diff --git a/Yadershiki/README.md b/Yadershiki/README.md new file mode 100644 index 0000000..0066ed2 --- /dev/null +++ b/Yadershiki/README.md @@ -0,0 +1,9 @@ +# Indoor navigation system +Система представляет из себя решение для определения положения в пространстве при помощи BLE маяков. +Для развёртки см. файл SETUP.md + +## Работа с клиентом +Клиент представляет из сайт, где отображается карта и кнопки для управления +На карте отображены маяки(серые точки) и пользователь(зелёная точка) + +Для начала записи пути нажмите на кноку "Start Recording". При этом на карте начнёт отображаться записываемый маршрут. Чтобы завершить запись нажмите на "Stop Recording". После этого станет доступна кнопка "Download Path", при нажатии на которую загружается csv файл с маршрутом diff --git a/Yadershiki/SETUP.md b/Yadershiki/SETUP.md new file mode 100644 index 0000000..fd4d3cc --- /dev/null +++ b/Yadershiki/SETUP.md @@ -0,0 +1,5 @@ +# Разрвёртывание окружения +Чтобы развернуть окружение, следуйте инструкция в следующем порядке +1. Подготовка платы(см. SETUP_ESP32.md) +2. Подготовка клиента(см. SETUP_CLIENT.md) +3. Подготовка сервера(см. SETUP_SERVER.md) diff --git a/Yadershiki/SETUP_CLIENT.md b/Yadershiki/SETUP_CLIENT.md new file mode 100644 index 0000000..69ebf60 --- /dev/null +++ b/Yadershiki/SETUP_CLIENT.md @@ -0,0 +1,36 @@ +# Настройка клиента +Клиент представляет собой веб-приложение. Для сборки требуется установленный NodeJS 20.19 и выше + +## 1. Подготовка окружения +Перед сборкой требуется создать .env файл корне папки клиента(в репозитории это src/client) и прописать в нём конфигурацию + +``` +VITE_API_URL= # укажите здесь URL API-сервера +VITE_API_PORT= # укажите здесь порт, по умолчанию используется 8080 +``` +**ВАЖНО**: VITE_API_URL не должен иметь в конце знак '/', так как в приложении он конкатенируется с портом + +Пример файла: +``` +VITE_API_URL=http://myapi.best +VITE_API_PORT= +``` + +Приложение использует систему сборки Vite, поэтому вы можете дополнительно сконфигурировать используя официальную документацию + +## 2. Сборка приложения +Сборка происходит в 2 этапа: +1. Установка зависимостей +2. Сборка + +Вы можете использовать следующие команды +```bash +npm i +npm run build +``` + +Готовый билд должен находиться в папке dist/ + +## 3. Публикация +Полученную папку dist необходимо целиком перенести в папку сервера + diff --git a/Yadershiki/SETUP_ESP32.md b/Yadershiki/SETUP_ESP32.md new file mode 100644 index 0000000..edcadf5 --- /dev/null +++ b/Yadershiki/SETUP_ESP32.md @@ -0,0 +1,93 @@ +Этот проект позволяет использовать **ESP32** как считыватель BLE-маяков и отправлять данные о сигнале (**RSSI**) на сервер через **MQTT**. + +--- +### Требования +- ESP32 (с поддержкой Wi-Fi и Bluetooth) +- Thonny IDE (Python IDE с поддержкой MicroPython) +- Прошивка **MicroPython** на ESP32 (официальный сайт) +- MQTT-брокер (например, Mosquitto, EMQX или встроенный в Home Assistant) +--- + +## Установка прошивки на ESP32 + +1. Скачайте **MicroPython прошивку** для ESP32: + [MicroPython - Python for microcontrollers](https://micropython.org/download/ESP32_GENERIC/) +2. Установите утилиту `esptool.py` (если ещё не установлена): + `pip install esptool` +3. Подключите ESP32 к компьютеру и прошейте: + `esptool.py --chip esp32 --port COM7 erase_flash esptool.py --chip esp32 --port COM7 write_flash -z 0x1000 esp32-[версия].bin` + + ⚠️ Замените `COM7` на ваш порт и `esp32-[версия].bin` на скачанный файл. + + +--- + +## Загрузка и запуск кода в Thonny + +1. Установите **Thonny**: thonny.org +2. Подключите ESP32 и выберите его порт: + - В Thonny: `Инструменты → Настройки → Интерпретатор → MicroPython (ESP32)` +3. Скопируйте файлы на плату: + - `esp32.py` + - `config_esp32.py` +4. Нажмите **Run **для запуска `esp32.py`. + + +--- + +## Настройка `config_esp32.py` + +Откройте файл `config_esp32.py` и укажите свои параметры: + +MQTT_BROKER = "192.168.3.26" # IP брокера +MQTT_PORT = 1883 +MQTT_TOPIC = "beacons/rssi" +CLIENT_ID = "beacon_publisher_01" + +WIFI_SSID = "ваш_вайфай" +WIFI_PASSWORD = "ваш_пароль" + +SCAN_DURATION_MS = 1000 # время одного скана (мс) +SCAN_INTERVAL = 1 # пауза между циклами (сек) +SCAN_FREQ = 100 # частота проверки статуса (мс) + +BEACON_PREFIX = "beacon_" # фильтрация по имени маяка + +--- + +## Как работает `esp32.py` + +- Подключается к Wi-Fi (данные берутся из `config_esp32.py`). +- Запускает Bluetooth-сканер и ищет устройства, начинающиеся с `BEACON_PREFIX`. +- Собирает **RSSI** для найденных маяков. +- Отправляет результат в MQTT-брокер в JSON-формате. + +Пример данных, отправляемых в топик: + +`[["beacon_1", -45], ["beacon_2", -67]]` + +Если маяки не найдены: + +`"NO_BEACONS_FOUND"` + +--- + +## Проверка работы + +1. Запустите MQTT-брокер (например, Mosquitto). +2. Подпишитесь на топик: + `mosquitto_sub -h 192.168.3.26 -t beacons/rssi` +3. Должны приходить данные в реальном времени: + `[["beacon_maxim", -34], ["beacon_matvey", -45]]` +--- + +## Возможные ошибки + +- **"Не удалось подключиться к Wi-Fi"** → Проверьте SSID и пароль. + +- **"Ошибка публикации"** → Проверьте IP MQTT-брокера и его доступность. + +- **Нет маяков** → Убедитесь, что у маяков имя начинается с `BEACON_PREFIX`. + + +--- diff --git a/Yadershiki/SETUP_SERVER.md b/Yadershiki/SETUP_SERVER.md new file mode 100644 index 0000000..85f6aac --- /dev/null +++ b/Yadershiki/SETUP_SERVER.md @@ -0,0 +1,54 @@ +## Подготовка окружения + +Перед запуском убедитесь, что установлены: +- **Docker** +- **Docker Compose** +- ESP32 устройства с прошитым кодом для сканирования BLE-маяков + + +Сборка окружения + +Запуск сервисов: + +docker-compose up + +Проверка работы контейнеров: + +docker-compose ps + + +Управление сервисами + +# Просмотр логов приложения +docker-compose logs app -f + +# Просмотр логов MQTT брокера +docker-compose logs emqx -f + +# Общие логи всех сервисов +docker-compose logs -f + +# Остановка всех сервисов +docker-compose down + +# Полная пересборка и запуск +docker-compose down +docker-compose build --no-cache +docker-compose up -d + + +Тестирование MQTT + +# Установка MQTT клиента +npm install -g mqtt + +# Подписка на топик для мониторинга данных +mqtt sub -t 'beacons/#' -h localhost -p 1883 -v + + +Проверка состояния API +# Проверка здоровья приложения +curl http://localhost:8080/health + +# Получение статуса буферов +curl http://localhost:8080/status \ No newline at end of file diff --git a/Yadershiki/src/client/.gitignore b/Yadershiki/src/client/.gitignore new file mode 100644 index 0000000..a547bf3 --- /dev/null +++ b/Yadershiki/src/client/.gitignore @@ -0,0 +1,24 @@ +# Logs +logs +*.log +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* +lerna-debug.log* + +node_modules +dist +dist-ssr +*.local + +# Editor directories and files +.vscode/* +!.vscode/extensions.json +.idea +.DS_Store +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/Yadershiki/src/client/index.html b/Yadershiki/src/client/index.html new file mode 100644 index 0000000..bd0acbd --- /dev/null +++ b/Yadershiki/src/client/index.html @@ -0,0 +1,18 @@ + + + + + + Yaderщики + + +
+
+ + +
+
+
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true + }, + "less": { + "optional": true + }, + "lightningcss": { + "optional": true + }, + "sass": { + "optional": true + }, + "sass-embedded": { + "optional": true + }, + "stylus": { + "optional": true + }, + "sugarss": { + "optional": true + }, + "terser": { + "optional": true + }, + "tsx": { + "optional": true + }, + "yaml": { + "optional": true + } + } + } + } +} diff --git a/Yadershiki/src/client/package.json b/Yadershiki/src/client/package.json new file mode 100644 index 0000000..991170f --- /dev/null +++ b/Yadershiki/src/client/package.json @@ -0,0 +1,19 @@ +{ + "name": "client", + "private": true, + "version": "0.0.0", + "type": "module", + "scripts": { + "dev": "vite", + "build": "vite build", + "preview": "vite preview" + }, + "devDependencies": { + "vite": "^7.1.7" + }, + "dependencies": { + "dotenv": "^17.2.3", + "konva": "^10.0.2", + "normalize.css": "^8.0.1" + } +} diff --git a/Yadershiki/src/client/src/canvas.js b/Yadershiki/src/client/src/canvas.js new file mode 100644 index 0000000..92bc4a0 --- /dev/null +++ b/Yadershiki/src/client/src/canvas.js @@ -0,0 +1,56 @@ +import Konva from "konva"; +import drawPoints, { drawPoint } from "./points"; +import { fetchBeacons } from "./network"; + +export async function setUpStage(containerId) { + Konva.hitOnDragEnabled = true; + + const stage = new Konva.Stage({ + container: containerId, + width: window.innerWidth, + height: window.innerHeight, + draggable: true, + }); + + const origin = {x: 0, y: 0}; + const center = {x: stage.width() / 2, y: stage.height() / 2}; + const step = 25; + + const getGridParams = () => ({ origin, center, step }); + + const user = drawPoint( + origin, center, step, + {x: 0, y: 0, name: 'You', fill: 'green'} + ); + + const data = await