public void ClusteredTriLaterationTest()
{
MySQLClass MyDB = new MySQLClass("DRIVER={MySQL ODBC 3.51 Driver};SERVER=localhost;DATABASE=senseless;UID=root;PASSWORD=admin;OPTION=3;");
Node BlindNode = new Node("Test", MyDB);
BlindNode.NewAnchor("1", 50.00, 0.00, 0.00, 1);
BlindNode.NewAnchor("2", 50.00, 2.00, 0.00, 1);
BlindNode.NewAnchor("3", 50.00, 2.00, 2.00, 1);
Node.FilterMethod filterMethod = RangeBasedPositioning.AverageFilter;
Point expected = new Point(1,1);
Point actual;
actual = ClusterTrilateration.CalculatePosition(BlindNode, filterMethod, false);
//Assert.AreEqual(expected, actual);
Assert.Inconclusive("Verify the correctness of this test method.");
}
/// <summary>
/// Sub-function that takes a dataset which holds (a number of) sensormeasurements and saves these to the database.
/// Note: the MAC-address (SunSpot) or the Unique ID (TelosB) has to be in the database or the measurement will be ignored and not saved tot he database.
/// </summary>
/// <param name="Set">DataSet with the table that contains the sensormeasurement.</param>
/// <returns>The last UID of the inserted row (which means an int >= 1) anything else means the last insert failed.</returns>
private DataSet AddSensorMeasurements(DataSet Set)
{
DataSet returnSet = new DataSet();
DataSet tempSet = new DataSet();
double temp;
int tempint;
string cmd = "";
foreach (DataRow row in Set.Tables[0].Rows) //Run through every sensor in the xml-message
{
string CheckIfNodeInDB = "call getNodeID('" + row["ID"].ToString() + "');";
try
{
if (MySQLAllowedConn)
tempSet = MySQLConn.Query(CheckIfNodeInDB);
}
catch (Exception e_mysql)
{
SocketServer.LogError(e_mysql, "LogServer.txt");
}
#region add node to DB
if (tempSet.Tables[0].Rows.Count < 1) //If the sensor is in the database, proceed with inserting the new measurements into the database.
{
string addTelosb = "call addSensorToDBTelosb('" + row["ID"] + "'," + "2);";
try
{
//Update the MySQL-database (if it is available)
if (MySQLAllowedConn)
returnSet = MySQLConn.Query(addTelosb);
Console.WriteLine("Query OK");
}
catch (Exception e_mysql)
{
Console.WriteLine("Failed to add node to the DB");
SocketServer.LogError(e_mysql, "LogServer.txt");
//return Set;
}
}
#endregion
if (Set.DataSetName == "SensorMeasurements")
{
int TimeSecs;
if (int.TryParse(row["Time"].ToString(), out TimeSecs))
row["Time"] = ConvertUnixToLocalTimeStamp(TimeSecs); //SunSpot sends the timestamp as unix-timestamp, convert it to normal timestamp.
//Create the command that we send to the database to insert the new row.
cmd = "call addSensorMeasurements('" +
row["ID"] + "','" +
row["Time"] + "','" +
row["Temp"] + "','" +
row["Light"] + "'," +
((double.TryParse(row["Humidity"].ToString(), out temp)) ? row["Humidity"] : "null") + "," +
((int.TryParse(row["Power"].ToString(), out tempint)) ? row["Power"] : "null") + "," +
((double.TryParse(row["TiltX"].ToString(), out temp)) ? row["TiltX"] : "null") + "," +
((double.TryParse(row["TiltY"].ToString(), out temp)) ? row["TiltY"] : "null") + "," +
((double.TryParse(row["TiltZ"].ToString(), out temp)) ? row["TiltZ"] : "null") + "," +
((double.TryParse(row["AccX"].ToString(), out temp)) ? row["AccX"] : "null") + "," +
((double.TryParse(row["AccY"].ToString(), out temp)) ? row["AccY"] : "null") + "," +
