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Log-Pathloss.py
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#7 December 2016
#Otto Christianto
#Department of Physics, Institut Teknologi Bandung
#otto.christianto.oc@gmail.com
#Code written for position trilateration using log-path loss distance
#Corrected scale on node
import os.path
import paho.mqtt.client as mqtt
import matplotlib.pyplot as plt
import numpy as np
from numpy import *
from scipy.optimize import leastsq
#Bila node ditambah maka ini juga harus ditambah
total_node = 4
topic_RSSI_AP1 = "otto/RSSI/AP1"
topic_RSSI_AP2 = "otto/RSSI/AP2"
topic_RSSI_AP3 = "otto/RSSI/AP3"
topic_RSSI_AP4 = "otto/RSSI/AP4"
client = mqtt.Client()
#menyimpan jarak radius tiap AP
d1 = [0]
d2 = [0]
d3 = [0]
d4 = [0]
d5 = [0]
d6 = [0]
d7 = [0]
d8 = [0]
d1_calculate = [0]
d2_calculate = [0]
d3_calculate = [0]
d4_calculate = [0]
d5_calculate = [0]
d6_calculate = [0]
d7_calculate = [0]
d8_calculate = [0]
plsqx = [0]
plsqy = [0]
d1_calculate[0] = False
d2_calculate[0] = False
d3_calculate[0] = False
d4_calculate[0] = False
d5_calculate[0] = False
d6_calculate[0] = False
d7_calculate[0] = False
d8_calculate[0] = False
#data dasar, posisi x y dari AP, xmax=10, ymax=11
#dAP = [(1,1,0),(1,11,0),(10,11,0),(10,1,0)]
def on_connect(client, userdata, flags, rc):
print("connected with result code" + str(rc))
client.subscribe([topic])
#Tes, bisa tidak
def subscribe_to(topic):
client.subscribe([topic,0]);
def on_message(client, userdata, msg):
print(msg.topic + " " + str(msg.payload))
def send_position(msg_x, msg_y):
topic_position_x = "otto/position/x"
topic_position_y = "otto/position/y"
#publish posisi
client.publish(topic_position_x, msg_x)
client.publish(topic_position_y, msg_y)
#tulis posisi
Write_File(msg_x, msg_y)
def Write_File(x, y):
w_filename = "Pathloss-Position-Field.txt"
textFile = open(w_filename, 'a')
textFile.write("%f\t%f\n" %(x,y))
textFile.close()
def AP_distance(RSSI, a, b, i):
#data dari AP1!
#d = 10^((int)msg.payload - P0 + b)/(10*a)#+- masih terbalik
#d = 10**(RSSI- P0 + b)/(10*a)
z = 94
if(i==0):
z=94
elif(i==1 or i==2 or i==3 or i==6):
z=92
elif(i==4 or i==5 or i==7):
z=93
c = (RSSI+b+z)/(-10*a)
d = 100*(10**(c))
#print d
return d
#def Calculation(client, userdata, msg):
def Calculation(RSSI, i):
if(i==0):
# if(msg.topic == topic_RSSI_AP1):
a = 1.575
b = 0
#a = 2.182
#b = 0
d1[0] = AP_distance(RSSI, a, b, i)
#dAP[0][2] = AP_dist66ance((int)msg.payload, P0, a, b)
#d1[0] = AP_distance((int)msg.payload, P0, a, b)
d1_calculate[0] = True
elif(i==1):
# else if(msg.topic == topic_RSSI_AP2):
a = 1.187
b = 0
#a = 2.815
#b = 0
d2[0] = AP_distance(RSSI, a, b, i)
#dAP[1][2] = AP_distance((int)msg.payload, P0, a, b)
#d2[0] = AP_distance((int)msg.payload, P0, a, b)
d2_calculate[0] = True
elif(i==2):
# else if(msg.topic == topic_RSSI_AP3):
a = 1.338
b = 3.833
#a = 3.27
#b = 0
d3[0] = AP_distance(RSSI, a, b, i)
#dAP[2][2] = AP_distance((int)msg.payload, P0, a, b)
#d3[0] = AP_distan93ce((int)msg.payload, P0, a, b)
d3_calculate[0] = True
elif(i==3):
# else if(msg.topic == topic_RSSI_AP4):
a = 1.383
b = 9.28
#a = 2.229
#b = 0
d4[0] = AP_distance(RSSI, a, b, i)
#dAP[3][2] = AP_distance((int)msg.payload, P0, a, b)
#d4[0] = AP_distance((int)msg.payload, P0, a, b)
d4_calculate[0] = True
elif(i==4):
a = 1.963
b = 1.597
d5[0] = AP_distance(RSSI, a, b, i)
d5_calculate[0] = True
elif(i==5):
a = 1.72
b = 0
d6[0] = AP_distance(RSSI, a, b, i)
d6_calculate[0] = True
elif(i==6):
a = 1.626
b = 0
d7[0] = AP_distance(RSSI, a, b, i)
d7_calculate[0] = True
elif(i==7):
a = 1.27
b = 0
d8[0] = AP_distance(RSSI, a, b, i)
d8_calculate[0] = True
else:
print "what it is?"
