Locator now can deal with ibeacons in theory
This commit is contained in:
Laura Klünder
parent
3be707f52b
commit
76b8858923
4 changed files with 65 additions and 43 deletions
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@ -23,5 +23,5 @@ class MeshRangingView(TemplateView):
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return {
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"ranging_form": RangingForm(self.request.GET or None),
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"node_names": get_node_names(),
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"nodes_xyz": Locator.load().get_all_xyz(),
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"nodes_xyz": Locator.load().get_all_nodes_xyz(),
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}
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@ -4,6 +4,7 @@ from django.conf import settings
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from django.core.exceptions import ValidationError
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from ninja import Field as APIField
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from ninja import Router as APIRouter
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from pydantic_extra_types.mac_address import MacAddress
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from c3nav.api.auth import auth_responses
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from c3nav.api.schema import BaseSchema
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@ -11,7 +12,7 @@ from c3nav.mapdata.models.access import AccessPermission
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from c3nav.mapdata.schemas.models import CustomLocationSchema
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from c3nav.mapdata.utils.cache.stats import increment_cache_key
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from c3nav.routing.locator import Locator
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from c3nav.routing.schemas import BSSIDSchema, LocateRequestWifiPeerSchema, LocateRequestIBeaconPeerSchema
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from c3nav.routing.schemas import LocateRequestWifiPeerSchema, LocateRequestIBeaconPeerSchema
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positioning_api_router = APIRouter(tags=["positioning"])
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@ -98,7 +99,7 @@ def locate_test(request):
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BeaconsXYZ = dict[
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BSSIDSchema,
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MacAddress,
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Annotated[
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tuple[
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Annotated[int, APIField(title="X (in cm)")],
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@ -107,12 +108,4 @@ BeaconsXYZ = dict[
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],
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APIField(title="global XYZ coordinates")
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]
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]
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@positioning_api_router.get('/beacons-xyz/', summary="get beacon coordinates",
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description="get xyz coordinates for all known positioning beacons",
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response={200: BeaconsXYZ, **auth_responses})
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def beacons_xyz():
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# todo: update with more details? todo permission?
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return Locator.load().get_all_xyz()
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]
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@ -3,14 +3,19 @@ import pickle
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from dataclasses import dataclass, field
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from functools import cached_property, reduce
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from pprint import pprint
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from typing import Annotated
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from typing import Optional, Self, Sequence, TypeAlias
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from uuid import UUID
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import numpy as np
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from annotated_types import Lt
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from django.conf import settings
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from pydantic.types import NonNegativeInt
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from pydantic_extra_types.mac_address import MacAddress
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from c3nav.mapdata.models import MapUpdate, Space
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from c3nav.mapdata.models.geometry.space import RangingBeacon
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from c3nav.mapdata.utils.locations import CustomLocation
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from c3nav.mesh.utils import get_nodes_and_ranging_beacons
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from c3nav.routing.router import Router
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from c3nav.routing.schemas import LocateRequestWifiPeerSchema
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@ -19,27 +24,30 @@ try:
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except ImportError:
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from threading import local as LocalContext
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BSSID: TypeAlias = str
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LocatorPeerIdentifier: TypeAlias = MacAddress | tuple[UUID, Annotated[NonNegativeInt, Lt(2 ** 16)], Annotated[NonNegativeInt, Lt(2 ** 16)]]
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@dataclass
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class LocatorPeer:
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bssid: BSSID
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identifier: LocatorPeerIdentifier
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frequencies: set[int] = field(default_factory=set)
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xyz: Optional[tuple[int, int, int]] = None
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@dataclass
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class ScanDataValue:
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rssi: int
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rssi: Optional[int] = None
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ibeacon_range: Optional[float] = None
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distance: Optional[float] = None
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@classmethod
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def average(cls, items: Sequence[Self]):
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rssi = [item.rssi for item in items]
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rssi = [item.rssi for item in items if item.rssi]
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ibeacon_range = [item.ibeacon_range for item in items if item.ibeacon_range is not None]
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distance = [item.distance for item in items if item.distance is not None]
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return cls(
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rssi=(sum(rssi)//len(rssi)),
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rssi=(sum(rssi)//len(rssi)) if rssi else None,
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ibeacon_range=(sum(ibeacon_range) // len(ibeacon_range)) if ibeacon_range else None,
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distance=(sum(distance)/len(distance)) if distance else None,
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)
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@ -57,7 +65,7 @@ class LocatorPoint:
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@dataclass
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class Locator:
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peers: list[LocatorPeer] = field(default_factory=list)
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peer_lookup: dict[BSSID, int] = field(default_factory=dict)
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peer_lookup: dict[LocatorPeerIdentifier, int] = field(default_factory=dict)
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xyz: np.array = field(default_factory=(lambda: np.empty((0,))))
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spaces: dict[int, "LocatorSpace"] = field(default_factory=dict)
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@ -69,13 +77,20 @@ class Locator:
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return locator
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def _rebuild(self, router):
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for beacon in RangingBeacon.objects.all():
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peer_id = self.get_peer_id(beacon.wifi_bssid, create=True)
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self.peers[peer_id].xyz = (
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int(beacon.geometry.x * 100),
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int(beacon.geometry.y * 100),
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int((router.altitude_for_point(beacon.space_id, beacon.geometry) + float(beacon.altitude)) * 100),
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)
