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Classification improvement (#9)
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* re-do the room classification algorithm from the beacon signals. should be much improved with more stability and less jittering between rooms

* add the last seen threshold back in, needed to detect away

* upgrade version and remove some debuggings
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@nemik
nemik authored Nov 6, 2017
1 parent 35f1bf2 commit 4c7b0ae
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Showing 4 changed files with 86 additions and 137 deletions.
2 changes: 1 addition & 1 deletion VERSION
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
1.7.0
1.8.0
195 changes: 72 additions & 123 deletions main.go
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Original file line number Diff line number Diff line change
Expand Up @@ -41,11 +41,11 @@ const (
// data structures

type Settings struct {
Location_confidence int64 `json:"location_confidence"`
Last_seen_threshold int64 `json:"last_seen_threshold"`
Last_reading_threshold int64 `json:"last_reading_threshold"`
HA_send_interval int64 `json:"ha_send_interval"`
HA_send_changes_only bool `json:"ha_send_changes_only"`
Location_confidence int64 `json:"location_confidence"`
Last_seen_threshold int64 `json:"last_seen_threshold"`
Beacon_metrics_size int `json:"beacon_metrics_size"`
HA_send_interval int64 `json:"ha_send_interval"`
HA_send_changes_only bool `json:"ha_send_changes_only"`
}

type Incoming_json struct {
Expand Down Expand Up @@ -75,22 +75,16 @@ type Advertisement struct {
seen int64
}

type Beacon_metric struct {
type beacon_metric struct {
location string
distance float64
rssi int64
timestamp int64
}

type Found_beacon struct {
beacon_id string
last_seen int64
average_distance float64
beacon_metrics []Beacon_metric
}

type Location struct {
name string
found_beacons map[string]Found_beacon
lock sync.RWMutex
name string
lock sync.RWMutex
}

type Best_location struct {
Expand Down Expand Up @@ -142,6 +136,7 @@ type Beacon struct {
Previous_location string
Previous_confident_location string
Location_confidence int64
beacon_metrics []beacon_metric

HB_ButtonCounter int64 `json:"hb_button_counter"`
HB_Battery int64 `json:"hb_button_battery"`
Expand Down Expand Up @@ -199,11 +194,11 @@ var upgrader = websocket.Upgrader{
}

var settings = Settings{
Location_confidence: 8,
Last_seen_threshold: 45,
Last_reading_threshold: 8,
HA_send_interval: 5,
HA_send_changes_only: false,
Location_confidence: 8,
Last_seen_threshold: 45,
Beacon_metrics_size: 30,
HA_send_interval: 5,
HA_send_changes_only: false,
}

// utility function
Expand Down Expand Up @@ -262,7 +257,7 @@ func incomingBeaconFilter(incoming Incoming_json) Incoming_json {
out_json.Beacon_type = "hb_button"

//debug
fmt.Println("Button adv has %#v\n", out_json)
//fmt.Println("Button adv has %#v\n", out_json)
}
} //else if incoming.Beacon_type == "eddystone" && incoming.Namespace == "ddddeeeeeeffff5544ff" {
//out_json.Beacon_type = "hb_button"
Expand Down Expand Up @@ -319,7 +314,7 @@ func getBeaconDistance(incoming Incoming_json) float64 {
return distance
}

func getAverageDistance(beacon_metrics []Beacon_metric) float64 {
func getAverageDistance(beacon_metrics []beacon_metric) float64 {
total := 0.0

for _, v := range beacon_metrics {
Expand Down Expand Up @@ -364,7 +359,7 @@ func sendButtonMessage(btn Button, cl *client.Client) {
}
}

func getLikelyLocations(last_seen_threshold int64, last_reading_threshold int64, ha_send_interval int64, locations_list Locations_list, cl *client.Client) {
func getLikelyLocations(settings Settings, locations_list Locations_list, cl *client.Client) {
// create the http results structure
http_results_lock.Lock()
http_results = HTTP_locations_list{}
Expand All @@ -376,47 +371,42 @@ func getLikelyLocations(last_seen_threshold int64, last_reading_threshold int64,

