public void BeaconReceived(NearbyBluetoothTag Sender, int RSSI)
{
/*
* RssiMeasure rssi = distanceMeasureHelper.GetRSSI(RSSI);
* double distance = rssi.DistanceAverage;
*
* RssiMeasure avgrssi = distanceMeasureHelper.GetRSSI(AverageRSSI);
* double avgdistance = avgrssi.DistanceAverage;
*/
double distance = distcalc.GetDistanceByRSSI(RSSI);
double avgdistance = distcalc.GetDistanceByRSSI(Sender.AverageRSSI);
Sender.SetAveragePredictedDistance(avgdistance);
foreach (BluetoothTagDisplay tag in tags)
{
if (tag.MAC.Equals(Sender.MAC))
{
tag.BeaconSent(RSSI, distance, Sender.AverageRSSI, avgdistance);
}
}
LocationResult location = PredictPosition();
mainWindow.Dispatcher.Invoke((Action)(() =>
{
DrawSimulatedPosition(location);
}));
}
protected override LocationResult CalculateCommonPoint(List<NearbyBluetoothTag> Distances, LocationResult LastLocation)
{
List<NearbyBluetoothTag> leastDistances = CalculateClosestDistances(Distances, 3);
List<Intersection> intersectionPoints = GetIntersections(leastDistances); // ebben lesznek két-két kör metszéspontjai
return new LocationResult(commonPointStrategy.CommonPointOfIntersections(intersectionPoints), Precision.ThreeOrMoreTag);
}
private LocationResult PredictPosition()
{
// Amíg a pozíciót számoljuk, ne lehessen megváltoztatni az average értékeket!
lock (nearbyTags)
{
CommonPointStrategy cps = new ClosestPointsStrategy(); //InspectAllPointsStrategy ez mégsem jó
CalculatorStrategy calculator = new AverageClosestDistanceLocationCalculator(cps);
LocationResult location = calculator.CalculateLocation(nearbyTags, null);
return(location);
}
}
protected override LocationResult CalculateCommonPoint(List<NearbyBluetoothTag> Distances, LocationResult LastLocation)
{
List<NearbyBluetoothTag> leastDistances = CalculateClosestDistances(Distances, 3);
// TODO: javítás: kivédeni a pontatlan, torzított eseteket úgy, hogy minden esetben legyen metszéspont!
ForceAllIntersections(leastDistances);
// Innen már mindenhol biztosan lesz metszéspont
List<Intersection> intersectionPoints = GetIntersections(leastDistances); // ebben lesznek két-két kör metszéspontjai
intersectionPoints.RemoveAll(intersect => intersect.Points == null || intersect.Points.Count == 0);
return new LocationResult(commonPointStrategy.CommonPointOfIntersections(intersectionPoints), Precision.ThreeOrMoreTag);
}
public LocationResult CalculateLocation(List<NearbyBluetoothTag> NearbyDistances, LocationResult LastLocation)
{
List<NearbyBluetoothTag> Distances = NearbyDistances.ToList<NearbyBluetoothTag>();
Distances.RemoveAll(tag => tag.AverageRSSI == 0.0);
if (Distances.Count == 0) return new LocationResult(new Point(-1, -1), Precision.NoTag);
if (Distances.Count == 1) return new LocationResult(Distances[0].Origo, Precision.OneTag, Distances[0].AveragePredictedDistanceFromTag); // 1 vagy semennyi kör esetén nem tudunk pozíciót meghatározni
if (Distances.Count == 2) // 2 kör esetén a metszet két pontja közti felezőpont kell
{
ForceAllIntersections(Distances);
Intersection points = Intersection.CalculateIntersection(Distances[0].Origo, Distances[0].AveragePredictedDistanceFromTag, Distances[1].Origo, Distances[1].AveragePredictedDistanceFromTag);
return new LocationResult(LocationCalculator.Midpoint(points.Points[0], points.Points[1]), Precision.TwoTag, LocationCalculator.Distance(points.Points[0], points.Points[1]) / 2);
}
return CalculateCommonPoint(Distances, LastLocation);
