Merge pull request #413 from ltindall/add_parameters

Add parameters to GUI and config ini. Improve GUI readability.
IQTLabs · Feb 15, 2024 · 95b850f · 95b850f
2 parents 3fe1335 + 52dd87d
commit 95b850f
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Showing 7 changed files with 86 additions and 56 deletions.
diff --git a/birdseye/env.py b/birdseye/env.py
@@ -66,7 +66,13 @@ def pffilter_copy(pf, n_downsample=None):
 
 class RFMultiSeparableEnv:
     def __init__(
-        self, sensor=None, actions=None, state=None, simulated=True, num_particles=2000
+        self,
+        sensor=None,
+        actions=None,
+        state=None,
+        simulated=True,
+        num_particles=2000,
+        resample_proportion=0.1,
     ):
         # Sensor definitions
         self.sensor = sensor
@@ -77,6 +83,7 @@ def __init__(
         # Flag for simulation vs real data
         self.simulated = simulated
         self.n_particles = num_particles
+        self.resample_proportion = resample_proportion
 
         # self.pfrnn = pfrnn()
 
@@ -185,7 +192,7 @@ def reset(
                 ),
                 n_particles=self.n_particles,
                 dynamics_fn=self.dynamics,
-                resample_proportion=0.1,  # 0.005,
+                resample_proportion=self.resample_proportion,  # 0.1,  # 0.005,
                 noise_fn=lambda x, **kwargs: self.particle_noise(x, sigmas=[1, 2, 2]),
                 weight_fn=lambda hyp, o, xp=None, **kwargs: self.sensor.weight(hyp, o),
                 resample_fn=systematic_resample,

diff --git a/birdseye/mqtt_fake.py b/birdseye/mqtt_fake.py
@@ -35,7 +35,7 @@ def message_handler(data):
         "predictions": {
             "mini2_telem": [
                 {
-                    "rssi": "-40",
+                    "rssi_max": "-60",
                     "conf": "0.33034399151802063",
                     "xywh": [
                         609.8685302734375,
@@ -47,7 +47,7 @@ def message_handler(data):
             ],
             "mini2_video": [
                 {
-                    "rssi": "-80",
+                    "rssi_max": "-90",
                     "conf": "0.33034399151802063",
                     "xywh": [
                         609.8685302734375,
@@ -60,7 +60,6 @@ def message_handler(data):
         },
         "position": [32.922651, -117.120815],
         "heading": 0,
-        "rssi": [-40, -60],
         "gps": "fix",
     }
     target_data = {

diff --git a/birdseye/utils.py b/birdseye/utils.py
@@ -278,12 +278,28 @@ def plot_map(self, axis1=None, output=None, save_as="resultMap.png"):
         # Set axis dimensions, labels and tick marks
         axis1.set_xlim(0, int(self.width_meters))
         axis1.set_ylim(0, int(self.height_meters))
-        axis1.set_xlabel("Longitude")
-        axis1.set_ylabel("Latitude")
-        axis1.set_xticks(np.linspace(0, int(self.width_meters), num=8))
-        axis1.set_xticklabels(self.x_ticks, rotation=30, ha="center")
-        axis1.set_yticks(np.linspace(0, int(self.height_meters), num=8))
-        axis1.set_yticklabels(self.y_ticks)
+        axis1.set_xticks(np.linspace(0, int(self.width_meters), num=11))
+        axis1.set_xticklabels(
+            np.linspace(
+                -int(self.width_meters / 2), int(self.width_meters / 2), num=11
+            ),
+            rotation=0,
+            ha="center",
+        )
+        axis1.set_yticks(np.linspace(0, int(self.height_meters), num=11))
+        axis1.set_yticklabels(
+            np.linspace(
+                -int(self.height_meters / 2), int(self.height_meters / 2), num=11
+            )
+        )
+        axis1.set_xlabel("meters")
+        axis1.set_ylabel("meters")
+        # axis1.set_xlabel("Longitude")
+        # axis1.set_ylabel("Latitude")
+        # axis1.set_xticks(np.linspace(0, int(self.width_meters), num=8))
+        # axis1.set_xticklabels(self.x_ticks, rotation=30, ha="center")
+        # axis1.set_yticks(np.linspace(0, int(self.height_meters), num=8))
+        # axis1.set_yticklabels(self.y_ticks)
         axis1.grid()
 
