Locator configuration added (#794)

* Stop hardcoding locators/scenarios
ESPresense · Nov 19, 2024 · d45dbe8 · d45dbe8
1 parent 1dbd9ac
commit d45dbe8
Show file tree

Hide file tree

Showing 7 changed files with 328 additions and 81 deletions.
diff --git a/src/Events/NodeSettingReceivedEventArgs.cs b/src/Events/NodeSettingReceivedEventArgs.cs
@@ -2,7 +2,7 @@
 
 public class NodeSettingReceivedEventArgs
 {
-    public string NodeId { get; set; }
-    public string Setting { get; set; }
-    public string Payload { get; set; }
+    public string? NodeId { get; set; }
+    public string? Setting { get; set; }
+    public string? Payload { get; set; }
 }
diff --git a/src/Models/Config.cs b/src/Models/Config.cs
@@ -25,7 +25,8 @@ public class Config
         [YamlMember(Alias = "map")]
         public ConfigMap Map { get; set; } = new();
 
-        [YamlMember(Alias = "floors")] public ConfigFloor[]  Floors { get; set; } = Array.Empty<ConfigFloor>();
+        [YamlMember(Alias = "floors")]
+        public ConfigFloor[] Floors { get; set; } = Array.Empty<ConfigFloor>();
 
         [YamlMember(Alias = "nodes")]
         public ConfigNode[] Nodes { get; set; } = Array.Empty<ConfigNode>();
@@ -39,10 +40,59 @@ public class Config
         [YamlMember(Alias = "history")]
         public ConfigHistory History { get; set; } = new();
 
+        [YamlMember(Alias = "locators")]
+        public ConfigLocators Locators { get; set; } = new();
+
+        [YamlMember(Alias = "optimization")]
+        public ConfigOptimization Optimization { get; set; } = new();
+    }
+
+    public class ConfigLocators
+    {
+        [YamlMember(Alias = "nadaraya_watson")]
+        public NadarayaWatsonConfig NadarayaWatson { get; set; } = new();
+
+        [YamlMember(Alias = "nealder_mead")]
+        public NealderMeadConfig NealderMead { get; set; } = new();
+
+        [YamlMember(Alias = "nearest_node")]
+        public NearestNodeConfig NearestNode { get; set; } = new();
+    }
+
+    public class NadarayaWatsonConfig
+    {
+        [YamlMember(Alias = "enabled")]
+        public bool Enabled { get; set; }
+
+        [YamlMember(Alias = "floors")]
+        public string[]? Floors { get; set; }
+
+        [YamlMember(Alias = "bandwidth")]
+        public double Bandwidth { get; set; } = 0.5;
+
+        [YamlMember(Alias = "kernel")]
+        public string Kernel { get; set; } = "gaussian";
+    }
+
+    public class NealderMeadConfig
+    {
+        [YamlMember(Alias = "enabled")]
+        public bool Enabled { get; set; }
+
+        [YamlMember(Alias = "floors")]
+        public string[]? Floors { get; set; }
+
         [YamlMember(Alias = "weighting")]
         public ConfigWeighting Weighting { get; set; } = new();
+    }
+
+    public class NearestNodeConfig
+    {
+        [YamlMember(Alias = "enabled")]
+        public bool Enabled { get; set; }
 
-        [YamlMember(Alias = "optimization")] public ConfigOptimization Optimization { get; set; } = new();
+        [YamlMember(Alias = "max_distance")]
+        public double? MaxDistance { get; set; }
     }
 
     public class ConfigMap

diff --git a/src/Models/State.cs b/src/Models/State.cs
@@ -13,14 +13,6 @@ public class State
 {
     public State(ConfigLoader cl)
     {
-        IEnumerable<Floor> GetFloorsByIds(string[]? floorIds)
-        {
-            if (floorIds == null) yield break;
-            foreach (var floorId in floorIds)
-                if (Floors.TryGetValue(floorId, out var floor))
-                    yield return floor;
-        }
-
         void LoadConfig(Config c)
         {
             Config = c;
@@ -56,12 +48,13 @@ void LoadConfig(Config c)
             NamesToTrack = namesToTrack;
             ConfigDeviceByName = configDeviceByName;
 
