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+fastapi==0.118.0 ; python_version >= "3.13" +uvicorn==0.37.0 ; python_version >= "3.13" +websockets==15.0 ; python_version >= "3.13" +pydantic-core==2.33.2 ; python_version >= "3.13" +pydantic==2.11.9 ; python_version >= "3.13" diff --git a/Bogatyri/backend/src/controller_interaction.py b/Bogatyri/backend/src/controller_interaction.py new file mode 100644 index 0000000..971a454 --- /dev/null +++ b/Bogatyri/backend/src/controller_interaction.py @@ -0,0 +1,100 @@ +import time +import bluetooth +import ubinascii +from micropython import const + +_IRQ_SCAN_RESULT = const(5) +_IRQ_SCAN_DONE = const(6) + +class BLEDeviceTracker: + def __init__(self, scan_duration=10000, update_interval=15): + self.bt = bluetooth.BLE() + self.bt.active(True) + self.bt.irq(self.bt_irq) + + self.scan_duration = scan_duration # время сканирования в мс + self.update_interval = update_interval # время между циклами обновления в секундах + + # Словарь для хранения устройств: ключ - MAC, значения - dict с именем, rssi, last_seen + self.devices = {} + + self.scanning = False + + # Добавить инициализацию mqtt-подключения + + def decode_name(self, adv_data): + i = 0 + name = None + + while i < len(adv_data): + length = adv_data[i] + if length == 0: + break + if i + length >= len(adv_data): + break + ad_type = adv_data[i + 1] + + if ad_type == 0x08 or ad_type == 0x09: + start = i + 2 + end = start + length - 1 + try: + name = bytes(adv_data[start:end]).decode('utf-8') + except Exception: + name = None + break + i += length + 1 + return name + + def bt_irq(self, event, data): + if event == _IRQ_SCAN_RESULT: + addr_type, addr, adv_type, rssi, adv_data = data + mac = ubinascii.hexlify(addr, ':').decode().upper() + name = self.decode_name(adv_data) + if name is None: + # Игнорируем устройства без имени + return + else: + # Добавляем новое устройство или обновляем существующее + self.devices[mac] = { + 'name': name, + 'rssi': rssi, + 'last_seen': time.time() + } + elif event == _IRQ_SCAN_DONE: + self.scanning = False + print("Scan complete") + + def start_scan(self): + self.devices.clear() + self.scanning = True + self.bt.gap_scan(self.scan_duration, 30000, 30000, True) + + def print_devices(self): + print("Tracked devices:") + now = time.time() + for mac, dev in self.devices.items(): + age = now - dev['last_seen'] + if(dev['name'] != 'Unknown'): + print(f"Name: {dev['name']}, MAC: {mac}, RSSI: {dev['rssi']}, last seen {age:.1f} sec ago") + print("-----") + + def publish_devices(self): + ''' + То же самое, что print_devices, но данные шлются в топик mosquitto mqtt + ''' + pass + + def listener_broker(self): + pass + + def run(self): + while True: + self.start_scan() + while self.scanning: + time.sleep_ms(100) + self.print_devices() + time.sleep(self.update_interval) + + +tracker = BLEDeviceTracker(scan_duration=10000, update_interval=1) +tracker.run() diff --git a/Bogatyri/backend/src/main.py b/Bogatyri/backend/src/main.py new file mode 100644 index 0000000..3f0c943 --- /dev/null +++ b/Bogatyri/backend/src/main.py @@ -0,0 +1,150 @@ +import uvicorn +from fastapi import FastAPI, WebSocket, WebSocketDisconnect +from fastapi.middleware.cors import CORSMiddleware +from pydantic import BaseModel +import asyncio +import json +import random +import paho.mqtt.client as mqtt + +from src.models.schemas import FrequencyRequest, BeaconRequest, Message + +app = FastAPI(title="Wanderer API") + +app.add_middleware( + CORSMiddleware, + allow_origins=["*"], + allow_credentials=True, + allow_methods=["*"], + allow_headers=["*"], +) + + + +class ConnectionManager: + def __init__(self): + self.active_connections = [] + + async def connect(self, websocket: WebSocket): + await websocket.accept() + self.active_connections.append(websocket) + + def disconnect(self, websocket: WebSocket): + self.active_connections.remove(websocket) + + async def send_personal_message(self, message: str, websocket: WebSocket): + await websocket.send_text(message) + + async def broadcast(self, message: str): + for connection in self.active_connections: + try: + await connection.send_text(message) + except: + self.disconnect(connection) + + +manager = ConnectionManager() + + +class WandererSimulator: + def __init__(self): + self.coords = {} + self.generate_coords() + + def generate_coords(self): + self.coords = {"x": round(random.uniform(1, 9), 