}
protected override LocationResult CalculateCommonPoint(List<NearbyBluetoothTag> Distances, LocationResult LastLocation)
{
List<Point> adjacentPoints = new List<Point>(); // ebben lesznek az egyes metszetek legközelebbi pontjai után kiválogatott szomszédos pontok
// kiszámoljuk minden kör, minden másik körhöz mért metszéspontját
List<Intersection> intersectionPoints = GetIntersections(Distances); // ebben lesznek két-két kör metszéspontjai
// eddig jó
for (int i = 0; i < intersectionPoints.Count; i++)
{
for (int j = i + 1; j < intersectionPoints.Count; j++)
{
if (i == j) continue;
adjacentPoints.Add(LocationCalculator.ClosestPoint(intersectionPoints[i], intersectionPoints[j]));
}
}
return new LocationResult(LocationCalculator.PointAverage(adjacentPoints), Precision.ThreeOrMoreTag);
}
private void DrawSimulatedPosition(LocationResult Position)
{
if (Position.Precision != Precision.NoTag)
{
switch (Position.Precision)
{
case Precision.OneTag: simDev.SetSimulationDisplay(Precision.OneTag, Position.SimulatedLocation, Position.Radius); break;
case Precision.TwoTag: simDev.SetSimulationDisplay(Precision.TwoTag, Position.SimulatedLocation, Position.Radius); break;
case Precision.ThreeOrMoreTag: simDev.SetSimulationDisplay(Precision.ThreeOrMoreTag, Position.SimulatedLocation); break;
}
Point simulatedDevicePos = Position.SimulatedLocation;
simDev.MoveDevice(simulatedDevicePos);
}
else
{
simDev.SetSimulationDisplay(Precision.NoTag, new Point(-1, -1));
}
}
protected abstract LocationResult CalculateCommonPoint(List <NearbyBluetoothTag> Distances, LocationResult LastLocation);
public LocationResult CalculateLocation(List <NearbyBluetoothTag> NearbyDistances, LocationResult LastLocation)
{
List <NearbyBluetoothTag> Distances = NearbyDistances.ToList <NearbyBluetoothTag>();
Distances.RemoveAll(tag => tag.AverageRSSI == 0.0);
if (Distances.Count == 0)
{
return(new LocationResult(new Point(-1, -1), Precision.NoTag));
}
if (Distances.Count == 1)
{
return(new LocationResult(Distances[0].Origo, Precision.OneTag, Distances[0].AveragePredictedDistanceFromTag)); // 1 vagy semennyi kör esetén nem tudunk pozíciót meghatározni
}
if (Distances.Count == 2) // 2 kör esetén a metszet két pontja közti felezőpont kell
{
ForceAllIntersections(Distances);
Intersection points = Intersection.CalculateIntersection(Distances[0].Origo, Distances[0].AveragePredictedDistanceFromTag, Distances[1].Origo, Distances[1].AveragePredictedDistanceFromTag);
return(new LocationResult(LocationCalculator.Midpoint(points.Points[0], points.Points[1]), Precision.TwoTag, LocationCalculator.Distance(points.Points[0], points.Points[1]) / 2));
}
return(CalculateCommonPoint(Distances, LastLocation));
}
protected override LocationResult CalculateCommonPoint(List <NearbyBluetoothTag> Distances, LocationResult LastLocation)
{
List <NearbyBluetoothTag> leastDistances = CalculateClosestDistances(Distances, 3);
List <Intersection> intersectionPoints = GetIntersections(leastDistances); // ebben lesznek két-két kör metszéspontjai
return(new LocationResult(commonPointStrategy.CommonPointOfIntersections(intersectionPoints), Precision.ThreeOrMoreTag));
}
private void DrawSimulatedPosition(LocationResult Position)
{
if (Position.Precision != Precision.NoTag)
{
switch (Position.Precision)
{
case Precision.OneTag: simDev.SetSimulationDisplay(Precision.OneTag, Position.SimulatedLocation, Position.Radius); break;