// iterate through the beacons we want to search for
for _, beacon := range BEACONS.Beacons {
//fmt.Printf("doing iteration and saw %s with ID %s\n", beacon_name, beacon_id)
//fmt.Printf("num locs %d\n", len(locations))

if len(beacon.beacon_metrics) == 0 {
continue
}

if (int64(time.Now().Unix()) - (beacon.beacon_metrics[len(beacon.beacon_metrics)-1].timestamp)) > settings.Last_seen_threshold {
continue
}

best_location := Best_location{}
//go through each location
now := time.Now().Unix()
for _, location := range locations_list.locations {
//fmt.Printf("doing iteration and saw location %s\n", location_name)
// get last_seen for this location
found_b, ok := location.found_beacons[beacon.Beacon_id]
if ok {
//fmt.Printf("found %s in %s\n", beacon_id, location_name)
if (now - found_b.last_seen) > last_seen_threshold {
continue
}
ldistance := location.found_beacons[beacon.Beacon_id].average_distance

if best_location == (Best_location{}) {
best_location = Best_location{name: location.name, distance: ldistance, last_seen: location.found_beacons[beacon.Beacon_id].last_seen}
} else if ldistance < best_location.distance {
best_location = Best_location{name: location.name, distance: ldistance, last_seen: location.found_beacons[beacon.Beacon_id].last_seen}
}
// go through its beacon metrics and pick out the location that appears most often
loc_list := make(map[string]float64)
seen_weight := 1.5
rssi_weight := 0.75
for _, metric := range beacon.beacon_metrics {
loc, ok := loc_list[metric.location]
if !ok {
loc = seen_weight + (rssi_weight * (1.0 - (float64(metric.rssi) / -100.0)))
} else {
loc = loc + seen_weight + (rssi_weight * (1.0 - (float64(metric.rssi) / -100.0)))
}
loc_list[metric.location] = loc
}

// debug stuff, show other candidates

/*
fmt.Printf("DEBUG: %s - best location: %s \n", beacon.Name, best_location.name)
for _, location := range locations_list.locations {
avg_distance := location.found_beacons[beacon.Beacon_id].average_distance
now = time.Now().Unix()
ago := now - location.found_beacons[beacon.Beacon_id].last_seen
fmt.Printf("\t%s - average: %f, metrics: %d, last_seen: %d\n", location.name, avg_distance, len(location.found_beacons[beacon.Beacon_id].beacon_metrics), ago)
fmt.Printf("\t\t")
for _, met := range location.found_beacons[beacon.Beacon_id].beacon_metrics {
fmt.Printf("%f ", met.distance)
}
fmt.Printf("\n")
//fmt.Printf("beacon: %s list: %#v\n", beacon.Name, loc_list)
// now go through the list and find the largest, that's the location
best_name := ""
ts := 0.0
for name, times_seen := range loc_list {
if times_seen > ts {
best_name = name
ts = times_seen
}
fmt.Printf("\n")
*/
}
//fmt.Printf("BEST LOCATION FOR %s IS: %s with score: %f\n", beacon.Name, best_name, ts)
best_location = Best_location{name: best_name, distance: beacon.beacon_metrics[len(beacon.beacon_metrics)-1].distance, last_seen: beacon.beacon_metrics[len(beacon.beacon_metrics)-1].timestamp}

//filter, only let this location become best if it was X times in a row
if best_location.name == beacon.Previous_location {
Expand All @@ -443,7 +433,6 @@ func getLikelyLocations(last_seen_threshold int64, last_reading_threshold int64,
should_persist = true
fmt.Printf("detected a change!!! %#v\n\n", beacon)

// just for good measure, should have to earn it
beacon.Location_confidence = 0

//first make the json
Expand All @@ -468,30 +457,6 @@ func getLikelyLocations(last_seen_threshold int64, last_reading_threshold int64,

beacon.Previous_confident_location = best_location.name

// clear all previous entries of this beacon from all locations, except this best one
//log.Println("before clear")

for k, location := range locations_list.locations {
log.Println(location.name, beacon.Name, len(location.found_beacons[beacon.Name].beacon_metrics))
if location.name == best_location.name {
continue
}
log.Println("deleting ", beacon.Name, "from ", location.name)
delete(location.found_beacons, beacon.Name)
/*
locbeac := location.found_beacons[beacon.Name]
locbeac.beacon_metrics = make([]Beacon_metric, 1)
location.found_beacons[beacon.Name] = locbeac
*/
locations_list.locations[k] = location
}