2), "y": round(random.uniform(1, 6), 2)} + + def update_coords(self): + self.coords["x"] = round(max(0.5, min(9.5, self.coords["x"] + random.uniform(-3.3, 3.3))), 2) + self.coords["y"] = round(max(0.5, min(6.5, self.coords["y"] + random.uniform(-3.3, 3.3))), 2) + return self.coords + + +class WandererMQTTSubscriber: + def __init__(self): + self.broker = "localhost" + self.port = 1883 + self.topic = "data/devices" + self.client = mqtt.Client() + self.client.on_message=self.on_message + self.client.connect(self.broker, self.port, 60) + + self.devices_data = {} + + def on_message(self, client, userdata, msg): + + msg = Message(**msg.payload().decode()) + self.devices_data = msg.data + + + def on_connect(client, userdata, flags, rc): + print("Подключено к брокеру, код возврата:", rc) + # client.subscribe(self.topic) + + def update_coords(self): + self.coords["x"] = round(max(0.5, min(9.5, self.coords["x"] + random.uniform(-3.3, 3.3))), 2) + self.coords["y"] = round(max(0.5, min(6.5, self.coords["y"] + random.uniform(-3.3, 3.3))), 2) + return self.coords + + + +wanderer_simulator = WandererSimulator() + + +@app.websocket("/ws/wanderer") +async def websocket_wanderer(websocket: WebSocket): + await manager.connect(websocket) + try: + await websocket.send_text(json.dumps(wanderer_simulator.coords)) + print("Client connected") + + while True: + coords_data = wanderer_simulator.update_coords() + await websocket.send_text(json.dumps(coords_data)) + await asyncio.sleep(2) + + except WebSocketDisconnect: + manager.disconnect(websocket) + print("Client disconnected") + except Exception as exception: + print(f"WebSocket error: {exception}") + manager.disconnect(websocket) + +@app.post("/start") +async def start_route(request: FrequencyRequest): + try: + #await start_route(request.freq) + print(f"Starting success!") + return {"status": "success", "is_start": True} + except Exception as exception: + print(f"Starting error: {exception}") + return {"status": "error", "is_start": False} + +@app.post("/beacons") +async def add_beacons(request: BeaconRequest): + try: + #await add_beacons(request.beacons) + print(f"Starting success!") + return {"status": "success"} + except Exception as exception: + print(f"Starting error: {exception}") + return {"status": "error"} + +@app.post("/stop") +async def stop_route(): + try: + #await stop_route() + print(f"Stopping success!") + return {"status": "success", "is_stop": True} + except Exception as exception: + print(f"Stopping error: {exception}") + return {"status": "error", "is_stop": False} + +if __name__ == "__main__": + uvicorn.run( + "main:app", + host="0.0.0.0", + port=8000, + reload=True, + ws="auto" + ) \ No newline at end of file diff --git a/Bogatyri/backend/src/models/schemas.py b/Bogatyri/backend/src/models/schemas.py new file mode 100644 index 0000000..ebb82c0 --- /dev/null +++ b/Bogatyri/backend/src/models/schemas.py @@ -0,0 +1,20 @@ +from pydantic import BaseModel + +class FrequencyRequest(BaseModel): + freq: int + +class BeaconConfig(BaseModel): + x: float + y: float + name: str + +class BeaconRequest(BaseModel): + beacons: list[BeaconConfig] + +class Message(BaseModel): + data: dict + +class PositionResponse(BaseModel): + x: float + y: float + accuracy: float \ No newline at end of file diff --git a/Bogatyri/backend/src/services/ble_device_tracker.py b/Bogatyri/backend/src/services/ble_device_tracker.py new file mode 100644 index 0000000..b98ddea --- /dev/null +++ b/Bogatyri/backend/src/services/ble_device_tracker.py @@ -0,0 +1,90 @@ +import time +import bluetooth +import ubinascii +from micropython import const + +_IRQ_SCAN_RESULT = const(5) +_IRQ_SCAN_DONE = const(6) + + +class BLEDeviceTracker: + def __init__(self, scan_duration): + self.bt = bluetooth.BLE() + self.bt.active(True) + self.bt.irq(self.bt_irq) + + self.scan_duration = scan_duration + self.devices = {} + + self.scanning = False + + def decode_name(self, adv_data): + i = 0 + name = None + + while i < len(adv_data): + length = adv_data[i] + if length == 0: + break + if i + length >= len(adv_data): + break + ad_type = adv_data[i + 1] + + if ad_type == 0x08 or ad_type == 0x09: + start = i + 2 + end = start + length - 1 + try: + name = bytes(adv_data[start:end]).decode('utf-8') + except Exception: + name = None + break + i += length + 1 + return name + + def bt_irq(self, event, data): + if event == _IRQ_SCAN_RESULT: + addr_type, addr, adv_type, rssi, adv_data = data + mac = ubinascii.hexlify(addr, ':').decode().upper() + name = self.decode_name(adv_data) + if name is None: + return + else: + self.devices[mac] = { + 'name': name, + 'rssi': rssi + } + elif event == _IRQ_SCAN_DONE: + self.scanning = False + + def start_scan(self): + self.devices.clear() + self.scanning = True + self.bt.gap_scan(self.scan_duration, 0, 0, True) + + def print_devices(self): + now = time.time() + for mac, dev in self.devices.items(): + if(dev['name'] != 'Unknown'): + print(f"{dev['name']} RSSI: {-dev['rssi']}") + print("") + + def run(self): + while True: + self.start_scan() + while self.scanning: + time.sleep_ms(100) + self.print_devices() + +def read_params(): + try: + with open('params.txt', 'r') as f: + val = f.read().strip() + return int(val) + except Exception: + return 1000 + +if __name__ == '__main__': + scan_duration = read_params() + + tracker = BLEDeviceTracker(scan_duration=scan_duration) + tracker.run() diff --git a/Bogatyri/backend/src/services/controller_listener.py b/Bogatyri/backend/src/services/controller_listener.py new file mode 100644 index 0000000..1a0ea09 --- /dev/null +++ b/Bogatyri/backend/src/services/controller_listener.py @@ -0,0 +1,40 @@ +import subprocess +from pathlib import Path + +def write_params_file(path: Path, update_time_seconds): + millis = str(int(update_time_seconds * 1000)) + with open(str(path.absolute()), 'w') as f: + f.write(millis) + + subprocess.run(['mpremote', 'cp', str(path), ':params.txt']) + +def run_mpremote(update_time_seconds: float = 1.0): + current_dir = Path(__file__).parent + params_file = current_dir / 'params.txt' + write_params_file(params_file, update_time_seconds) + + device_script = current_dir / 'ble_device_tracker.py' + + if not device_script.exists(): + print(f"Ошибка: файл {device_script} не найден") + return + + proc = subprocess.Popen( + ['mpremote', 'run', str(device_script)], + stdout=subprocess.PIPE, + stderr=subprocess.STDOUT, + text=True, + bufsize=1, + universal_newlines=True + ) + + try: + for line in proc.stdout: + print(line, end='') + except KeyboardInterrupt: + proc.terminate() + proc.wait() + + +if __name__ == "__main__": + run_mpremote(0.1) \ No newline at end of file diff --git a/Bogatyri/backend/src/services/params.txt b/Bogatyri/backend/src/services/params.txt new file mode 100644 index 0000000..105d7d9 --- /dev/null +++ b/Bogatyri/backend/src/services/params.txt @@ -0,0 +1 @@ +100 \ No newline at end of file diff --git a/Bogatyri/backend/src/utils/position_estimator.py b/Bogatyri/backend/src/utils/position_estimator.py new file mode 100644 index 0000000..19bd0d6 --- /dev/null +++ b/Bogatyri/backend/src/utils/position_estimator.py @@ -0,0 +1,61 @@ +import numpy as np +from scipy.optimize import minimize + + +def trilateration_error(point, beacons, distances): + x, y = point + error = 0.0 + for (xb, yb), r in zip(beacons, distances): + dist_calculated = np.sqrt((x - xb) ** 2 + (y - yb) ** 2) + error += (dist_calculated - r) ** 2 + return error + + +def rssi_to_distance(rssi: int, rssi0: int = 40, n: float = 2.0): + """ + Преобразует RSSI в расстояние по логарифмической модели затухания сигнала + + Parameters: + rssi: измеренная сила сигнала + rssi0: RSSI на расстоянии 1 метр (калибровочная константа) + n: коэффициент затухания (2 для свободного пространства, 2-4 для помещений) + """ + return 10 ** ((rssi0 - rssi) / (10 * n)) + + +def cords_estimator_from_rssi( + beacons_with_rssi: list[tuple[float, float, int]], + rssi0: int = 40, + n: float = 2.0 +) -> tuple[float, float]: + """ + Оценивает координаты на основе RSSI маяков + + Parameters: + beacons_with_rssi: список кортежей (x, y, rssi) для каждого маяка + rssi0: RSSI на расстоянии 1 метр + n: коэффициент затухания сигнала + + Returns: + tuple: estimated (x, y) coordinates + """ + rssi = [rssi_val for x, y, rssi_val in beacons_with_rssi] + mean_rssi = np.mean(rssi, axis=0) + beacons = [(x, y) for x, y, rssi_val in beacons_with_rssi if rssi_val <= mean_rssi] + distances = [rssi_to_distance(rssi_val, rssi0, n) for x, y, rssi_val in beacons_with_rssi if rssi_val <= mean_rssi] + + initial_guess = np.mean(beacons, axis=0) + + result = minimize( + trilateration_error, + initial_guess, + args=(beacons, distances), + method='Powell' + ) + + if result.success: + return result.x + else: + raise RuntimeError(f"Optimization failed: {result.message}") + +print(cords_estimator_from_rssi([(0.0, 