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calculated = get_nodes_and_ranging_beacons()
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for beacon in calculated.beacons.values():
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identifiers = []
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if beacon.wifi_bssid:
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identifiers.append(beacon.wifi_bssid)
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if beacon.ibeacon_uuid and beacon.ibeacon_major is not None and beacon.ibeacon_minor is not None:
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identifiers.append((beacon.ibeacon_uuid, beacon.ibeacon_major, beacon.ibeacon_minor))
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for identifier in identifiers:
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peer_id = self.get_peer_id(identifier, create=True)
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self.peers[peer_id].xyz = (
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int(beacon.geometry.x * 100),
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int(beacon.geometry.y * 100),
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int((router.altitude_for_point(beacon.space_id, beacon.geometry) + float(beacon.altitude)) * 100),
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)
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self.xyz = np.array(tuple(peer.xyz for peer in self.peers))
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for space in Space.objects.prefetch_related('beacon_measurements'):
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@ -85,7 +100,7 @@ class Locator:
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LocatorPoint(
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x=measurement.geometry.x,
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y=measurement.geometry.y,
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values=self.convert_scans(measurement.data["wifi"], create_peers=True),
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values=self.convert_scans(measurement.data, create_peers=True),
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)
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for measurement in space.beacon_measurements.all()
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)
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@ -93,16 +108,16 @@ class Locator:
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if new_space.points:
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self.spaces[space.pk] = new_space
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def get_peer_id(self, bssid: BSSID, create=False) -> Optional[int]:
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peer_id = self.peer_lookup.get(bssid, None)
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def get_peer_id(self, identifier: LocatorPeerIdentifier, create=False) -> Optional[int]:
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peer_id = self.peer_lookup.get(identifier, None)
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if peer_id is None and create:
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peer = LocatorPeer(bssid=bssid)
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peer = LocatorPeer(identifier=identifier)
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peer_id = len(self.peers)
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self.peer_lookup[bssid] = peer_id
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self.peer_lookup[identifier] = peer_id
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self.peers.append(peer)
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return peer_id
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def convert_scan(self, scan_data, create_peers=False) -> ScanData:
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def convert_wifi_scan(self, scan_data, create_peers=False) -> ScanData:
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result = {}
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for scan_value in scan_data:
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if settings.WIFI_SSIDS and scan_value['ssid'] not in settings.WIFI_SSIDS:
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@ -112,10 +127,25 @@ class Locator:
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result[peer_id] = ScanDataValue(rssi=scan_value["rssi"], distance=scan_value.get("distance", None))
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return result
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def convert_ibeacon_scan(self, scan_data, create_peers=False) -> ScanData:
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result = {}
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for scan_value in scan_data:
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peer_id = self.get_peer_id(
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(scan_value['uuid'], scan_value['major'], scan_value['minor']),
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create=create_peers
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)
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if peer_id is not None:
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result[peer_id] = ScanDataValue(ibeacon_range=scan_value["distance"])
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return result
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def convert_scans(self, scans_data, create_peers=False) -> ScanData:
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converted = []
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for scan in scans_data:
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converted.append(self.convert_scan(scan, create_peers=create_peers))
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for scan in scans_data["wifi"]:
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converted.append(self.convert_wifi_scan(scan, create_peers=create_peers))
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for scan in scans_data["ibeacon"]:
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converted.append(self.convert_ibeacon_scan(scan, create_peers=create_peers))
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peer_ids = reduce(operator.or_, (frozenset(values.keys()) for values in converted), frozenset())
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return {
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peer_id: ScanDataValue.average(
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@ -149,15 +179,16 @@ class Locator:
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def convert_raw_scan_data(self, raw_scan_data: list[LocateRequestWifiPeerSchema]) -> ScanData:
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return self.convert_scan(raw_scan_data, create_peers=False)
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def get_xyz(self, address: BSSID) -> tuple[int, int, int] | None:
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i = self.get_peer_id(address)
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def get_xyz(self, identifier: LocatorPeerIdentifier) -> tuple[int, int, int] | None:
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i = self.get_peer_id(identifier)
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if i is None:
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return None
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return self.peers[i].xyz
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def get_all_xyz(self) -> dict[BSSID, float]:
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def get_all_nodes_xyz(self) -> dict[LocatorPeerIdentifier, tuple[float, float, float]]:
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return {
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peer: peer.xyz for peer in self.peers[:len(self.xyz)]
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peer.identifier: peer.xyz for peer in self.peers[:len(self.xyz)]
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if isinstance(peer.identifier, MacAddress)
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}
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def locate(self, raw_scan_data: list[LocateRequestWifiPeerSchema], permissions=None):
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@ -4,16 +4,14 @@ from uuid import UUID
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from annotated_types import Lt
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from pydantic import Field as APIField
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from pydantic import NegativeInt, PositiveInt
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from pydantic.types import NonNegativeInt, PositiveFloat, NonNegativeFloat
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from pydantic.types import NonNegativeInt, NonNegativeFloat
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from pydantic_extra_types.mac_address import MacAddress
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from c3nav.api.schema import BaseSchema
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from c3nav.api.utils import NonEmptyStr
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BSSIDSchema = Annotated[str, APIField(pattern=r"^[a-z0-9]{2}(:[a-z0-9]{2}){5}$", title="BSSID")]
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class LocateRequestWifiPeerSchema(BaseSchema):
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bssid: BSSIDSchema = APIField(
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bssid: MacAddress = APIField(
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title="BSSID",
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description="BSSID of the peer",
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example="c3:42:13:37:ac:ab",
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