fetchBeacons(); + const points = drawPoints( + origin, center, step, + data + ); + + points.add(user); + stage.add(points); + + return { stage, user, getGridParams}; +} + +export function drawPath(stage, layer, path) { + let line; + if (layer === undefined || layer.find('Line').length === 0) { + layer = new Konva.Layer(); + line = new Konva.Line({ + points: [], + stroke: 'black', + strokeWidth: 2, + }) + layer.add(line); + stage.add(layer); + } else { + line = layer.find('Line')[0]; + } + + line.points(path); + layer.batchDraw(); + return layer; +} diff --git a/Yadershiki/src/client/src/main.js b/Yadershiki/src/client/src/main.js new file mode 100644 index 0000000..984f9bb --- /dev/null +++ b/Yadershiki/src/client/src/main.js @@ -0,0 +1,34 @@ +import './style.css'; +import 'normalize.css'; +import { mapCoordinates } from './points'; +import { openPositionSource } from './network'; +import { drawPath, setUpStage } from './canvas'; +import PathRecord from './pathRecord'; + +const record = new PathRecord(); +let layer, path = []; +const { stage, user, getGridParams } = await setUpStage('canvas'); + +const positionSource = openPositionSource(async (event) => { + try { + const data = await JSON.parse(event.data); + record.add(data.x, data.y); + const { origin, center, step } = getGridParams(); + const {x, y} = mapCoordinates(origin, center, step, data); + + user.x(x); + user.y(y); + + if (record.isRecording()) { + path.push(x, y); + } else { + path = []; + } + layer = drawPath(stage, layer, path); + + stage.batchDraw(); + } catch (err) { + console.error(`Error: ${err}`); + } +}); + diff --git a/Yadershiki/src/client/src/network.js b/Yadershiki/src/client/src/network.js new file mode 100644 index 0000000..c458ca3 --- /dev/null +++ b/Yadershiki/src/client/src/network.js @@ -0,0 +1,18 @@ +const API_PORT = import.meta.env.VITE_API_PORT || 8080; +const API_URL = `${import.meta.env.VITE_API_URL}:${API_PORT}`; + + + +export async function fetchBeacons() { + return await fetch(`${API_URL}/api/beacons`) + .then((response) => { + return response.json(); + }); +} + +export function openPositionSource(onmessage) { + const source = new EventSource(`${API_URL}/api/position`); + source.onmessage = onmessage; + + return source; +} diff --git a/Yadershiki/src/client/src/pathRecord.js b/Yadershiki/src/client/src/pathRecord.js new file mode 100644 index 0000000..28a67f7 --- /dev/null +++ b/Yadershiki/src/client/src/pathRecord.js @@ -0,0 +1,63 @@ +export default class PathRecord { + #data = []; + #isRecording = false; + + constructor() { + const recordButton = document.getElementById('record'); + const downloadButton = document.getElementById('download'); + + recordButton.onclick = () => { + if (!this.isRecording()) { + this.start(); + downloadButton.disabled = true; + recordButton.innerHTML = 'Stop Recording'; + } else { + this.stop(); + downloadButton.disabled = false; + recordButton.innerHTML = 'Start Recording'; + } + } + + downloadButton.onclick = () => { + const blob = this.toCsv(';'); + const link = document.createElement('a'); + link.href = URL.createObjectURL(blob); + link.download = 'recorded.path' + + document.body.appendChild(link); + link.click(); + + URL.revokeObjectURL(link.href); + document.body.removeChild(link); + } + + downloadButton.disabled = true; + } + + start() { + this.#data = [['X', 'Y']]; + this.#isRecording = true; + } + + add(x, y) { + if (this.#isRecording) { + this.#data.push([x, y]); + } + } + + stop() { + this.#isRecording = false; + } + + toCsv(separator) { + const csvContent = this.#data.map((row) => row.join(separator)).join('\n'); + const blob = new Blob([csvContent], {type: 'text/csv,charset=utf-8'}); + + return blob; + } + + isRecording() { + return this.#isRecording; + } +} + diff --git a/Yadershiki/src/client/src/points.js b/Yadershiki/src/client/src/points.js new file mode 100644 index 0000000..97127c1 --- /dev/null +++ b/Yadershiki/src/client/src/points.js @@ -0,0 +1,46 @@ +import Konva from "konva"; + +export default function drawPoints(origin, startsAt, step, points) { + const layer = new Konva.Layer(); + + points.forEach((point) => { + layer.add(drawPoint(origin, startsAt, step, point)); + }); + + return layer; +} + +export function drawPoint(origin, startsAt, step, pointData) { + const {x, y} = mapCoordinates(origin, startsAt, step, pointData); + + const point = new Konva.Group({x, y}); + const circle = new Konva.Circle({ + radius: 10, + fill: pointData.fill || 'gray', + stroke: 'black', + strokeWidth: 1, + }); + + point.add(circle); + + if (pointData.name !