case Precision.TwoTag: simDev.SetSimulationDisplay(Precision.TwoTag, Position.SimulatedLocation, Position.Radius); break;
case Precision.ThreeOrMoreTag: simDev.SetSimulationDisplay(Precision.ThreeOrMoreTag, Position.SimulatedLocation); break;
}
Point simulatedDevicePos = Position.SimulatedLocation;
simDev.MoveDevice(simulatedDevicePos);
}
else simDev.SetSimulationDisplay(Precision.NoTag, new Point(-1, -1));
}
protected abstract LocationResult CalculateCommonPoint(List<NearbyBluetoothTag> Distances, LocationResult LastLocation);
/// <summary>
/// Három, vagy több körnek számolja ki azt a pontját, amelyik ponton az összes kör metszi egymást
/// </summary>
/// <param name="OrigoPoints">A körök középpontjai</param>
/// <param name="Radiuses">A körök sugarai</param>
/// <param name="CalculatorStrategy">Különféle stratégiák megadásával különféle módokon lehet pozíciót számolni</param>
/// <returns>Azt a pontot adja vissza, ahol az összes kör metszi egymást</returns>
public static LocationResult CalculateCommonPoint(List<NearbyBluetoothTag> Distances, LocationResult LastLocation, CalculatorStrategy CalculatorStrategy)
{
return CalculatorStrategy.CalculateLocation(Distances, LastLocation);
}
/// <summary>
/// Három, vagy több körnek számolja ki azt a pontját, amelyik ponton az összes kör metszi egymást
/// </summary>
/// <param name="OrigoPoints">A körök középpontjai</param>
/// <param name="Radiuses">A körök sugarai</param>
/// <param name="CalculatorStrategy">Különféle stratégiák megadásával különféle módokon lehet pozíciót számolni</param>
/// <returns>Azt a pontot adja vissza, ahol az összes kör metszi egymást</returns>
public static LocationResult CalculateCommonPoint(List <NearbyBluetoothTag> Distances, LocationResult LastLocation, CalculatorStrategy CalculatorStrategy)
{
return(CalculatorStrategy.CalculateLocation(Distances, LastLocation));
}
protected override LocationResult CalculateCommonPoint(List <NearbyBluetoothTag> Distances, LocationResult LastLocation)
{
List <NearbyBluetoothTag> leastDistances = CalculateClosestDistances(Distances, 3);
// TODO: javítás: kivédeni a pontatlan, torzított eseteket úgy, hogy minden esetben legyen metszéspont!
ForceAllIntersections(leastDistances);
// Innen már mindenhol biztosan lesz metszéspont
List <Intersection> intersectionPoints = GetIntersections(leastDistances); // ebben lesznek két-két kör metszéspontjai
intersectionPoints.RemoveAll(intersect => intersect.Points == null || intersect.Points.Count == 0);
return(new LocationResult(commonPointStrategy.CommonPointOfIntersections(intersectionPoints), Precision.ThreeOrMoreTag));
}
protected override LocationResult CalculateCommonPoint(List <NearbyBluetoothTag> Distances, LocationResult LastLocation)
{
List <Point> adjacentPoints = new List <Point>(); // ebben lesznek az egyes metszetek legközelebbi pontjai után kiválogatott szomszédos pontok
// kiszámoljuk minden kör, minden másik körhöz mért metszéspontját
List <Intersection> intersectionPoints = GetIntersections(Distances); // ebben lesznek két-két kör metszéspontjai
// eddig jó
for (int i = 0; i < intersectionPoints.Count; i++)
{
for (int j = i + 1; j < intersectionPoints.Count; j++)
{
if (i == j)
{
continue;
}
adjacentPoints.Add(LocationCalculator.ClosestPoint(intersectionPoints[i], intersectionPoints[j]));
}
}
return(new LocationResult(LocationCalculator.PointAverage(adjacentPoints), Precision.ThreeOrMoreTag));
}