((double.TryParse(row["AccZ"].ToString(), out temp)) ? row["AccZ"] : "null") + ",'" +
((int.TryParse(row["Button1"].ToString(), out tempint)) ? row["Button1"] : "0") + "'," +
((int.TryParse(row["Button2"].ToString(), out tempint)) ? row["Button2"] : "null") + ",'" +
((double.TryParse(row["LED1"].ToString(), out temp)) ? row["LED1"] : "null") + "','" +
((double.TryParse(row["LED2"].ToString(), out temp)) ? row["LED2"] : "null") + "','" +
((double.TryParse(row["LED3"].ToString(), out temp)) ? row["LED3"] : "null") + "','" +
((double.TryParse(row["LED4"].ToString(), out temp)) ? row["LED4"] : "null") + "','" +
((double.TryParse(row["LED5"].ToString(), out temp)) ? row["LED5"] : "null") + "','" +
((double.TryParse(row["LED6"].ToString(), out temp)) ? row["LED6"] : "null") + "','" +
((double.TryParse(row["LED7"].ToString(), out temp)) ? row["LED7"] : "null") + "','" +
((double.TryParse(row["LED8"].ToString(), out temp)) ? row["LED8"] : "null") + "'," +
((int.TryParse(row["Polling"].ToString(), out tempint)) ? row["Polling"] : "null") + ");";
Console.WriteLine("AddSensorMeasurements OK");
Console.WriteLine("WSNID is: \n" + row["ID"].ToString());
//#region NewSensorData
//XElementExtended payload = new XElementExtended("Event",
// new XElementExtended("ID", row["ID"].ToString()),
// new XElementExtended("Type", "NewSensorData"),
// new XElementExtended("Data",
// new XElementExtended("Temperature", row["Temp"].ToString()),
// new XElementExtended("Light", row["Light"].ToString())));
////payload["ID"] = row["ID"].ToString();
////payload["Type"] = "NewSensorData";
////payload["Data"] = new XElementExtended(new XElementExtended("Temperature", row["Temp"].ToString()),new XElementExtended("Light", row["Light"].ToString()));
//NewSensorDataEvent(this, new EventMessage("1", payload.ToString()));
if (NewSensorDataEvent != null)
{
EventMessage EventData = new EventMessage();
EventData.EventSubscriptionId = "1";
EventData.EventType = "NewSensorData";
EventData.TagBlink["TagID"] = row["idnode"].ToString();
EventData.TagBlink["Temperature"] = row["temperature"].ToString();
EventData.TagBlink["Light"] = row["Light"].ToString();
NewSensorDataEvent(this, EventData);
}
//#endregion
}
else if (Set.DataSetName == "LocationMessage")
{
int TimeSecs;
if (int.TryParse(row["Time"].ToString(), out TimeSecs))
row["Time"] = ConvertUnixToLocalTimeStamp(TimeSecs); //SunSpot sends the timestamp as unix-timestamp, convert it to normal timestamp.
currentID = row["ID"].ToString();
Positioning.Point pos = new Positioning.Point(0, 0);
Node CurrentBlindNode;
if (!BlindNodes.Exists(ExistsNode))
{
BlindNodes.Add(new Node(row["ID"].ToString(), MySQLConn, row["ANode"].ToString(), Convert.ToDouble(row["RSSI"].ToString())));
Console.WriteLine("Added new BN to be positioned\n\n\n");
CurrentBlindNode = BlindNodes.Find(ExistsNode);
}
else
{
CurrentBlindNode = BlindNodes.Find(ExistsNode);
CurrentBlindNode.AddAnchor(row["ANode"].ToString(), Convert.ToDouble(row["RSSI"].ToString()));
}
//TODO: switch on the bulletlist or whatever you use to select the algorithm
pos = CentroidLocalization.CalculatePosition(CurrentBlindNode);
Console.WriteLine("Position succesfully calculated, x = {0}, y = {1}", pos.x.ToString(), pos.y.ToString());
//Create the command that we send to the database to insert the new row.