== undefined) { + const caption = new Konva.Text({ + text: pointData.name, + fontSize: 16, + }); + + caption.offsetX(caption.width() / 2); + caption.offsetY(-caption.height()); + + point.add(caption); + } + + return point; +} + +export function mapCoordinates(origin, startsAt, step, coords) { + return { + x: startsAt.x + step * (coords.x - origin.x), + y: startsAt.y - step * (coords.y - origin.y), + }; +} diff --git a/Yadershiki/src/client/src/style.css b/Yadershiki/src/client/src/style.css new file mode 100644 index 0000000..9c2bc4f --- /dev/null +++ b/Yadershiki/src/client/src/style.css @@ -0,0 +1,16 @@ +body { + display: flex; + flex: 1 1 auto; +} + +#app { + margin: 0 auto; +} + +#controls { + position: fixed; + top: 15px; + left: 20px; + z-index: 100; +} + diff --git a/Yadershiki/src/esp32/config_esp32.py b/Yadershiki/src/esp32/config_esp32.py new file mode 100644 index 0000000..67a1163 --- /dev/null +++ b/Yadershiki/src/esp32/config_esp32.py @@ -0,0 +1,17 @@ +# MQTT settings +MQTT_BROKER = "192.168.3.26" +MQTT_PORT = 1883 +MQTT_TOPIC = "beacons/rssi" +CLIENT_ID = "beacon_publisher_01" + +# Wi-Fi settings +WIFI_SSID = "vaidy31" +WIFI_PASSWORD = "88888888" + +# BLE scan settings +SCAN_DURATION_MS = 1000 +SCAN_INTERVAL = 1 +SCAN_FREQ = 100 + +# Beacon settings +BEACON_PREFIX = "beacon_" diff --git a/Yadershiki/src/esp32/esp32.py b/Yadershiki/src/esp32/esp32.py new file mode 100644 index 0000000..d752b7f --- /dev/null +++ b/Yadershiki/src/esp32/esp32.py @@ -0,0 +1,163 @@ + +import bluetooth +from micropython import const +import time +import network +from umqtt.simple import MQTTClient +import config_esp32 + +_IRQ_SCAN_RESULT = const(5) +_IRQ_SCAN_DONE = const(6) +_ADV_TYPE_NAME = const(0x09) + +ble = bluetooth.BLE() +ble.active(True) + +beacons_history = {} +HISTORY_SIZE = 6 + +scan_done = False + +def decode_name(adv_data): + adv_bytes = bytes(adv_data) + i = 0 + while i + 1 < len(adv_bytes): + length = adv_bytes[i] + if length == 0: + break + type = adv_bytes[i + 1] + if type == _ADV_TYPE_NAME: + return adv_bytes[i + 2 : i + 1 + length].decode("utf-8") + i += 1 + length + return None + +def bt_irq(event, data): + global beacons_history, scan_done + if event == _IRQ_SCAN_RESULT: + addr_type, addr, adv_type, rssi, adv_data = data + name = decode_name(adv_data) + if name and name.startswith(config_esp32.BEACON_PREFIX): + if name not in beacons_history: + beacons_history[name] = [] + + beacons_history[name].append(rssi) + + if len(beacons_history[name]) > HISTORY_SIZE: + beacons_history[name].pop(0) + + elif event == _IRQ_SCAN_DONE: + scan_done = True + +def calculate_median(values): + """Вычисляет медиану из списка значений""" + if not values: + return None + + sorted_values = sorted(values) + n = len(sorted_values) + + if n % 2 == 1: + return sorted_values[n // 2] + else: + return (sorted_values[n // 2 - 1] + sorted_values[n // 2]) // 2 + +def scan_once(duration_ms=config_esp32.SCAN_DURATION_MS): + global beacons_history, scan_done + scan_done = False + ble.irq(bt_irq) + ble.gap_scan(duration_ms, 30000, 30000) + + while not scan_done: + time.sleep_ms(config_esp32.SCAN_FREQ) + + beacons_processed = {} + + all_beacons = {} + for name, rssi_list in beacons_history.items(): + if rssi_list: + all_beacons[name] = rssi_list[-1] + + + beacons_sorted = sorted(all_beacons.items(), key=lambda x: x[1], reverse=True) + + + top_3_names = [name for name, _ in beacons_sorted[:3]] + for name in top_3_names: + rssi_list = beacons_history[name] + if len(rssi_list) >= 3: + median_rssi = calculate_median(rssi_list) + beacons_processed[name] = median_rssi + else: + beacons_processed[name] = rssi_list[-1] if rssi_list else 0 + + for name, last_rssi in beacons_sorted[3:]: + beacons_processed[name] = last_rssi + + beacons_final_sorted = sorted(beacons_processed.items(), key=lambda x: x[1], reverse=True) + return [[name, rssi] for name, rssi in beacons_final_sorted] + +def publish_beacons_data(beacons_data): + try: + client = MQTTClient(config_esp32.CLIENT_ID, config_esp32.MQTT_BROKER, port=config_esp32.MQTT_PORT) + client.connect() + if not beacons_data: + data_str = "NO_BEACONS_FOUND" + print("Маяки не найдены, отправляем сообщение об отсутствии") + else: + data_str = str(beacons_data).replace("'", '"') + print(f"Найдено маяков: {len(beacons_data)}") + + for