Trilaterate(d1[0], d2[0], d3[0], d4[0], d5[0], d6[0], d7[0], d8[0])
#d = 10^((int)msg.payload - P0 + b)/(10*a)#+- masih terbalik
def Trilaterate(d1, d2, d3, d4, d5, d6, d7, d8):
if(d1_calculate[0] == True and d2_calculate[0] == True and d3_calculate[0] == True and d4_calculate[0] == True and d5_calculate[0] == True and d6_calculate[0] == True and d7_calculate[0] == True and d8_calculate[0] == True):
#semua data sudah di update dan akan dilakukan perhitungan sekarang
p0=[0,0]
dAP = [(0,0,d1),(20,0,d2),(20,20,d3),(0,20,d4),(10,0,d5),(20,10,d6),(10,20,d7),(0,10,d8)]
plsq = leastsq(residuals, p0, args=(dAP))
#print d1
#print d2
#print d3
#print d4
#print "done"
plsqx[0] = plsq[0]
plsqy[0] = plsq[1]
#print plsq[0]
def residuals(point, data):
d = sqrt( square(data[0] - point[0]) + square(data[1] - point[1]) ) * data[2]
return d
def LeastDistance(x1, y1, x2, y2, r):
return abs(sqrt((x2-x1)**2 + (y2-y1)**2)-r)
def beginLeastDistanceAnalytic(res):
prAP = [[0,0,d1[0]], [0,20,d2[0]], [20,20,d3[0]], [20,0,d4[0]], [0,10,d5[0]], [10,20,d6[0]], [20,10,d7[0]], [10,0,d8[0]]]
dist = [0,0,0,0,0,0,0,0]
lastDist = 1000
Pos = [0,0]
xyrange = np.linspace(0.0, 20.0, 20/res)
#for x in range(len(xyrange)-1):
for x in xyrange:
for y in xyrange:
for i in xrange(0,3):
if(i==1):
break
dist[i] = LeastDistance(x,y,prAP[i][0], prAP[i][1], prAP[i][2])
totalDist = dist[0] + dist[1] + dist[2] + dist[3] + dist[4] + dist[5] + dist[6] + dist[7]
if(totalDist < lastDist):
#print "DIST"
#print dist[0]
#print dist[1]
#print dist[2]
#print dist[3]
#print totalDist
lastDist = totalDist
Pos[0] = x
Pos[1] = y
#output: titik dengan jarak terdekat di 4 sisi
return Pos
def FindLeastDistanceMethod():
Pos = beginLeastDistanceAnalytic(0.1)
print "from least distance analytic"
#kalibrasi karena ditaruh di scale 0-9
Pos[0] = Pos[0]
Pos[1] = Pos[1]
print Pos
return Pos
#terima dulu semua data
#ubah satu persatu menjadi data d
#kumpulkan semua ke dalam satu fungsi
#lakukan non-linear least squareas
#tulis semua hasil x,y,RSSI,d,xo,yo,
#buat visualisasi
fig = plt.figure()
ax = fig.add_subplot(1,1,1);
ax.set_xlim((0, 20))
ax.set_ylim((0, 20))
ko = 5
if(ko==1):
#(1,1)
AP1 = [65,62,65,69,72,82]
AP2 = [88,81,82,82,91,93]
AP3 = [94,94,93,93,93,93]
AP4 = [91,91,91,91,91,91]
AP5 = [70,64,66,65,64,66]
AP6 = [91,83,84,94,84,88]
AP7 = [89,89,89,89,89,89]
