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Data validator: Build as library

This commit is contained in:
Lorenz Meier 2015-08-30 19:35:24 +02:00
parent 8da3f1f8f9
commit 9f5140eebb
5 changed files with 57 additions and 46 deletions
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3
src/lib/ecl/ecl.h
View File

@ -38,6 +38,9 @@
*/
#include <drivers/drv_hrt.h>
#include <px4_log.h>
#define ecl_absolute_time hrt_absolute_time
#define ecl_elapsed_time hrt_elapsed_time
#define ECL_WARN PX4_WARN
#define ECL_INFO PX4_INFO

88
src/lib/ecl/validation/data_validator.cpp
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@ -1,3 +1,47 @@
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file data_validator.c
*
* A data validation class to identify anomalies in data streams
*
* @author Lorenz Meier <lorenz@px4.io>
*/
#include "data_validator.h"
#include <ecl/ecl.h>
DataValidator::DataValidator(DataValidator *prev_sibling) :
_time_last(0),
_timeout_interval(70000),
@ -53,46 +97,6 @@ DataValidator::put(uint64_t timestamp, float val[3], uint64_t error_count_in)
_time_last = timestamp;
}
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file data_validator.c
*
* A data validation class to identify anomalies in data streams
*
* @author Lorenz Meier <lorenz@px4.io>
*/
float
DataValidator::confidence(uint64_t timestamp)
@ -124,12 +128,12 @@ void
DataValidator::print()
{
if (_time_last == 0) {
printf("\tno data\n");
ECL_INFO("\tno data\n");
return;
}
for (unsigned i = 0; i < _dimensions; i++) {
printf("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f\n",
ECL_INFO("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f\n",
(double) _value[i], (double)_lp[i], (double)_mean[i], (double)_rms[i]);
}
}

3
src/lib/ecl/validation/data_validator.h
View File

@ -42,8 +42,9 @@
#pragma once
#include <cmath>
#include <stdint.h>
class DataValidator {
class __EXPORT DataValidator {
public:
DataValidator(DataValidator *prev_sibling = nullptr);
virtual ~DataValidator();

7
src/lib/ecl/validation/data_validator_group.cpp
View File

@ -39,6 +39,9 @@
* @author Lorenz Meier <lorenz@px4.io>
*/
#include "data_validator_group.h"
#include <ecl/ecl.h>
DataValidatorGroup::DataValidatorGroup(unsigned siblings) :
_first(nullptr),
_curr_best(-1),
@ -169,7 +172,7 @@ void
DataValidatorGroup::print()
{
/* print the group's state */
warnx("validator: best: %d, prev best: %d, failsafe: %s (# %u)",
ECL_INFO("validator: best: %d, prev best: %d, failsafe: %s (# %u)",
_curr_best, _prev_best, (_toggle_count > 0) ? "YES" : "NO",
_toggle_count);
@ -178,7 +181,7 @@ DataValidatorGroup::print()
unsigned i = 0;
while (next != nullptr) {
printf("sensor #%u:\n", i);
ECL_INFO("sensor #%u:\n", i);
next->print();
next = next->sibling();
i++;

2
src/lib/ecl/validation/data_validator_group.h
View File

@ -43,7 +43,7 @@
#include "data_validator.h"
class DataValidatorGroup {
class __EXPORT DataValidatorGroup {
public:
DataValidatorGroup(unsigned siblings);
virtual ~DataValidatorGroup();