0.0, 81),(3.0, 9.0, 80), (19.0, 2.0, 65), (34.0, -3.0, 74), (47.0, 8.0, 42), (60.0, 8.0, 60), (60.0, -8.0, 76), (71.0, 8.0, 63)], n=2.0)) \ No newline at end of file diff --git a/Bogatyri/frontend/.gitignore b/Bogatyri/frontend/.gitignore new file mode 100644 index 0000000..da93220 --- /dev/null +++ b/Bogatyri/frontend/.gitignore @@ -0,0 +1,4 @@ +/node_modules/ +/public/build/ + +.DS_Store diff --git a/Bogatyri/frontend/README.md b/Bogatyri/frontend/README.md new file mode 100644 index 0000000..d488b3c --- /dev/null +++ b/Bogatyri/frontend/README.md @@ -0,0 +1,107 @@ +# This repo is no longer maintained. Consider using `npm init vite` and selecting the `svelte` option or — if you want a full-fledged app framework — use [SvelteKit](https://kit.svelte.dev), the official application framework for Svelte. + +--- + +# svelte app + +This is a project template for [Svelte](https://svelte.dev) apps. It lives at https://github.com/sveltejs/template. + +To create a new project based on this template using [degit](https://github.com/Rich-Harris/degit): + +```bash +npx degit sveltejs/template svelte-app +cd svelte-app +``` + +*Note that you will need to have [Node.js](https://nodejs.org) installed.* + + +## Get started + +Install the dependencies... + +```bash +cd svelte-app +npm install +``` + +...then start [Rollup](https://rollupjs.org): + +```bash +npm run dev +``` + +Navigate to [localhost:8080](http://localhost:8080). You should see your app running. Edit a component file in `src`, save it, and reload the page to see your changes. + +By default, the server will only respond to requests from localhost. To allow connections from other computers, edit the `sirv` commands in package.json to include the option `--host 0.0.0.0`. + +If you're using [Visual Studio Code](https://code.visualstudio.com/) we recommend installing the official extension [Svelte for VS Code](https://marketplace.visualstudio.com/items?itemName=svelte.svelte-vscode). If you are using other editors you may need to install a plugin in order to get syntax highlighting and intellisense. + +## Building and running in production mode + +To create an optimised version of the app: + +```bash +npm run build +``` + +You can run the newly built app with `npm run start`. This uses [sirv](https://github.com/lukeed/sirv), which is included in your package.json's `dependencies` so that the app will work when you deploy to platforms like [Heroku](https://heroku.com). + + +## Single-page app mode + +By default, sirv will only respond to requests that match files in `public`. This is to maximise compatibility with static fileservers, allowing you to deploy your app anywhere. + +If you're building a single-page app (SPA) with multiple routes, sirv needs to be able to respond to requests for *any* path. You can make it so by editing the `"start"` command in package.json: + +```js +"start": "sirv public --single" +``` + +## Using TypeScript + +This template comes with a script to set up a TypeScript development environment, you can run it immediately after cloning the template with: + +```bash +node scripts/setupTypeScript.js +``` + +Or remove the script via: + +```bash +rm scripts/setupTypeScript.js +``` + +If you want to use `baseUrl` or `path` aliases within your `tsconfig`, you need to set up `@rollup/plugin-alias` to tell Rollup to resolve the aliases. For more info, see [this StackOverflow question](https://stackoverflow.com/questions/63427935/setup-tsconfig-path-in-svelte). + +## Deploying to the web + +### With [Vercel](https://vercel.com) + +Install `vercel` if you haven't already: + +```bash +npm install -g vercel +``` + +Then, from within your project folder: + +```bash +cd public +vercel deploy --name my-project +``` + +### With [surge](https://surge.sh/) + +Install `surge` if you haven't already: + +```bash +npm install -g surge +``` + +Then, from within your project folder: + +```bash +npm run build +surge public my-project.surge.sh +``` diff --git a/Bogatyri/frontend/package-lock.json b/Bogatyri/frontend/package-lock.json new file mode 100644 index 0000000..4b82d6d --- /dev/null +++ b/Bogatyri/frontend/package-lock.json @@ -0,0 +1,1057 @@ +{ + "name": "svelte-app", + "version": "1.0.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "svelte-app", + "version": "1.0.0", + "dependencies": { + 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