cmd = "call addLocalizationData(" +
((int.TryParse(row["RSSI"].ToString(), out tempint)) ? row["RSSI"] : "null") + "," +
pos.x.ToString() + "," +
pos.y.ToString() + "," +
((int.TryParse(row["Z"].ToString(), out tempint)) ? row["Z"] : "null") + "," +
row["ID"] + ",'" +
row["Time"] + "'," +
((int.TryParse(row["ANode"].ToString(), out tempint)) ? row["ANode"] : "null") + ",'" +
"Centroid Localization" + "');";
Console.WriteLine("Add location OK");
//#region NewPosition
//conform to the RTLS ANSI API
//XElementExtended payload = new XElementExtended("Event",
// new XElementExtended("ID", row["ID"].ToString()),
// new XElementExtended("Type", "NewPosition"),
// new XElementExtended("Data",
// new XElementExtended("X", row["X"].ToString()),
// new XElementExtended("Y", row["Y"].ToString())));
//NewPositionEvent(this, new EventMessage("2" ,payload.ToString()));
//#endregion
}
else if (Set.DataSetName == "StatusMessage")
{
int TimeSecs;
if (int.TryParse(row["Time"].ToString(), out TimeSecs))
row["Time"] = ConvertUnixToLocalTimeStamp(TimeSecs); //SunSpot sends the timestamp as unix-timestamp, convert it to normal timestamp.
//Create the command that we send to the database to insert the new row.
cmd = "call addStatus(" +
row["ID"] + ",'" +
row["Time"] + "'," +
row["Active"] + "," +
row["AN"] + "," +
((int.TryParse(row["X"].ToString(), out tempint)) ? row["X"] : "null") + "," +
((int.TryParse(row["Y"].ToString(), out tempint)) ? row["Y"] : "null") + "," +
((int.TryParse(row["SampleRate"].ToString(), out tempint)) ? row["SampleRate"] : "null") + "," +
((int.TryParse(row["LocRate"].ToString(), out tempint)) ? row["LocRate"] : "null") + "," +
((int.TryParse(row["Leds"].ToString(), out tempint)) ? row["Leds"] : "null") + "," +
((int.TryParse(row["Power"].ToString(), out tempint)) ? row["Power"] : "null") + "," +
((int.TryParse(row["Frequency"].ToString(), out tempint)) ? row["Frequency"] : "null") + "," +
((int.TryParse(row["Conn"].ToString(), out tempint)) ? row["Conn"] : "null") + ");";
Console.WriteLine("Add Status OK");
}
//try
{
//Update the MySQL-database (if it is available)
if (MySQLAllowedConn)
returnSet = MySQLConn.Query(cmd);
Console.WriteLine("Query OK");
}
}
return returnSet;
}
/// <summary>
/// Sub-function that takes a dataset which holds (a number of) sensormeasurements and saves these to the database.
/// Note: the MAC-address (SunSpot) or the Unique ID (TelosB) has to be in the database or the measurement will be ignored and not saved tot he database.
/// </summary>
/// <param name="Set">DataSet with the table that contains the sensormeasurement.</param>
/// <returns>The last UID of the inserted row (which means an int >= 1) anything else means the last insert failed.</returns>
private DataSet AddSensorMeasurements(DataSet Set)
{
DataSet returnSet = new DataSet();
DataSet tempSet = new DataSet();
double temp;
int tempint;
string cmd = "";
foreach (DataRow row in Set.Tables[0].Rows) //Run through every sensor in the xml-message
{
string CheckIfNodeInDB = "call getNodeID('" + row["ID"].ToString() + "');";
try
{
if (MySQLAllowedConn)
{
tempSet = MySQLConn.Query(CheckIfNodeInDB);
}
}
catch (Exception e_mysql)
{
SocketServer.LogError(e_mysql, "LogServer.txt");
}
#region add node to DB
if (tempSet.Tables[0].Rows.Count < 1) //If the sensor is in the database, proceed with inserting the new measurements into the database.
{
string addTelosb = "call addSensorToDBTelosb('" + row["ID"] + "'," + "2);";
try
{
//Update the MySQL-database (if it is available)
if (MySQLAllowedConn)
{
returnSet = MySQLConn.Query(addTelosb);
}
Console.WriteLine("Query OK");
}
catch (Exception e_mysql)
{
Console.WriteLine("Failed to add node to the DB");
SocketServer.LogError(e_mysql, "LogServer.txt");
//return Set;
}
}
#endregion
if (Set.DataSetName == "SensorMeasurements")
{
int TimeSecs;
if (int.TryParse(row["Time"].ToString(), out TimeSecs))
{
row["Time"] = ConvertUnixToLocalTimeStamp(TimeSecs); //SunSpot sends the timestamp as unix-timestamp, convert it to normal timestamp.
