wouterbulten/slacjs

import Landmark from '../app/simulation/landmark';
import config from '../app/config';
import KalmanFilter from '../app/util/kalman';
import { variance } from '../app/util/math';

if (window.test === undefined) {
    window.test = {};
}

window.test.rssiFilter = {

    landmark: undefined,
    kalman: undefined,

    userX: 5,
    userY: 0,

    rssiTrue: [],
    rssiRaw: [],
    rssiFiltered: [],
    error: [],
    realError: [],

    iteration: 0,

    initialize: function() {

        this.landmark = new Landmark('uid', {x: 0, y: 0}, config.beacons);
        this.kalman = new KalmanFilter({
            Q: config.beacons.noise,
            R: 0.008
        });
    },

    iterate: function() {

        if(this.iteration % 100 === 0) {
            this.userX += 5;
            //this.kalman.R = 1;
        }

        const rssi = this.landmark.rssiAt(this.userX, this.userY);
        const rssiTrue = this.landmark.rssiAtRaw(this.userX, this.userY);
        const rssiFiltered = this.kalman.filter(rssi);

        this.rssiTrue.push([this.iteration, rssiTrue]);
        this.rssiRaw.push([this.iteration, rssi]);
        this.rssiFiltered.push([this.iteraton, rssiFiltered]);

        this.error.push(Math.abs(rssiTrue - rssiFiltered));
        this.realError.push(Math.abs(rssiTrue - rssi));

        this.iteration++;
    },

    plot: function() {
        $('#test-content').highcharts({
            chart: {
                type: 'scatter'
            },    
            title: {
                text: 'RSSI'
            },
            xAxis: {
                title: {
                    text: 'Time'
                }
            },
            yAxis: {
                title: {
                    text: 'RSSI'
                }
            },
            series: [
                {
                    name: 'True RSSI',
                    data: this.rssiTrue
                },
                {
                    name: 'Raw RSSI',
                    data: this.rssiRaw
                },

                {
                    name: 'Filtered RSSI',
                    type: 'line',
                    data: this.rssiFiltered
                }
            ]
        });

        $('#test-error').html(this.error.reduce((p, c, i) => p+(c-p)/(i+1), 0));
        $('#test-error-var').html(variance(this.error, (e) => e));
        $('#test-error-real').html(this.realError.reduce((p, c, i) => p+(c-p)/(i+1), 0));
        $('#test-error-real-var').html(variance(this.realError, (e) => e));
    }
};