F("raw")] = serialized(String(minRaw, 2));
if (close) (*doc)[F("close")] = true;
(*doc)[F("int")] = (millis() - firstSeenMillis) / seenCount;
@ -523,19 +489,19 @@ bool BleFingerprint::report(JsonObject *doc) {
if (ignore || idType <= ID_TYPE_RAND_MAC || hidden) return false;
if (reported) return false;
auto minObservedDistance = getMinObservedDistance();
auto distance = getDistance();
auto maxDistance = BleFingerprintCollection::maxDistance;
if (maxDistance > 0 && minObservedDistance > maxDistance)
if (maxDistance > 0 && distance > maxDistance)
return false;
auto now = millis();
if ((abs(minObservedDistance - lastReported) < BleFingerprintCollection::skipDistance) && (lastReportedMillis > 0) && (now - lastReportedMillis < BleFingerprintCollection::skipMs))
if ((abs(distance - lastReported) < BleFingerprintCollection::skipDistance) && (lastReportedMillis > 0) && (now - lastReportedMillis < BleFingerprintCollection::skipMs))
return false;
if (fill(doc)) {
lastReportedMillis = now;
lastReported = minObservedDistance;
lastReported = distance;
reported = true;
return true;
}
@ -597,16 +563,16 @@ bool BleFingerprint::shouldCount() {
close = false;
}
auto minObservedDistance = getMinObservedDistance();
auto distance = getDistance();
bool prevCounting = counting;
if (ignore || !countable)
counting = false;
else if (getMsSinceLastSeen() > BleFingerprintCollection::countMs)
counting = false;
else if (counting && minObservedDistance > BleFingerprintCollection::countExit)
else if (counting && distance > BleFingerprintCollection::countExit)
counting = false;
else if (!counting && minObservedDistance <= BleFingerprintCollection::countEnter)
else if (!counting && distance <= BleFingerprintCollection::countEnter)
counting = true;
if (prevCounting != counting) {

14
lib/BleFingerprint/BleFingerprint.h
View File

@ -81,16 +81,9 @@ enum class BleChannel {
struct BleChannelObservation {
int rssi { NO_RSSI };
float raw { 0 };
float dist { 0 };
float mean { 0 };
float vari { 0 };
float ci { 0 };
unsigned long lastSeenMillis { 0 };
void observe(unsigned long timestamp, int rssi1m, int rssi);
private:
FilteredDistance filter { ONE_EURO_FCMIN, ONE_EURO_BETA, ONE_EURO_DCUTOFF };
};
class BleFingerprint {
@ -119,9 +112,7 @@ class BleFingerprint {
const short getIdType() const { return idType; }
const float getMinObservedDistance() const {
return std::min_element(channels.begin(), channels.end(), [](const BleChannelObservation& a, const BleChannelObservation& b) { return a.dist < b.dist; })->dist;
}
const float getDistance() const { return filter.getDistance(); }
const int getMaxObservedRssi() const {
return std::max_element(channels.begin(), channels.end(), [](const BleChannelObservation& a, const BleChannelObservation& b) { return a.rssi < b.rssi; })->rssi;
@ -169,7 +160,7 @@ class BleFingerprint {
NimBLEAddress address;
String id, name;
short int idType = NO_ID_TYPE;
uint8_t lastChannel;
uint8_t lastChannel { 37 };
std::array<BleChannelObservation, 3> channels;
int8_t calRssi = NO_RSSI, bcnRssi = NO_RSSI, mdRssi = NO_RSSI, asRssi = NO_RSSI;
unsigned int qryAttempts = 0, qryDelayMillis = 0;
@ -179,6 +170,7 @@ class BleFingerprint {
uint16_t mv = 0;
uint8_t battery = 0xFF, addressType = 0xFF;
std::unique_ptr<QueryReport> queryReport = nullptr;
FilteredDistance filter { ONE_EURO_FCMIN, ONE_EURO_BETA, ONE_EURO_DCUTOFF };
static bool shouldHide(const String &s);
void fingerprint(NimBLEAdvertisedDevice *advertisedDevice);

4
src/GUI.cpp
View File

@ -106,9 +106,9 @@ void Connected(bool wifi, bool mqtt) {
void Counting(BleFingerprint *f, bool add) {
if (add)
Serial.printf("\u001b[36m%u C# +1 | %s | %-58s%ddBm (%.2fm) %lums\u001b[0m\r\n", xPortGetCoreID(), f->getMac().c_str(), f->getId().c_str(), f->getMaxObservedRssi(), f->getMinObservedDistance(), f->getMsSinceLastSeen());
Serial.printf("\u001b[36m%u C# +1 | %s | %-58s%ddBm (%.2fm) %lums\u001b[0m\r\n", xPortGetCoreID(), f->getMac().c_str(), f->getId().c_str(), f->getMaxObservedRssi(), f->getDistance(), f->getMsSinceLastSeen());
else
Serial.printf("\u001b[35m%u C# -1 | %s | %-58s%ddBm (%.2fm) %lums\u001b[0m\r\n", xPortGetCoreID(), f->getMac().c_str(), f->getId().c_str(), f->getMaxObservedRssi(), f->getMinObservedDistance(), f->getMsSinceLastSeen());
Serial.printf("\u001b[35m%u C# -1 | %s | %-58s%ddBm (%.2fm) %lums\u001b[0m\r\n", xPortGetCoreID(), f->getMac().c_str(), f->getId().c_str(), f->getMaxObservedRssi(), f->getDistance(), f->getMsSinceLastSeen());
}
void Wifi(unsigned int percent) {