}
//Create the command that we send to the database to insert the new row.
cmd = "call addSensorMeasurements('" +
row["ID"] + "','" +
row["Time"] + "','" +
row["Temp"] + "','" +
row["Light"] + "'," +
((double.TryParse(row["Humidity"].ToString(), out temp)) ? row["Humidity"] : "null") + "," +
((int.TryParse(row["Power"].ToString(), out tempint)) ? row["Power"] : "null") + "," +
((double.TryParse(row["TiltX"].ToString(), out temp)) ? row["TiltX"] : "null") + "," +
((double.TryParse(row["TiltY"].ToString(), out temp)) ? row["TiltY"] : "null") + "," +
((double.TryParse(row["TiltZ"].ToString(), out temp)) ? row["TiltZ"] : "null") + "," +
((double.TryParse(row["AccX"].ToString(), out temp)) ? row["AccX"] : "null") + "," +
((double.TryParse(row["AccY"].ToString(), out temp)) ? row["AccY"] : "null") + "," +
((double.TryParse(row["AccZ"].ToString(), out temp)) ? row["AccZ"] : "null") + ",'" +
((int.TryParse(row["Button1"].ToString(), out tempint)) ? row["Button1"] : "0") + "'," +
((int.TryParse(row["Button2"].ToString(), out tempint)) ? row["Button2"] : "null") + ",'" +
((double.TryParse(row["LED1"].ToString(), out temp)) ? row["LED1"] : "null") + "','" +
((double.TryParse(row["LED2"].ToString(), out temp)) ? row["LED2"] : "null") + "','" +
((double.TryParse(row["LED3"].ToString(), out temp)) ? row["LED3"] : "null") + "','" +
((double.TryParse(row["LED4"].ToString(), out temp)) ? row["LED4"] : "null") + "','" +
((double.TryParse(row["LED5"].ToString(), out temp)) ? row["LED5"] : "null") + "','" +
((double.TryParse(row["LED6"].ToString(), out temp)) ? row["LED6"] : "null") + "','" +
((double.TryParse(row["LED7"].ToString(), out temp)) ? row["LED7"] : "null") + "','" +
((double.TryParse(row["LED8"].ToString(), out temp)) ? row["LED8"] : "null") + "'," +
((int.TryParse(row["Polling"].ToString(), out tempint)) ? row["Polling"] : "null") + ");";
Console.WriteLine("AddSensorMeasurements OK");
Console.WriteLine("WSNID is: \n" + row["ID"].ToString());
//#region NewSensorData
//XElementExtended payload = new XElementExtended("Event",
// new XElementExtended("ID", row["ID"].ToString()),
// new XElementExtended("Type", "NewSensorData"),
// new XElementExtended("Data",
// new XElementExtended("Temperature", row["Temp"].ToString()),
// new XElementExtended("Light", row["Light"].ToString())));
////payload["ID"] = row["ID"].ToString();
////payload["Type"] = "NewSensorData";
////payload["Data"] = new XElementExtended(new XElementExtended("Temperature", row["Temp"].ToString()),new XElementExtended("Light", row["Light"].ToString()));
//NewSensorDataEvent(this, new EventMessage("1", payload.ToString()));
if (NewSensorDataEvent != null)
{
EventMessage EventData = new EventMessage();
EventData.EventSubscriptionId = "1";
EventData.EventType = "NewSensorData";
EventData.TagBlink["TagID"] = row["idnode"].ToString();
EventData.TagBlink["Temperature"] = row["temperature"].ToString();
EventData.TagBlink["Light"] = row["Light"].ToString();
NewSensorDataEvent(this, EventData);
}
//#endregion
}
else if (Set.DataSetName == "LocationMessage")
{
int TimeSecs;
if (int.TryParse(row["Time"].ToString(), out TimeSecs))
{
row["Time"] = ConvertUnixToLocalTimeStamp(TimeSecs); //SunSpot sends the timestamp as unix-timestamp, convert it to normal timestamp.