         # Save or display
@@ -798,12 +814,12 @@ def live_plot(
         data=None,
         sidebar=False,
         separable=False,
-        map_distance=200,
+        map_distance=500,
     ):
         """
         Create a live plot
         """
-
+        map_distance /= 2
         lines = (
             []
         )  # https://matplotlib.org/3.5.0/api/_as_gen/matplotlib.pyplot.legend.html

diff --git a/geolocate.ini b/geolocate.ini
@@ -11,7 +11,9 @@ directivity_tx = 1
 freq =  5.7e9
 fading_sigma =  8
 threshold = -120
-particle_distance = 250
+map_width = 400
+n_particles = 3000
+resample_proportion = 0.1
 #1000
 # if defined, use static antenna position and heading.
 # static_position = -41.276825,174.777969

diff --git a/geolocate.py b/geolocate.py
@@ -145,6 +145,9 @@ def __init__(self, config_path="geolocate.ini"):
             "flask_host": "0.0.0.0",  # nosec
             "flask_port": "4999",
             "use_flask": "false",
+            "map_width": "500",
+            "n_particles": "3000",
+            "resample_proportion": "0.1",
         }
         default_config.update(self.config)
         self.config = default_config
@@ -245,7 +248,7 @@ def data_handler(self, message_data):
             # self.data["rssi"] = float(metadata["rssi_mean"])
             # self.data["rssi"] = float(metadata["rssi_min"])
             # self.data["rssi"] = float(metadata.get["rssi_max"])
-            pass
+            self.data["rssi"] = None
         else:
             self.data["rssi"] = message_data.get("rssi", None)
 
@@ -290,7 +293,7 @@ def run_flask(self, flask_host, flask_port, fig, results):
         """
         Flask
         """
-        app = Flask(__name__)
+        app = Flask(__name__, template_folder="templates", static_folder="static")
 
         @app.route("/gui/<path:filename>")
         def gui_file(filename):
@@ -316,16 +319,24 @@ def refresh():
         def gui_form():
             if request.method == "POST":
                 user = request.form.get("name", None)
-                self.config["n_targets"] = request.form.get(
-                    "n_targets", self.config["n_targets"]
-                )
+                form_inputs = [
+                    "n_targets",
+                    "n_particles",
+                    "resample_proportion",
+                    "map_width",
+                ]
+                for input_name in form_inputs:
+                    self.config[input_name] = request.form.get(
+                        input_name, self.config[input_name]
+                    )
                 reset = request.form.get("reset", None)
                 if reset == "reset":
                     self.stop()
                     self.image_buf = BytesIO()
                     self.start()
                 return redirect(request.referrer)
 
+        @app.route("/")
         @app.route("/guiFile")
         def gui_from_file():
             if not self.image_buf.getbuffer().nbytes:
@@ -338,30 +349,6 @@ def gui_from_buffer():
                 return render_template("loading.html")
             return render_template("gui_from_buffer.html", config=self.config)
 
