diff --git a/IPOS_Rawdata.py b/IPOS_Rawdata.py
new file mode 100644
index 0000000000000000000000000000000000000000..70f236f81dd0eef67c62d55e5149c14d7f1805f1
--- /dev/null
+++ b/IPOS_Rawdata.py
@@ -0,0 +1 @@
+pow(float(distance),2)-pow((position_3383[2]-height_tag),2)
\ No newline at end of file
diff --git a/sep/IPOSSensorValueTransmitter.py b/sep/IPOSSensorValueTransmitter.py
new file mode 100644
index 0000000000000000000000000000000000000000..a429f91df336d512973b7c7ce9e9ca4c1cc6351c
--- /dev/null
+++ b/sep/IPOSSensorValueTransmitter.py
@@ -0,0 +1,115 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Wed Jan 26 09:52:38 2022
+
+@author: s3340992
+"""
+from error import *
+import math
+import numpy as np
+import logging
+import re
+import datetime
+import time
+import json
+import paho.mqtt.client as mqtt
+
+# The callback for when the client receives a CONNACK response from the server.
+def on_connect(client, userdata, flags, rc):
+ if rc == 0:
+ print("Connected successfully")
+ else:
+ print("Connect returned result code: " + str(rc))
+
+# The callback for when a PUBLISH message is received from the server.
+def on_message(client, userdata, msg):
+ print("Received message: " + msg.topic + " -> " + msg.payload.decode("utf-8"))
+
+class IPOSSensorValueTransmitter:
+
+ def create_rawdata_msg(sensorId, listBeaconId, listDistance):
+
+ timestamp = str(datetime.datetime.now().date())
+ timestamp += "T"
+ timestamp += str(datetime.datetime.now().time())
+ timestamp += "+00:00"
+ #print(timestamp)
+
+ #Check the length of list_beacon_id and list_distance, they must be the same
+ if listBeaconId.size() != listDistance.size():
+ raise RawDataSizeError
+
+ distance_msg = {
+ listBeaconId[0] : listDistance[0],
+ }
+
+ for i in range(len(listBeaconId)-1):
+ distance_msg[listBeaconId[i+1]] = listDistance[i+1]
+
+ json_msg = {
+ "timestamp" : timestamp,
+ "sensorId" : sensorId,
+ "distances" : distance_msg
+ }
+ wrapper_msg = {"uwbRawDataEvent" : [json_msg]
+ }
+ msg = json.dumps(wrapper_msg)
+ print(msg)
+ return msg
+
+
+ def create_position_msg(sensorId, x, y, z, accuracy, refSystemId, ori_x, ori_y, ori_z, ori_w):
+ #print(d[0])
+ timestamp = str(datetime.datetime.now().date())
+ timestamp += "T"
+ timestamp += str(datetime.datetime.now().time())
+ timestamp += "+00:00"
+ #print(timestamp)
+
+ point_msg = {
+ "x" : x,
+ "y" : y,
+ "z" : z
+ }
+
+ position_msg = {
+ "refSystemId" : refSystemId,
+ "point" : point_msg,
+ "accuracy" : accuracy
+ }
+ orientation_msg = {
+ "x" : ori_x,
+ "y" : ori_y,
+ "z" : ori_z,
+ "w" : ori_w
+ }
+
+ json_msg = {
+ "sensorId" : sensorId,
+ "position" : position_msg,
+ "orientation" : orientation_msg,
+ "lastPosUpdate" : timestamp
+ }
+ wrapper_msg = {"sensorPositionEvent" : [json_msg]
+ }
+ msg = json.dumps(wrapper_msg)
+ print(msg)
+ return msg
+
+
+
+ def connect_mqtt(mqttServer, mqttPort):
+ # create the client
+ client = mqtt.Client()
+ client.on_connect = on_connect
+ client.on_message = on_message
+ client.connect(mqttServer, mqttPort)
+ return client
+
+ def sendMessage(client, message, topic):
+ client.publish(topic, message)
+
+
+
+
+
diff --git a/sep/IPOS_Rawdata_sep.py b/sep/IPOS_Rawdata_sep.py
new file mode 100644
index 0000000000000000000000000000000000000000..ba7ac92a3944ec3e4b56fc466b0e98ce06510350
--- /dev/null
+++ b/sep/IPOS_Rawdata_sep.py
@@ -0,0 +1,102 @@
+import serial
+import math
