Prepare Conference Release

Correct python dependency

Log clock ratio offset

Add simple tof processing script

Fix json formatting

Also log RSSI

Use actual mac address

Set radio delays to 0 to log raw values

Add docker for building image and some refactoring

cro is now an int

Revert "Use actual mac address"

This reverts commit 6b0f994.

Increase initial delay

Add exemplary lille serial output

new processing script

WIP

Add matrix test

Implement basic round ranging

Working on drift compensation

Working on chain ranging

kind of working distance measurements

Half working ranging

Log values using json

WIP

Finish first working inference prototype

Ranging Refactoring

Another working prototype

working base inference

WIP

WIP measurements more logging

Extend readme

Add variant with integers instead of floats

Refactored tof calculation

Use generators

Add trento testbed configuration

log carrierintegrator vals and refactor testbed handling

add missing testbed scripts

Deploy on trento_a

Remove DS_Store

Commit missing base script

Add wip positioning

Test solvability

Add simple history

Add static estimation matrix

Add wip sim script

working on sim

Finish sim for now

Implement TDoA calibration approach

Create eval script and cache simulation results

Working on eval scripts

Working on eval

Preparing experiments

Working on evaluation...

Working on evaluation

Wip last things

Trying to fix variance calculation

Fix correct inclusion of measurements

More eval work

calculate mse and mae difference

export table

wip testbed layouts

finish testbed layout work

change protocol name

correct typo

Name update

Remove unused files

Fix ts overflow correction (off by 1 error)

This could result in a slightly skewed measurements, whenever the timings overflow (about every 17 seconds)

Remove outdated readme information

.env

@@ -0,0 +1,2 @@
+EXPORT_DIR="export"
+CACHE_DIR="cache"

.gitignore

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+/.idea
+/build
+.DS_Store
+/scripts/testbed/__pycache__/trento_b.cpython-38.pyc
+/scripts/testbed/__pycache__/trento_b.cpython-310.pyc
+/scripts/testbed/__pycache__/trento_a.cpython-310.pyc
+/scripts/testbed/__pycache__/lille.cpython-38.pyc
+/scripts/testbed/__pycache__/lille.cpython-310.pyc
+__pycache__
+/scripts/.DS_Store
+*.pyc
+/cache

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr)
+project(uwb_swarm_ranging)
+
+target_sources(app PRIVATE src/main.c src/testbed.c src/nodes.c src/measurements.c src/estimation.c src/uart.c src/history.c)

Dockerfile

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+FROM --platform=linux/amd64 zephyrprojectrtos/zephyr-build:latest
+
+# Switch to root for installations
+USER root
+
+# Setup essentials
+RUN apt-get update -y
+RUN apt-get install -y git nano build-essential
+
+# Install dependencies
+RUN apt-get install -y gcc-multilib g++-multilib fftw3-dev
+
+WORKDIR /
+
+RUN mkdir -p /app
+RUN mkdir -p /zephyr
+
+RUN chown -Rf user:user /app
+RUN chown -Rf user:user /zephyr
+
+USER user
+
+WORKDIR /zephyr
+
+ENV ZEPHYR_BASE=/zephyr/zephyr
+
+ENV ZEPHYR_REVISION=v2.7.2
+RUN west init --mr $ZEPHYR_REVISION
+RUN west update
+RUN west zephyr-export
+
+# Switch back to app directory
+WORKDIR /app

README.md

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+# ALADIn: Autonomous Linear Antenna Delay Inference on Resource-Constrained Ultra-Wideband Devices
+
+This project contains the PoC for ALADIN: All-to-all Linear Antenna Delay Inference on Ultra-Wideband Devices. It is currently under revision and clean-up.
+
+
+## Setup
+Setup Zephyr and West as usual. As the Decawave Driver does not allow precise timings, we added some overrides which need to be manually applied (see override directory). As an alternative, you can checkout the related [Zephyr feature branch](https://github.com/prathje/zephyr/tree/feature/dwm_1001_ranging_api).
+Tested based on commit 6d56b829423056819c4baaafd6c66957752e22f8, while commit eeb4434d2eb5f2c978c59a439688c1f3f46e8bf8 has been reverted due to scheduling exceptions (already included in the overrides).
+
+## Build
+
+Build the project for the Decawave DWM1001 module:
+
+```bash
+west build -b decawave_dwm1001_dev --pristine auto
+```
+
+You can then flash the boards one by one:
+```bash
+west flash
+```
+
+## Build With Docker
+
+You can also use the included Dockerfile / docker compose file configuration to build (warning this might take a bit of time):
+
+```commandline
+docker compose up -d --build
+
+docker compose exec -it build /bin/bash
+cp -Rf /app/override/* /zephyr/zephyr/
+west build -b decawave_dwm1001_dev --pristine auto
+```
+
+
+To run and deploy on Lille:
+```commandline
+scp ./build/zephyr/zephyr.elf USER@lille.iot-lab.info:~ && ssh USER@lille.iot-lab.info 'iotlab-experiment submit -d 5 -l lille,dwm1001,1-14,zephyr.elf'
+```
+
+
+In the container you can also easily install script dependencies as follows:
+```commandline
+pip3 install numpy pandas matplotlib
+```
+## Scripts
+
+Evaluation scripts are in the scripts directory.
+
+

docker-compose.yaml

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+services:
+  build:
+    build: .
+    volumes:
+      - ./:/app/
+    environment:
+      ZEPHYR_REVISION: "v3.2.0"
+    tty: true
+#    command:
+#      - /bin/sh
+#      - -c
+#      - |
+#        cp -Rf /app/override/* /zephyr/zephyr/
+#        west build -b decawave_dwm1001_dev --pristine always