i, (name, rssi) in enumerate(beacons_data): + history_len = len(beacons_history.get(name, [])) + if i < 3: + marker = "TOP 3" + method = "медиана" + else: + marker = "LAST" + method = "последнее значение" + print(f" {marker} {name}: RSSI={rssi} dBm ({history_len} изм., {method})") + + client.publish(config_esp32.MQTT_TOPIC, data_str) + print(f"Опубликовано в топик {config_esp32.MQTT_TOPIC}") + + client.disconnect() + return True + + except Exception as e: + print(f"Ошибка публикации: {e}") + return False + +def connect_wifi(): + wlan = network.WLAN(network.STA_IF) + wlan.active(True) + + if not wlan.isconnected(): + print(f"Подключаемся к Wi-Fi {config_esp32.WIFI_SSID}...") + wlan.connect(config_esp32.WIFI_SSID, config_esp32.WIFI_PASSWORD) + + for i in range(10): + if wlan.isconnected(): + break + print('Ожидание...') + time.sleep(1) + + return wlan + +wlan = connect_wifi() + +if wlan.isconnected(): + print("Успешно подключено к Wi-Fi") + print('IP адрес:', wlan.ifconfig()[0]) + + + while True: + try: + beacons_data = scan_once(duration_ms=config_esp32.SCAN_DURATION_MS) + publish_beacons_data(beacons_data) + time.sleep(config_esp32.SCAN_INTERVAL) + + except Exception as e: + print(f"Ошибка: {e}") + time.sleep(5) +else: + print("Не удалось подключиться к Wi-Fi") \ No newline at end of file diff --git a/Yadershiki/src/server/.gitignore b/Yadershiki/src/server/.gitignore new file mode 100644 index 0000000..6d2c041 --- /dev/null +++ b/Yadershiki/src/server/.gitignore @@ -0,0 +1,16 @@ +# Dependencies +node_modules/ + +# Environment variables +.env + +# Logs +*.log +logs/ + +# OS files +.DS_Store + +# Build outputs +dist/ +build/ diff --git a/Yadershiki/src/server/Dockerfile b/Yadershiki/src/server/Dockerfile new file mode 100644 index 0000000..e5a42a6 --- /dev/null +++ b/Yadershiki/src/server/Dockerfile @@ -0,0 +1,13 @@ +FROM node:18-alpine + +WORKDIR /app + +COPY package*.json ./ +RUN npm install + +COPY . . + +ENV NODE_ENV=production +ENV LOG_LEVEL=info + +CMD ["node", "--enable-source-maps", "server.js"] \ No newline at end of file diff --git a/Yadershiki/src/server/beacons.js b/Yadershiki/src/server/beacons.js new file mode 100644 index 0000000..6431277 --- /dev/null +++ b/Yadershiki/src/server/beacons.js @@ -0,0 +1,20 @@ +import fs from 'fs'; +import path from 'path'; +import csv from 'csv-parser'; + +export default async function getBeacons(dirname) { + const configPath = path.join(dirname, 'config.beacons'); + return new Promise((resolve, rejects) => { + const results = []; + + fs.createReadStream(configPath) + .pipe(csv({separator: ';'})) + .on('data', (data) => results.push({ + name: data.Name, + x: Number(data.X), + y: Number(data.Y), + })) + .on('end', () => resolve(results)) + .on('error', () => rejects(results)); + }); +} diff --git a/Yadershiki/src/server/config.beacons b/Yadershiki/src/server/config.beacons new file mode 100644 index 0000000..e75c267 --- /dev/null +++ b/Yadershiki/src/server/config.beacons @@ -0,0 +1,9 @@ +Name;X;Y +beacon_1;-7.2;-4.8 +beacon_2;3;-4.8 +beacon_3;9.6;-0.6 +beacon_4;-13.8;-1.8 +beacon_5;-9;4.2 +beacon_6;6;9 +beacon_7;-13.2;10.8 +beacon_8;-3;2.4 \ No newline at end of file diff --git a/Yadershiki/src/server/docker-compose.yml b/Yadershiki/src/server/docker-compose.yml new file mode 100644 index 0000000..2faedf2 --- /dev/null +++ b/Yadershiki/src/server/docker-compose.yml @@ -0,0 +1,39 @@ +services: + # Основной сервер + app: + build: + context: . + dockerfile: Dockerfile + container_name: my-app + ports: + - "8080:8080" + environment: + - NODE_ENV=production + - MQTT_HOST=emqx + - MQTT_PORT=1883 + command: node server.js + depends_on: + - emqx + restart: unless-stopped + networks: + - app-network + + # MQTT брокер EMQX + emqx: + image: emqx/emqx:5.4 + container_name: emqx + ports: + - "1883:1883" # порт + - "8083:8083" + - "8084:8084" + - "8883:8883" + - "8081:18083" + environment: + - EMQX_NODE_NAME=emqx@node + restart: unless-stopped + networks: + - app-network + +networks: + app-network: + driver: bridge \ No newline at end of file diff --git a/Yadershiki/src/server/locationcals.js b/Yadershiki/src/server/locationcals.js new file mode 100644 index 0000000..8c0a0b6 --- /dev/null +++ b/Yadershiki/src/server/locationcals.js @@ -0,0 +1,213 @@ +import { EventEmitter } from 'events'; +import getBeacons from './beacons.js'; +import * as math from 'mathjs'; + + +class DistanceEstimator { + constructor(bufferSize = 20, measuredPower = -59, envFactor = 4) { + this.bufferSize = bufferSize; + this.measuredPower = measuredPower; + this.envFactor = envFactor; + this.buffers = { + logModel: [], + fspl: [], + linear: [] + }; + } + + rssiToDistanceLog(rssi) { + return Math.pow(10, (this.measuredPower - rssi) / (10 * this.envFactor)); + } + + rssiToDistanceFSPL(rssi, freqMHz = 2400) { + return Math.pow(10, (27.55 - (20 * Math.log10(freqMHz)) + Math.abs(rssi)) / 20.0); + } + + rssiToDistanceLinear(rssi) { + return Math.max(0.1, (this.measuredPower - rssi) * 0.1); + } + + addRSSI(rssi) { + const d1 = this.rssiToDistanceLog(rssi); + const d2 = this.rssiToDistanceFSPL(rssi); + const d3 = this.rssiToDistanceLinear(rssi); + + this._addToBuffer(this.buffers.logModel, d1); + this._addToBuffer(this.buffers.fspl, d2); + this._addToBuffer(this.buffers.linear, d3); + } + + _addToBuffer(buffer, value) { + if (buffer.length >= this.bufferSize) buffer.shift(); + buffer.push(value); + } + + getDistance() { + const averages = []; + for (const buf of Object.values(this.buffers)) { + if (buf.length > 0) { + const avg = buf.reduce((a, b) => a + b, 0) / buf.length; + averages.push(avg); + } + } + if (averages.length > 0) { + return averages.reduce((a, b) => a + b, 0) / averages.length; + } + return null; + } +} + + +class BeaconTracker extends EventEmitter { + constructor(beacons, options = {}) { + super(); + this.beacons = this.normalizeBeacons(beacons); + this.bufferSize = options.bufferSize || 50; + this.rssiBuffers = {}; + this.estimators = {}; + this.updateInterval = options.updateInterval || 1000; + + setInterval(() => this.processBuffers(), this.updateInterval); + } + + normalizeBeacons(beaconsArray) { + const beaconsObj = {}; + beaconsArray.forEach(beacon => { + beaconsObj[beacon.name] = { + x: beacon.x, + y: beacon.y, + measuredPower: beacon.measuredPower || -59, + environmentalFactor: beacon.environmentalFactor || 3.0 + }; + }); + return beaconsObj; + } + + addRssi(beaconName, rssi) { + if (!this.rssiBuffers[beaconName]) this.rssiBuffers[beaconName] = []; + this.rssiBuffers[beaconName].push(rssi); + if (this.rssiBuffers[beaconName].length > this.bufferSize) this.rssiBuffers[beaconName].shift(); + + if (!this.estimators[beaconName]) { + const beacon = this.beacons[beaconName]; + this.estimators[beaconName] = new DistanceEstimator( + this.bufferSize, + beacon ? beacon.measuredPower : -59, + beacon ? beacon.environmentalFactor : 2.0 + ); + } + this.estimators[beaconName].addRSSI(rssi); + } + + addRSSIData(rssiDataList) { + rssiDataList.forEach(rssiData => { + if (Array.isArray(rssiData) && rssiData.length === 2) { + const beaconName = rssiData[0]; + const rssiValue = rssiData[1]; + this.addRssi(beaconName, rssiValue); + } + }); + } + + processBuffers() { + const distances = {}; + const usedBeacons = []; + + for (const [beaconName, samples] of Object.entries(this.rssiBuffers)) { + const beacon = this.beacons[beaconName]; + if (!beacon) continue; + + const estimator = this.estimators[beaconName]; + const distance = estimator ? estimator.getDistance() : null; + if (distance == null) continue; + + distances[beaconName] = distance; + usedBeacons.push({ + name: beaconName, + rssi: samples[samples.length - 1], + distance: distance, + x: beacon.x, + y: beacon.y + }); + } + + + if (Object.keys(distances).length >= 3) { + const pos = this.trilaterate(distances); + if (pos) this.emit('position', { position: pos, usedBeacons, timestamp: new Date().toISOString() }); + else console.log('Trilateration failed'); + } else { + console.log(`Not enough beacons for trilateration: ${Object.keys(distances).length}/3`); + } + } + + trilaterate(distances) { + const keys = Object.keys(distances); + if (keys.length < 3) return null; + + const bestBeacons = keys + .map(key => ({ key, distance: distances[key] })) + .sort((a, b) => a.distance - b.distance) + .slice(0, 3) + .map(item => item.key); + + const A = []; + const b = []; + const refKey = bestBeacons[0]; + const refBeacon = this.beacons[refKey]; + const refDist = distances[refKey]; + + for (let i = 1; i < bestBeacons.length; i++) { + const key = bestBeacons[i]; + const beacon = this.beacons[key]; + const dist = distances[key]; + + const dx = beacon.x - refBeacon.x; + const dy = beacon.y - refBeacon.y; + + A.push([2 * dx, 2 * dy]); + b.push( + Math.pow(refDist, 2) - Math.pow(dist, 2) - + Math.pow(refBeacon.x, 2) + Math.pow(beacon.x, 2) - + Math.pow(refBeacon.y, 