AP8 = [89,86,87,85,85,78]
elif(ko==2):
#(2,18)
AP1 = [81,78,88,82,77,92,80]
AP2 = [80,78,79,78,84,83,79]
AP3 = [86,86,91,90,90,92,90]
AP4 = [91,91,91,91,91,91,92]
AP5 = [70,74,72,84,65,73,81]
AP6 = [80,82,79,79,76,73,82]
AP7 = [89,89,89,89,90,90,90]
AP8 = [86,83,85,86,86,85,90]
elif(ko==3):
#(18,18)
AP1 = [80,83,83,83,82,91]
AP2 = [93,89,88,89,89,91]
AP3 = [65,69,71,64,69,72]
AP4 = [89,92,93,93,89,89]
AP5 = [78,76,75,76,75,70]
AP6 = [77,77,83,74,73,79]
AP7 = [90,90,92,92,81,90]
AP8 = [79,75,77,81,79,81]
elif(ko==4):
#(18,2)
AP1 = [79,84,86,83,80,78,77]
AP2 = [93,93,93,94,94,94,94]
AP3 = [86,88,88,93,88,86,86]
AP4 = [79,78,79,78,77,73,77]
AP5 = [76,78,87,84,83,82,71]
AP6 = [69,77,74,77,80,82,79]
AP7 = [87,84,93,93,86,91,90]
AP8 = [75,73,72,72,74,73,68]
elif(ko==5):
#(10,10)
AP1 = [73,76,81,78,83,81,70]
AP2 = [93,96,91,91,91,90,90]
AP3 = [80,85,83,83,83,82,78]
AP4 = [94,93,89,92,92,92,92]
AP5 = [79,79,80,76,80,80,74]
AP6 = [71,68,71,66,76,69,71]
AP7 = [93,93,90,92,92,92,93]
AP8 = [80,77,73,81,77,76,85]
w_filename = "Pathloss-Position-Field.txt"
textFile = open(w_filename, 'a')
textFile.write("(10,10) wo node 8,7,6,5,4,2\n")
textFile.close()
for j in xrange(0, len(AP1)):
for i in xrange(0,3):
#print "A"
#0,0 -66, -99,-99,-95
#3,7 -95, -70, -85, -90
#1,1 -67, -94, -89, -95
#9,1 -91, -68, -84, -90
#9,9 -95, -92, -62, -82
#1,9
if(i==0):
Calculation(-AP1[j],i)
#Calculation(87, i)
elif(i==1):
c=1
#Calculation(-AP2[j],i)
#Calculation(83, i)
elif(i==2):
Calculation(-AP3[j],i)
#Calculation(82, i)
elif(i==3):
Calculation(-AP4[j],i)
#Calculation(93, i)
elif(i==4):
Calculation(-AP5[j],i)
elif(i==5):
c=1
#Calculation(-AP6[j],i)
elif(i==6):
Calculation(-AP7[j],i)
elif(i==7):
c=1
#Calculation(-AP8[j],i)
Pos = FindLeastDistanceMethod()
circ = plt.Circle((Pos[0],Pos[1]), radius=0.5, color='r', alpha=0.5)
ax.add_patch(circ)
Write_File(Pos[0], Pos[1])
#plotting
#buat kotak
rect=plt.Rectangle((0,0), 20, 20, fill=False)
ax.add_patch(rect)
plt.show()
#client.message_callback_add(topic_RSSI_AP1, Calculation);
#client.message_callback_add(topic_RSSI_AP2, Calculation);
#client.message_callback_add(topic_RSSI_AP3, Calculation);
#client.message_callback_add(topic_RSSI_AP4, Calculation);
#client.on_connect = on_connect
#client.on_message = on_message
#client.connect("23.92.65.163", 1883, 60)
#client.loop_forever()