+import re
+import time
+from IPOSSensorValueTransmitter import connect_mqtt, create_rawdata_msg, sendMessage
+# setups
+position_3383 = [1.25,5.89,1.06]
+position_885 = [0,0,0.97]
+position_2934 = [4.27,1.33,1]
+position_1107 = [4.24,5.83,1.05]
+height_tag = 0
+the_hostname = "UWB_rasp"
+mqttServer = "192.168.0.143"
+mqttPort = 1883
+#MQTT_SERVER = "broker.hivemq.com"
+sensorId = "UWB1"
+topic = "usertopic/SensorEventWrapper"
+beaconId = ["3383", "885", "2934", "1107"]
+
+
+ser = serial.Serial('/dev/ttyUSB0', 115200, timeout=1) # open serial port
+print(ser.name) # check which port was really used
+
+
+
+def extractNumbersFromLine(line):
+ return re.findall(r'-?\d+\.?\d*',line)
+
+def get_distance(number_found):
+ return number_found[1], number_found[3]
+
+def average(lst):
+ return sum(lst) / len(lst)
+
+def read_serial(number):
+ d1 = []
+ d2 = []
+ d3 = []
+ d4 = []
+ print("read started")
+ with serial.Serial('/dev/ttyUSB0', 115200, timeout=1) as ser:
+ for x in range(number):
+ line = ser.readline() # read a '\n' terminated line
+ #print(len(line))
+ if (len(line) <= 30):
+ print("reseting serial...")
+ ser.close()
+ ser.open()
+ line = ser.readline()
+ #print(line)
+ number_found = extractNumbersFromLine(line.decode("utf-8"))
+ if(len(number_found)>=4):
+ tag, distance = get_distance(number_found)
+ #print(tag, distance)
+ if (tag == "3383"):
+ distance_xy = pow(float(distance),2)-pow((position_3383[2]-height_tag),2)
+ if (distance_xy >= 0):
+ distance = math.sqrt(distance_xy)
+ d1.append(float(distance))
+ elif (tag == "885"):
+ distance_xy = pow(float(distance),2)-pow((position_885[2]-height_tag),2)
+ if (distance_xy >= 0):
+ distance = math.sqrt(distance_xy)
+ d2.append(float(distance))
+ elif (tag == "2934"):
+ distance_xy = pow(float(distance),2)-pow((position_2934[2]-height_tag),2)
+ if (distance_xy >= 0):
+ distance = math.sqrt(distance_xy)
+ d3.append(float(distance))
+ elif (tag == "1107"):
+ distance_xy = pow(float(distance),2)-pow((position_1107[2]-height_tag),2)
+ if (distance_xy >= 0):
+ distance = math.sqrt(distance_xy)
+ d4.append(float(distance))
+ if (len(d1) == 0 or len(d2) == 0 or len(d3) == 0 or len(d4) == 0):
+ print ("sth went wrong")
+ return [-1, -1, -1, -1]
+ return average(d1), average(d2), average(d3), average(d4)
+
+# create the client
+client = connect_mqtt(mqttServer, mqttPort)
+
+# enable TLS
+#client.tls_set(tls_version=mqtt.ssl.PROTOCOL_TLS)
+#client.username_pw_set("phone", "IPOSframework123")
+#client.connect(MQTT_SERVER, 1883)
+#client.loop_start()
+#client.subscribe(MQTT_PATH)
+
+
+
+starttime = time.time()
+line = ser.readline()
+while True:
+ distance = read_serial(60)
+ if (distance == [-1, -1, -1, -1]):
+ continue
+ msg=create_rawdata_msg(sensorId, beaconId, distance)
+
+ sendMessage(client, msg, topic)
+ time.sleep(1-((time.time() - starttime)%1))
+
diff --git a/sep/error.py b/sep/error.py
new file mode 100644
index 0000000000000000000000000000000000000000..9bd6fe78eba98ebb6beb5e8b09012723c2bf7860
--- /dev/null
+++ b/sep/error.py
@@ -0,0 +1,15 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Wed Jan 26 15:44:00 2022
+
+@author: s3340992
+"""
+
+# define Python user-defined exceptions
+class Error(Exception):
+ """Base class for other exceptions"""
+ pass
+
+class RawDataSizeError(Error):
+ """Raised when the input raw data size is not consistent"""
+ pass
\ No newline at end of file