-            Weighting = c.Weighting?.Algorithm switch
+            var w = c?.Locators?.NealderMead?.Weighting;
+            Weighting = w?.Algorithm switch
             {
                 "equal" => new EqualWeighting(),
-                "gaussian" => new GaussianWeighting(c.Weighting?.Props),
-                "exponential" => new ExponentialWeighting(c.Weighting?.Props),
-                _ => new GaussianWeighting(c.Weighting?.Props),
+                "gaussian" => new GaussianWeighting(w?.Props),
+                "exponential" => new ExponentialWeighting(w?.Props),
+                _ => new GaussianWeighting(w?.Props),
             };
             foreach (var device in Devices.Values) device.Check = true;
         }
@@ -100,7 +93,6 @@ public OptimizationSnapshot TakeOptimizationSnapshot()
                     Tx = tx,
                     Rx = rx,
                 });
-
             }
 
         if (OptimizationSnaphots.Count > Config?.Optimization.MaxSnapshots) OptimizationSnaphots.RemoveAt(0);
@@ -109,11 +101,44 @@ public OptimizationSnapshot TakeOptimizationSnapshot()
         return os;
     }
 
+    IEnumerable<Floor> GetFloorsByIds(string[]? floorIds)
+    {
+        if (floorIds == null)
+        {
+            foreach (var floor in Floors.Values)
+                yield return floor;
+        }
+        else
+            foreach (var floorId in floorIds)
+                if (Floors.TryGetValue(floorId, out var floor))
+                    yield return floor;
+    }
+
     public IEnumerable<Scenario> GetScenarios(Device device)
     {
-        foreach (var floor in Floors.Values) yield return new Scenario(Config, new NelderMeadMultilateralizer(device, floor, this), floor.Name);
-        //yield return new Scenario(_state.Config, new MultiFloorMultilateralizer(device, _state), "Multifloor");
-        yield return new Scenario(Config, new NearestNode(device), "NearestNode");
+        var nealderMead = Config?.Locators?.NealderMead;
+        var nadarayaWatson = Config?.Locators?.NadarayaWatson;
+        var nearestNode = Config?.Locators?.NearestNode;
+
+        if ((nealderMead?.Enabled ?? false) || (nadarayaWatson?.Enabled ?? false) || (nearestNode?.Enabled ?? false))
+        {
+            if (nealderMead?.Enabled ?? false)
+                foreach (var floor in GetFloorsByIds(nealderMead?.Floors))
+                    yield return new Scenario(Config, new NelderMeadMultilateralizer(device, floor, this), floor.Name);
+
+            if (nadarayaWatson?.Enabled ?? false)
+                foreach (var floor in GetFloorsByIds(nadarayaWatson?.Floors))
+                    yield return new Scenario(Config, new NadarayaWatsonMultilateralizer(device, floor, this), floor.Name);
+
+            if (nearestNode?.Enabled ?? false)
+                yield return new Scenario(Config, new NearestNode(device), "NearestNode");
+        }
+        else
+        {
+            Log.Warning("No locators enabled, using default NelderMead");
+            foreach (var floor in Floors.Values)
+                yield return new Scenario(Config, new NelderMeadMultilateralizer(device, floor, this), floor.Name);
+        }
     }
 
     public bool ShouldTrack(Device device)

diff --git a/src/Optimizers/AbsorptionErrOptimizer.cs b/src/Optimizers/AbsorptionErrOptimizer.cs
@@ -40,7 +40,6 @@ public OptimizationResults Optimize(OptimizationSnapshot os)
                         var error = rxNodes
                             .Select((dn, i) => new { err = pos[i] - Distance(x, dn), weight = 1 })
                             .Average(a => a.weight * Math.Pow(a.err, 2));
-                        //Console.WriteLine("{0,-20}> Absorption: {1:#0.000, 10} Err: {2:##0.0000000000000000}", node.Id, x[0], error);
                         return error;
                     });