feat: add multi-scanner trilateration and signal heat map
- Add database methods for multi-scanner RSSI queries - Add weighted trilateration function supporting 2+ scanners - Add /api/positions/trilaterated endpoint - Add /api/heatmap/signal endpoint for heat map data - Update frontend to show trilaterated positions with gold markers - Add heat map toggle button for signal coverage visualization Trilateration uses RSSI from multiple scanners to calculate device positions with confidence scores. Devices seen by 2+ scanners within 60 seconds get trilaterated positions shown with gold border markers. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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User
@@ -24,6 +24,13 @@ let deviceSources = {}; // { deviceId: { scanner_id, lat, lon } }
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// Peer scanner positions - loaded from /api/peers (live positions)
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let peerScanners = {}; // { scanner_id: { lat, lon, floor, name } }
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// Trilateration state - positions calculated from multiple scanner RSSI
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let trilateratedPositions = {}; // { deviceId: { lat, lon, confidence, scanners, method } }
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let trilaterationEnabled = true;
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// Heat map state
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let heatMapEnabled = false;
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// Auto-scan state
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let autoScanEnabled = false;
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let autoScanPollInterval = null;
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@@ -131,6 +138,7 @@ document.addEventListener('DOMContentLoaded', () => {
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loadLatestScan();
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loadAutoScanStatus();
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loadDevicePositions(); // Load saved manual positions
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loadTrilateratedPositions(); // Load multi-scanner trilaterated positions
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// Initialize 3D map as default view
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setTimeout(() => {
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@@ -287,6 +295,9 @@ function handleWebSocketScanUpdate(data) {
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document.getElementById('bt-count').textContent = scanData.bluetooth_devices.length;
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document.getElementById('bt-list-count').textContent = scanData.bluetooth_devices.length;
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// Refresh trilaterated positions (non-blocking)
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loadTrilateratedPositions();
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// Refresh views
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drawRadar();
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update3DMarkers();
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@@ -1256,13 +1267,53 @@ async function loadDevicePositions() {
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}
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}
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// Get device position (manual or RSSI-based)
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// Load trilaterated positions from multi-scanner RSSI data
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async function loadTrilateratedPositions() {
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if (!trilaterationEnabled) return;
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try {
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const resp = await fetch('/api/positions/trilaterated');
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if (!resp.ok) return;
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const data = await resp.json();
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trilateratedPositions = {};
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(data.devices || []).forEach(d => {
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trilateratedPositions[d.device_id] = {
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lat: d.position.lat,
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lon: d.position.lon,
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confidence: d.confidence,
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scanners: d.scanners,
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method: d.method
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};
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});
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console.log(`[Trilateration] Loaded ${data.count} positions`);
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} catch (e) {
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console.error('[Trilateration] Error:', e);
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}
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}
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// Get device position (manual, trilaterated, or RSSI-based)
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// Priority: 1. Manual position, 2. Trilaterated (if confidence > 0.3), 3. RSSI-based
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// Uses source scanner position for synced devices so they don't move when local scanner moves
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function getDevicePosition(device, scannerLat, scannerLon, minDistanceM) {
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const deviceId = device.bssid || device.address;
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const customPos = manualPositions[deviceId];
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const sourceInfo = deviceSources[deviceId];
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// Check for trilaterated position first (if enabled and confident)
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const triData = trilateratedPositions[deviceId];
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if (trilaterationEnabled && triData && triData.confidence > 0.3) {
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return {
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lat: triData.lat,
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lon: triData.lon,
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isManual: false,
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isTrilaterated: true,
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confidence: triData.confidence,
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scannerCount: triData.scanners.length,
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method: triData.method
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};
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}
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// Determine which scanner position to use for this device
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// If device was synced from another scanner, use that scanner's CURRENT position
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let baseLat = scannerLat;
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@@ -1780,26 +1831,33 @@ function update3DMarkers() {
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const missCount = dev.miss_count || 0;
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// Calculate opacity: 1.0 -> 0.6 -> 0.3 based on miss count
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const opacity = missCount === 0 ? 1.0 : (missCount === 1 ? 0.6 : 0.3);
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const isTrilaterated = pos.isTrilaterated === true;
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const el = document.createElement('div');
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el.className = `marker-3d bluetooth${isMoving ? ' moving' : ''}`;
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if (isDraggable) el.classList.add('draggable');
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if (hasManualPosition) el.classList.add('has-manual-position');
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if (isTrilaterated) {
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el.classList.add('trilaterated');
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if (pos.confidence >= 0.7) el.classList.add('high-confidence');
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}
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el.style.opacity = opacity;
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el.style.transition = 'opacity 0.5s ease';
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el.innerHTML = `<div class="marker-icon">${isMoving ? '🟣' : '🔵'}</div><div class="marker-floor">${btFloorLabel}</div>`;
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el.title = `${dev.name} - ${deviceFloor !== null ? 'Floor ' + deviceFloor : 'Unknown floor'}${isMoving ? ' (MOVING)' : ''}${hasManualPosition ? ' (Manual position)' : ''}${missCount > 0 ? ` (fading: ${missCount}/${MAX_MISSED_SCANS})` : ''}`;
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const trilatBadge = isTrilaterated ? `<span class="trilat-badge">${pos.scannerCount}📡</span>` : '';
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el.innerHTML = `<div class="marker-icon">${isMoving ? '🟣' : '🔵'}${trilatBadge}</div><div class="marker-floor">${btFloorLabel}</div>`;