/*
log.Println("after clear")
for _, location := range locations {
log.Println(location.name, beacon.Name, len(location.found_beacons[beacon.Name].beacon_metrics))
}
*/
}

beacon.Previous_location = best_location.name
Expand All @@ -505,7 +470,7 @@ func getLikelyLocations(last_seen_threshold int64, last_reading_threshold int64,
if best_location.name != "" {
if !settings.HA_send_changes_only {
secs := int64(time.Now().Unix())
if secs%ha_send_interval == 0 {
if secs%settings.HA_send_interval == 0 {
sendHARoomMessage(beacon.Beacon_id, beacon.Name, best_location.distance, best_location.name, cl)
}
}
Expand Down Expand Up @@ -602,9 +567,8 @@ func IncomingMQTTProcessor(updateInterval time.Duration, cl *client.Client, db *
for _, beacon := range BEACONS.Beacons {
fmt.Println("Database has known beacon: " + beacon.Beacon_id + " " + beacon.Name)
}
fmt.Println("Settings has %#v\n", settings)
*/
//fmt.Println("Settings has %#v\n", settings)

Latest_beacons_list = make(map[string]Beacon)

Buttons_list = make(map[string]Button)
Expand All @@ -621,7 +585,7 @@ func IncomingMQTTProcessor(updateInterval time.Duration, cl *client.Client, db *
select {

case <-ticker.C:
getLikelyLocations(settings.Last_seen_threshold, settings.Last_reading_threshold, settings.HA_send_interval, locations_list, cl)
getLikelyLocations(settings, locations_list, cl)
case incoming := <-incoming_msgs_chan:
func() {
defer func() {
Expand Down Expand Up @@ -671,52 +635,38 @@ func IncomingMQTTProcessor(updateInterval time.Duration, cl *client.Client, db *
beacon.HB_Battery = incoming.HB_Battery
beacon.HB_RandomNonce = incoming.HB_RandomNonce
beacon.HB_ButtonMode = incoming.HB_ButtonMode
BEACONS.Beacons[beacon.Beacon_id] = beacon

if beacon.Beacon_type == "hb_button" {
processButton(beacon, cl)
if beacon.beacon_metrics == nil {
beacon.beacon_metrics = make([]beacon_metric, settings.Beacon_metrics_size)
}

//create metric for this beacon
this_metric := Beacon_metric{}
this_metric := beacon_metric{}
this_metric.distance = getBeaconDistance(incoming)
this_metric.timestamp = now
this_metric.rssi = int64(incoming.RSSI)
this_metric.location = incoming.Hostname
beacon.beacon_metrics = append(beacon.beacon_metrics, this_metric)
//fmt.Printf("APPENDING a metric from %s len %d\n", beacon.Name, len(beacon.beacon_metrics))
if len(beacon.beacon_metrics) > settings.Beacon_metrics_size {
//fmt.Printf("deleting a metric from %s len %d\n", beacon.Name, len(beacon.beacon_metrics))
beacon.beacon_metrics = append(beacon.beacon_metrics[:0], beacon.beacon_metrics[0+1:]...)
}
//fmt.Printf("%#v\n", beacon.Beacon_metrics)

BEACONS.Beacons[beacon.Beacon_id] = beacon

if beacon.Beacon_type == "hb_button" {
processButton(beacon, cl)
}

//lookup location by hostname in locations
location, ok := locations_list.locations[incoming.Hostname]
if !ok {
//create the location
locations_list.locations[incoming.Hostname] = Location{}
location, ok = locations_list.locations[incoming.Hostname]
location.found_beacons = make(map[string]Found_beacon)
//fmt.Println(location.name + " new location so making found_beacons map")
location.name = incoming.Hostname
}

//now look for our beacon in founds
this_found, ok := location.found_beacons[this_beacon_id]
if !ok {
//create this found beacon
this_found := Found_beacon{}
this_found.beacon_metrics = make([]Beacon_metric, 1)
}
this_found.beacon_id = this_beacon_id
this_found.last_seen = now
//add this metric to its metrics
this_found.beacon_metrics = append(this_found.beacon_metrics, this_metric)