}
currentID = row["ID"].ToString();
Positioning.Point pos = new Positioning.Point(0, 0);
Node CurrentBlindNode;
if (!BlindNodes.Exists(ExistsNode))
{
BlindNodes.Add(new Node(row["ID"].ToString(), MySQLConn, row["ANode"].ToString(), Convert.ToDouble(row["RSSI"].ToString())));
Console.WriteLine("Added new BN to be positioned\n\n\n");
CurrentBlindNode = BlindNodes.Find(ExistsNode);
}
else
{
CurrentBlindNode = BlindNodes.Find(ExistsNode);
CurrentBlindNode.AddAnchor(row["ANode"].ToString(), Convert.ToDouble(row["RSSI"].ToString()));
}
//TODO: switch on the bulletlist or whatever you use to select the algorithm
pos = CentroidLocalization.CalculatePosition(CurrentBlindNode);
Console.WriteLine("Position succesfully calculated, x = {0}, y = {1}", pos.x.ToString(), pos.y.ToString());
//Create the command that we send to the database to insert the new row.
cmd = "call addLocalizationData(" +
((int.TryParse(row["RSSI"].ToString(), out tempint)) ? row["RSSI"] : "null") + "," +
pos.x.ToString() + "," +
pos.y.ToString() + "," +
((int.TryParse(row["Z"].ToString(), out tempint)) ? row["Z"] : "null") + "," +
row["ID"] + ",'" +
row["Time"] + "'," +
((int.TryParse(row["ANode"].ToString(), out tempint)) ? row["ANode"] : "null") + ",'" +
"Centroid Localization" + "');";
Console.WriteLine("Add location OK");
//#region NewPosition
//conform to the RTLS ANSI API
//XElementExtended payload = new XElementExtended("Event",
// new XElementExtended("ID", row["ID"].ToString()),
// new XElementExtended("Type", "NewPosition"),
// new XElementExtended("Data",
// new XElementExtended("X", row["X"].ToString()),
// new XElementExtended("Y", row["Y"].ToString())));
//NewPositionEvent(this, new EventMessage("2" ,payload.ToString()));
//#endregion
}
else if (Set.DataSetName == "StatusMessage")
{
int TimeSecs;
if (int.TryParse(row["Time"].ToString(), out TimeSecs))
{
row["Time"] = ConvertUnixToLocalTimeStamp(TimeSecs); //SunSpot sends the timestamp as unix-timestamp, convert it to normal timestamp.
}
//Create the command that we send to the database to insert the new row.
cmd = "call addStatus(" +
row["ID"] + ",'" +
row["Time"] + "'," +
row["Active"] + "," +
row["AN"] + "," +
((int.TryParse(row["X"].ToString(), out tempint)) ? row["X"] : "null") + "," +
((int.TryParse(row["Y"].ToString(), out tempint)) ? row["Y"] : "null") + "," +
((int.TryParse(row["SampleRate"].ToString(), out tempint)) ? row["SampleRate"] : "null") + "," +
((int.TryParse(row["LocRate"].ToString(), out tempint)) ? row["LocRate"] : "null") + "," +
((int.TryParse(row["Leds"].ToString(), out tempint)) ? row["Leds"] : "null") + "," +
((int.TryParse(row["Power"].ToString(), out tempint)) ? row["Power"] : "null") + "," +
((int.TryParse(row["Frequency"].ToString(), out tempint)) ? row["Frequency"] : "null") + "," +
((int.TryParse(row["Conn"].ToString(), out tempint)) ? row["Conn"] : "null") + ");";
Console.WriteLine("Add Status OK");
}
//try
{
//Update the MySQL-database (if it is available)
if (MySQLAllowedConn)
{
returnSet = MySQLConn.Query(cmd);
}
Console.WriteLine("Query OK");
}
}
return(returnSet);
}
/// <summary>
/// Parses the blind node data
/// Adds the node to BlindNodes
/// Updates the RSS
/// Performs the requested localization algorithm
/// Forms the query to put the RSS and postion in the database
/// Possibly throws an event as described in the event section
/// </summary>
/// <param name="row"></param>
/// <param name="nodeId"></param>
/// <returns></returns>
private string ParseBlind(DataRow row, string nodeId)
{
string cmd, currentID;
int tempint;
int TimeSecs;
if (int.TryParse(row["Time"].ToString(), out TimeSecs))
row["Time"] = ConvertUnixToLocalTimeStamp(TimeSecs);
//SunSpot sends the timestamp as unix-timestamp, convert it to normal timestamp.