2) + Math.pow(beacon.y, 2) + ); + } + + try { + const AT = math.transpose(A); + const ATA = math.multiply(AT, A); + const ATb = math.multiply(AT, b); + const sol = math.lusolve(ATA, ATb); + + const x = sol[0][0] + refBeacon.x; + const y = sol[1][0] + refBeacon.y; + return { x, y }; + } catch (error) { + console.log('Trilateration error:', error.message); + return null; + } + } + + getBufferStatus() { + const status = {}; + for (const [beaconName, buffer] of Object.entries(this.rssiBuffers)) { + const estimator = this.estimators[beaconName]; + status[beaconName] = { + samples: buffer.length, + lastRSSI: buffer.length > 0 ? buffer[buffer.length - 1] : null, + estimatedDistance: estimator ? estimator.getDistance() : null + }; + } + return status; + } +} + +// === Фабрика трекера === +async function createTracker(dirname, options = {}) { + const beaconsArray = await getBeacons(dirname); + const tracker = new BeaconTracker(beaconsArray, options); + + return tracker; +} + +export { BeaconTracker, createTracker }; diff --git a/Yadershiki/src/server/package-lock.json b/Yadershiki/src/server/package-lock.json new file mode 100644 index 0000000..06aeb0a --- /dev/null +++ b/Yadershiki/src/server/package-lock.json @@ -0,0 +1,1742 @@ +{ + "name": "server", + "version": "1.0.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "server", + "version": "1.0.0", + "license": 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0000000..f131b1d --- /dev/null +++ b/Yadershiki/src/server/server.js @@ -0,0 +1,287 @@ +import dotenv from 'dotenv'; +import express from 'express'; +import path from 'path'; +import compression from 'compression'; +import bodyParser from 'body-parser'; +import cors from 'cors'; +import { fileURLToPath } from 'url'; +import mqtt from 'mqtt'; +import getBeacons from './beacons.js'; +import { createTracker } from './locationcals.js'; // исправлен импорт + +// Добавить эту функцию (или удалить её вызовы) +async function improvedTrilaterate(dirname, rssi) { + console.log('Legacy trilateration called with:', rssi); + return { x: 0, y: 0, error: 'legacy_method' }; +} +dotenv.config(); +const port = process.env.PORT; +const __filename = fileURLToPath(import.meta.url); +const __dirname = path.dirname(__filename); + +const app = express(); +app.use(compression()); +app.use(cors()); +app.use(bodyParser.json()); + +let clients = []; +let state = []; +let tracker; + +console.log('Server starting'); +console.log('Endpoints registered: /, /beacons, /api/state, /api/status'); + +const mqttHost = process.env.MQTT_HOST || 'localhost'; +const mqttPort = process.env.MQTT_PORT || 1883; + +const mqttClient = mqtt.connect(`mqtt://${mqttHost}:${mqttPort}`, { + reconnectPeriod: 5000, + connectTimeout: 10000 +}); + +const mqttTopics = ['skynet/#', 'beacons/rssi']; + + +async function initializeTracker() { + try { + tracker = await createTracker("."); + console.log('Beacon tracker initialized'); + + tracker.on('position', ({ position, usedBeacons, timestamp }) => { + console.log('New position:', position); + state = position; + notifyClients(); + }); + + tracker.on('error', (error) => { + console.error('Tracker error:', error); + }); + + } catch (error) { + console.error('Failed to initialize tracker:', error); + } +} + +mqttClient.on('connect', () => { + console.log('Connected to MQTT'); + + mqttTopics.forEach((topic) => { + mqttClient.subscribe(topic, (err) => { + if (err) { + console.log(`Could not subscribe ${topic}`); + } else { + console.log(`Subscribed on ${topic}`); + } + }); + }); +}); + +mqttClient.on('message', async (topic, message) => { + console.log(`MQTT received: [${topic}]`, message.toString()); + + try { + const data = JSON.parse(message.toString()); + console.log('Got data:', data); + + if (topic === 'beacons/rssi') { + if (tracker) { + tracker.addRSSIData(data); + console.log('Data sent to tracker'); + } else { + console.log('Tracker not initialized yet, using legacy method'); + const rssi = data.data || data; + state = await improvedTrilaterate(__dirname, rssi); + notifyClients(); + } + } else { + const rssi = data.data || data; + state = await improvedTrilaterate(__dirname, rssi); + notifyClients(); + } + + console.log('Updated state:', state); + + } catch (e) { + console.log('Parsing error:', e.message); + state = { error: 'parse_error', message: message.toString() }; + notifyClients(); + } +}); + +mqttClient.on('error', (err) => { + console.log('MQTT