//go through all the metrics in the location and get average
for i, metric := range this_found.beacon_metrics {
//if a reading is older than the threshold, remove it from calculations and list
if (now - metric.timestamp) > settings.Last_reading_threshold {
//x := len(this_found.beacon_metrics)
this_found.beacon_metrics = append(this_found.beacon_metrics[:i], this_found.beacon_metrics[i+1:]...)
//log.Println("removing metric from ", location.name, " and beacon ", this_found.beacon_id, "had ", x, " now has: ", len(this_found.beacon_metrics))
}
}

this_found.average_distance = getAverageDistance(this_found.beacon_metrics)
location.found_beacons[this_beacon_id] = this_found
locations_list.locations[incoming.Hostname] = location
}()
}
Expand Down Expand Up @@ -1025,8 +975,7 @@ func settingsEditHandler(w http.ResponseWriter, r *http.Request) {
//make sure values are > 0
if (in_settings.Location_confidence <= 0) ||
(in_settings.Last_seen_threshold <= 0) ||
(in_settings.HA_send_interval <= 0) ||
(in_settings.Last_reading_threshold <= 0) {
(in_settings.HA_send_interval <= 0) {
http.Error(w, "values must be greater than 0", 400)
return
}
Expand Down
2 changes: 1 addition & 1 deletion static_html/VERSION
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
1.7.0
1.8.0
24 changes: 12 additions & 12 deletions static_html/js/settings.tag
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Original file line number Diff line number Diff line change
Expand Up @@ -9,16 +9,16 @@
<label for="location_confidence" class="active">Location Confidence<i class="material-icons tooltipped" data-position="right" data-tooltip="How many times in a row a beacon should be seen in a location before it's considered located there. The higher this value is, the more accuracy is improved, but the longer it will need to take effect">help</i></label>
</div>
</div>
<div class="row">
<div class="input-field col s12">
<input value="{opts.last_seen_threshold}" id="last_seen_threshold" type="number" min="1">
<label for="last_seen_threshold" class="active">Last Seen Threshold<i class="material-icons tooltipped" data-position="right" data-tooltip="How many seconds until a beacon is considered gone">help</i></label>
</div>
</div>
<div class="row">
<div class="input-field col s12">
<input value="{opts.last_seen_threshold}" id="last_seen_threshold" type="number" min="1">
<label for="last_seen_threshold" class="active">Last Seen Threshold<i class="material-icons tooltipped" data-position="right" data-tooltip="How many seconds until a beacon is considered gone">help</i></label>
</div>
</div>
<div class="row">
<div class="input-field col s12">
<input value="{opts.last_reading_threshold}" id="last_reading_threshold" type="number" min="1">
<label for="last_reading_threshold" class="active">Last Reading Threshold<i class="material-icons tooltipped" data-position="right" data-tooltip="Advanced option. How many seconds until a beacon reading is removed from calculations">help</i></label>
<input value="{opts.beacon_metrics_size}" id="beacon_metrics_size" type="number" min="1">
<label for="beacon_metrics_size" class="active">Beacon metrics size<i class="material-icons tooltipped" data-position="right" data-tooltip="How many previous signal readings, from all detectors, to keep for a beacon for calculation">help</i></label>
</div>
</div>
<h4>Home Assistant</h4>
Expand Down Expand Up @@ -54,15 +54,15 @@
dataType: 'json',
})
.done(function(data) {
if(data.last_reading_threshold) {
$("#last_reading_threshold").val(data.last_reading_threshold);
}
if(data.location_confidence) {
$("#location_confidence").val(data.location_confidence);
}
if(data.last_seen_threshold) {
$("#last_seen_threshold").val(data.last_seen_threshold);
}
if(data.beacon_metrics_size) {
$("#beacon_metrics_size").val(data.beacon_metrics_size);
}
if(data.ha_send_interval) {
$("#ha_send_interval").val(data.ha_send_interval);
}
Expand All @@ -76,7 +76,7 @@
var form_data = {}
form_data["location_confidence"] = parseInt($("#location_confidence").val());
form_data["last_seen_threshold"] = parseInt($("#last_seen_threshold").val());
form_data["last_reading_threshold"] = parseInt($("#last_reading_threshold").val());
form_data["beacon_metrics_size"] = parseInt($("#beacon_metrics_size").val());
form_data["ha_send_interval"] = parseInt($("#ha_send_interval").val());
form_data["ha_send_changes_only"] = $("#ha_send_changes_only").prop("checked");
//console.log(form_data);
Expand Down

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