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el.title = `${dev.name} - ${deviceFloor !== null ? 'Floor ' + deviceFloor : 'Unknown floor'}${isMoving ? ' (MOVING)' : ''}${isTrilaterated ? ` (Trilaterated: ${pos.scannerCount} scanners, ${Math.round(pos.confidence*100)}% conf)` : ''}${hasManualPosition ? ' (Manual position)' : ''}${missCount > 0 ? ` (fading: ${missCount}/${MAX_MISSED_SCANS})` : ''}`;
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const btDistLabel = hasCustomDist ? `${effectiveDist}m (custom)` : `~${dev.estimated_distance_m}m`;
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const positionStatus = hasManualPosition ? 'Manual' : 'Auto';
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const positionClass = hasManualPosition ? 'manual' : 'auto';
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const positionStatus = isTrilaterated ? `Trilaterated (${pos.scannerCount} scanners)` : (hasManualPosition ? 'Manual' : 'Auto');
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const positionClass = isTrilaterated ? 'trilaterated' : (hasManualPosition ? 'manual' : 'auto');
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const resetBtn = hasManualPosition ? `<button class="popup-reset-btn" onclick="resetDevicePosition('${btDeviceId}')">Reset to Auto</button>` : '';
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const dragHint = isDraggable && !hasManualPosition ? '<div style="font-size:0.7rem;color:#888;margin-top:4px;">Drag marker to set position</div>' : '';
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const dragHint = isDraggable && !hasManualPosition && !isTrilaterated ? '<div style="font-size:0.7rem;color:#888;margin-top:4px;">Drag marker to set position</div>' : '';
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const trailBtnHtml = isMoving ? `
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<button class="popup-trail-btn" id="trail-btn-${btDeviceId.replace(/:/g, '')}"
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onclick="toggleDeviceTrail('${btDeviceId}', '${escapeHtml(dev.name)}', 'bluetooth')">
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Show Trail
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</button>` : '';
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const btSourceInfo = pos.isRemoteSource ? `<div class="popup-source-info">📡 Source: ${pos.sourceScanner}</div>` : '';
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const trilatInfo = isTrilaterated ? `<div class="popup-source-info" style="background:rgba(255,215,0,0.1);border-color:rgba(255,215,0,0.3);color:#ffd700;">📐 ${pos.method}: ${Math.round(pos.confidence*100)}% confidence</div>` : '';
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const popup = new maplibregl.Popup({ offset: 25 }).setHTML(`
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<strong>${isMoving ? '🟣' : '🔵'} ${escapeHtml(dev.name)}</strong>${isMoving ? ' <span style="color:#9b59b6;font-size:0.8em;">(Moving)</span>' : ''}<br>
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@@ -1808,6 +1866,7 @@ function update3DMarkers() {
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Type: ${escapeHtml(dev.device_type)}<br>
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${escapeHtml(dev.manufacturer)}<br>
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${btSourceInfo}
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${trilatInfo}
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<div class="popup-floor-control">
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<label>Floor:</label>
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<select onchange="updateDeviceFloor('${btDeviceId}', this.value)">
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@@ -2221,6 +2280,9 @@ async function performLiveBTScan() {
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document.getElementById('bt-count').textContent = scanData.bluetooth_devices.length;
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document.getElementById('bt-list-count').textContent = scanData.bluetooth_devices.length;
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// Refresh trilaterated positions (non-blocking)
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loadTrilateratedPositions();
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// Refresh views
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drawRadar();
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update3DMarkers();
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@@ -2477,3 +2539,85 @@ function clearAllTrails() {
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deviceTrails = {};
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}
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// ========== Heat Map Functions ==========
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// Toggle heat map layer
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function toggleHeatMap() {
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heatMapEnabled = !heatMapEnabled;
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const btn = document.getElementById('btn-heatmap');
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if (btn) btn.classList.toggle('active', heatMapEnabled);
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if (heatMapEnabled) {
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renderHeatMap();
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} else {
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removeHeatMap();
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}
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}
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// Render heat map layer on 3D map
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async function renderHeatMap() {
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if (!map3d || !map3dLoaded) {
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console.log('[HeatMap] 3D map not ready');
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return;
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}
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try {
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const resp = await fetch('/api/heatmap/signal');
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if (!resp.ok) return;
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const data = await resp.json();
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console.log(`[HeatMap] Loaded ${data.count} points`);
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// Remove existing heat map if present
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removeHeatMap();
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// Add heat map source
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map3d.addSource('signal-heatmap', {
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type: 'geojson',
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data: {
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type: 'FeatureCollection',
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features: data.points.map(p => ({
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type: 'Feature',
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geometry: { type: 'Point', coordinates: [p.lon, p.lat] },
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properties: { weight: p.weight }
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}))
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}
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});
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// Add heat map layer
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map3d.addLayer({
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id: 'signal-heatmap-layer',
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type: 'heatmap',
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source: 'signal-heatmap',
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paint: {
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'heatmap-weight': ['get', 'weight'],
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'heatmap-intensity': 0.6,
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'heatmap-radius': 40,
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'heatmap-opacity': 0.6,
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'heatmap-color': [
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'interpolate', ['linear'], ['heatmap-density'],
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0, 'rgba(0,0,255,0)',
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0.3, 'rgba(0,255,255,0.5)',
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0.5, 'rgba(0,255,0,0.6)',
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0.7, 'rgba(255,255,0,0.7)',
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1, 'rgba(255,0,0,0.8)'
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]
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}
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});
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} catch (e) {
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console.error('[HeatMap] Error:', e);
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}
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}
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// Remove heat map layer from 3D map
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function removeHeatMap() {
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if (!map3d) return;
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if (map3d.getLayer('signal-heatmap-layer')) {
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map3d.removeLayer('signal-heatmap-layer');
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}
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if (map3d.getSource('signal-heatmap')) {
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map3d.removeSource('signal-heatmap');
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}
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}
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