-        @app.route("/")
-        def index():
-            flask_start_time = timer()
-
-            if not self.image_buf.getbuffer().nbytes:
-                return render_template("loading.html")
-
-            data = base64.b64encode(self.image_buf.getvalue()).decode("ascii")
-
-            flask_end_time = timer()
-
-            logging.debug("=======================================")
-            logging.debug("Flask Timing")
-            logging.debug("time step = %s", str(results.time_step))
-            logging.debug(
-                "buffer size = {:.2f} MB".format(len(self.image_buf.getbuffer()) / 1e6)
-            )
-            logging.debug(
-                "Duration = {:.4f} s".format(flask_end_time - flask_start_time)
-            )
-            logging.debug("=======================================")
-
-            return render_template("birdseye_live.html", data=data)
-
         host_name = flask_host
         port = flask_port
         self.flask_thread = threading.Thread(
@@ -447,7 +434,9 @@ def main(self, stopped):
         fading_sigma = float(self.config["fading_sigma"])
         threshold = float(self.config["threshold"])
 
-        particle_distance = float(self.config["particle_distance"])
+        n_particles = int(self.config["n_particles"])
+        map_width = float(self.config["map_width"])
+        resample_proportion = float(self.config["resample_proportion"])
 
         local_plot = self.config["local_plot"].lower()
         make_gif = self.config["make_gif"].lower()
@@ -460,16 +449,17 @@ def main(self, stopped):
 
         # BirdsEye
         global_start_time = datetime.utcnow().timestamp()
-        n_simulations = 100
-        max_iterations = 400
+
         reward_func = (
             lambda pf, **kwargs: pf.weight_entropy
         )  # lambda *args, **kwargs: None
+
+        # REPP/Lavapilot parameters
         r_min = 10
         horizon = 1  # 8
         min_bound = 0.82
         min_std_dev = 35
-        num_particles = 3000  # 3000
+
         step_duration = 1
 
         # Sensor
@@ -513,7 +503,8 @@ def main(self, stopped):
             actions=actions,
             state=state,
             simulated=False,
-            num_particles=num_particles,
+            num_particles=n_particles,
+            resample_proportion=resample_proportion,
         )
 
         belief = env.reset()
@@ -647,7 +638,7 @@ def main(self, stopped):
                     data=self.data,
                     sidebar=False,
                     separable=True,
-                    map_distance=particle_distance,
+                    map_distance=map_width,
                 )
                 # safe image buf
                 tmp_buf = BytesIO()

diff --git a/static/styles/birdseye.css b/static/styles/birdseye.css
@@ -0,0 +1,6 @@
+.container {
+    display: flex;  /*sets form and image next to each other*/  
+    /*border-radius: 2%;
+
+    padding: 5%;*/
+}
diff --git a/templates/gui_from_file.html b/templates/gui_from_file.html
@@ -1,16 +1,25 @@
 <html>
 <head>
     <title>BirdsEye</title>
+    <link rel="stylesheet" type="text/css" href="{{ url_for('static',filename='styles/birdseye.css') }}">
     <script src="https://code.jquery.com/jquery-3.3.1.min.js"></script>
 </head>
 <body>
-    <img id="map" src="" />
-    <form action = "{{ url_for('gui_form') }}" method = "post">
-        <p>Number of targets:</p>
-        <p><input type = "text" name="n_targets" value="{{ config.n_targets }}"/></p>
-
-        <p><button name="reset" type="submit" value="reset">Reset</button></p>
-    </form>
+    <div class="container">
+      <img id="map" src="" />
+      <form action = "{{ url_for('gui_form') }}" method = "post">
+          <p>Number of targets:</p>
+          <p><input type = "text" name="n_targets" value="{{ config.n_targets }}"/></p>
+          <p>Number of particles:</p>
+          <p><input type = "text" name="n_particles" value="{{ config.n_particles }}"/></p>
+          <p>Particle resample proportion:</p>
+          <p><input type = "text" name="resample_proportion" value="{{ config.resample_proportion }}"/></p>
+          <p>Map width (meters):</p>
+          <p><input type = "text" name="map_width" value="{{ config.map_width }}"/></p>
+
+          <p><button name="reset" type="submit" value="reset">Reset</button></p>
+      </form>
+    </div>
     <script>
       $(document).ready(function(){
         setInterval(refreshFunction, 1000);