currentID = row["ID"].ToString();
Positioning.Point pos = new Positioning.Point(0, 0);
Node CurrentNode;
if (!BlindNodes.Exists(BN => BN.WsnIdProperty == currentID))
{
BlindNodes.Add(new Node(row["ID"].ToString(), MySQLConn));
Console.WriteLine("Added new BN to be positioned\n\n\n");
}
CurrentNode = BlindNodes.Find(BN => BN.WsnIdProperty == currentID);
CurrentNode.UpdateAnchors(row["ANode"].ToString(), Convert.ToDouble(row["RSSI"].ToString()), Convert.ToInt32(row["VANs"]), DateTime.Now);
//TODO: check if automatically updated
CurrentNode = BlindNodes.Find(BN => BN.WsnIdProperty == currentID);
Node.FilterMethod myFilter = new Node.FilterMethod(RangeBasedPositioning.MedianFilter);;
Node.RangingMethod myRanging;
if (SelectedCalibration != "Disabled")
myRanging = new Node.RangingMethod(RangeBasedPositioning.Ranging);
else
myRanging = new Node.RangingMethod(RangeBasedPositioning.DefaultRanging);
switch (SelectedFilter)
{
case "Median":
myFilter = new Node.FilterMethod(RangeBasedPositioning.MedianFilter);
break;
case "Average":
myFilter = new Node.FilterMethod(RangeBasedPositioning.AverageFilter);
break;
case "NoFilter":
myFilter = new Node.FilterMethod(RangeBasedPositioning.NoFilter);
break;
}
switch (SelectedAlgorithm)
{
case "CentroidLocalization":
//pos = CentroidLocalization.CalculatePosition(CurrentNode);
pos = CentroidLocalization.CalculatePosition(CurrentNode);
break;
case "MinMax":
pos = MinMax.CalculatePosition(CurrentNode, myFilter, myRanging, UseMultihop);
break;
case "Trilateration":
pos = ExtendedTrilateration.CalculatePosition(CurrentNode, myFilter, myRanging, UseMultihop);
break;
case "ExtendedTrilateration":
pos = ExtendedTrilateration.CalculatePosition(CurrentNode, myFilter, myRanging, UseMultihop);
break;
case "ExtendedMinMax":
pos = MinMaxExtended.CalculatePosition(CurrentNode, myFilter, myRanging, UseMultihop);
break;
case "WeightedCentroidLocalization":
pos = WCL.CalculatePosition(CurrentNode, myFilter);
break;
case "LSTrilateration":
pos = LSTrilateration.CalculatePosition(CurrentNode, myFilter, myRanging, UseMultihop);
break;
}
if (pos != null)
Console.WriteLine("Position was calculated for node: " + row["ID"] + " X = " + pos.x.ToString() + " Y = " + pos.y.ToString());
else
{
Console.WriteLine("Position for node: " + row["ID"] + " could not be calculated");
if (CurrentNode.Anchors.Count < 3)
Console.WriteLine("Reason: too few anchor nodes!: " + CurrentNode.Anchors.Count.ToString());
else
Console.WriteLine("Unspecified error");
}
//Create the command that we send to the database to insert the new row.
cmd = "call addLocalizationData(" +
((int.TryParse(row["RSSI"].ToString(), out tempint)) ? row["RSSI"] : "null") + ",";
if (pos != null)
cmd += pos.x.ToString().Replace(',','.') + ", " + pos.y.ToString().Replace(',','.') + ", ";
else
cmd += "null, null, ";
cmd += ((int.TryParse(row["Z"].ToString(), out tempint)) ? row["Z"] : "null") + "," +
row["ID"] + ",'" +
row["Time"] + "'," +
((int.TryParse(row["ANode"].ToString(), out tempint)) ? row["ANode"] : "null") + ",'" +
SelectedAlgorithm + "');";
//add the position to the position table
AddPosition(row, pos, 0);
#region LocationUpdated
if (LocationUpdated != null && pos != null)
{
EventMessage EventData = new EventMessage();
//EventData.EventType = "LocationUpdated";
EventData.TagBlink["TagID"] = nodeId;
EventData.TagBlink["Accuracy"] = WsnEngine.CheckMapBounds(ref pos.x, ref pos.y, "2");
EventData.TagBlink["MapID"] = "WsnEngine1map2";
EventData.TagBlink["X"] = pos.x.ToString();
EventData.TagBlink["Y"] = pos.y.ToString();
LocationUpdated(this, EventData);
}
#endregion
return cmd;
}