error:', err.message); +}); + +app.get('/', (req, res) => { + res.sendFile(path.join(__dirname, 'dist', 'index.html')); +}); + +app.get('/api/position', (req, res) => { + const headers = { + 'Content-Type': 'text/event-stream', + 'Access-Control-Allow-Origin': '*', + 'Connection': 'keep-alive', + 'Cache-Control': 'no-cache' + }; + res.writeHead(200, headers); + + const clientId = genUniqueId(); + const newClient = { + id: clientId, + res, + }; + + clients.push(newClient); + + console.log(`${clientId} - Connection opened. Total clients: ${clients.length}`); + + const initialData = `data: ${JSON.stringify(state)}\n\n`; + res.write(initialData); + res.flush(); + + req.on('close', () => { + console.log(`${clientId} - Connection closed. Total clients: ${clients.length}`); + clients = clients.filter(client => client.id !== clientId); + }); + + req.on('error', (err) => { + console.log(`${clientId} - Connection error:`, err.message); + clients = clients.filter(client => client.id !== clientId); + }); +}); + +function genUniqueId(){ + return Date.now() + '-' + Math.floor(Math.random() * 1_000_000_000); +} + +function notifyClients() { + const sendData = `data: ${JSON.stringify(state)}\n\n`; + const disconnectedClients = []; + + clients.forEach((client, index) => { + try { + client.res.write(sendData); + client.res.flush(); + } catch (err) { + console.log(`Error sending to ${client.id}:`, err.message); + disconnectedClients.push(index); + } + }); + + if (disconnectedClients.length > 0) { + clients = clients.filter((_, index) => !disconnectedClients.includes(index)); + console.log(`Disconnected ${disconnectedClients.length} clients`); + } +} + +app.get('/api/beacons', async (req, res) => { + const beacons = await getBeacons(__dirname); + res.json(beacons); +}); + +app.get('/api/state', (req, res) => { + res.json({ + state: state, + clientsCount: clients.length, + timestamp: new Date().toISOString() + }); +}); + +app.get('/api/tracker-status', (req, res) => { + const bufferStatus = tracker ? tracker.getBufferStatus() : {}; + + res.json({ + trackerInitialized: !!tracker, + bufferStatus: bufferStatus, + clientsCount: clients.length, + timestamp: new Date().toISOString() + }); +}); + +app.get('/api/messages', (req, res) => { + res.json({ + state: state, + message: 'Current MQTT state', + timestamp: new Date().toISOString() + }); +}); + +app.get('/api/status', (req, res) => { + res.json({ + service: 'Main Server', + status: 'running', + clients: clients.length, + mqtt_connected: mqttClient ? mqttClient.connected : false, + tracker_initialized: !!tracker, + timestamp: new Date().toISOString() + }); +}); + +app.get('/api/mqtt-info', (req, res) => { + res.json({ + connected: mqttClient ? mqttClient.connected : false, + topics: mqttTopics, + timestamp: new Date().toISOString() + }); +}); + +app.post('/api/test-mqtt', (req, res) => { + const testData = req.body; + + console.log('Тестовые данные:', testData); + + state = testData; + notifyClients(); + + res.json({ + success: true, + message: 'Данные принудительно обновлены', + state: state + }); +}); + +app.post('/api/simulate-beacons', (req, res) => { + const testData = req.body; + + if (tracker) { + tracker.addRSSIData(testData); + res.json({ + success: true, + message: 'Данные маяков отправлены в трекер', + data: testData + }); + } else { + res.status(500).json({ + success: false, + message: 'Трекер не инициализирован' + }); + } +}); + +app.post('/api/simulate-mqtt', (req, res) => { + const testData = req.body; + + const mockMessage = JSON.stringify(testData); + mqttClient.emit('message', 'skynet/test', mockMessage); + + res.json({ + success: true, + message: 'MQTT сообщение сымитировано', + data: testData + }); +}); + +app.get('/api/ping', (req, res) => { + res.json({ status: 'ok', time: new Date().toISOString() }); +}); + +// Запускаем сервер после инициализации +async function startServer() { + await initializeTracker(); + + app.listen(port, () => { + console.log(`Server started on port ${port}`); + }); +} + +startServer().catch(console.error); \ No newline at end of file diff --git a/YOUR_TEAM_NAME/standart.beacons b/Yadershiki/standart.beacons similarity index 100% rename from YOUR_TEAM_NAME/standart.beacons rename to Yadershiki/standart.beacons diff --git a/YOUR_TEAM_NAME/standart.path b/Yadershiki/standart.path similarity index 100% rename from YOUR_TEAM_NAME/standart.path rename to Yadershiki/standart.path