forked from Archive/PX4-Autopilot
130 lines
4.1 KiB
C++
130 lines
4.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file data_validator_group.h
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*
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* A data validation group to identify anomalies in data streams
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*
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#pragma once
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#include "data_validator.h"
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class __EXPORT DataValidatorGroup {
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public:
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DataValidatorGroup(unsigned siblings);
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virtual ~DataValidatorGroup();
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/**
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* Put an item into the validator group.
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*
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* @param index Sensor index
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* @param timestamp The timestamp of the measurement
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* @param val The 3D vector
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* @param error_count The current error count of the sensor
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* @param priority The priority of the sensor
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*/
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void put(unsigned index, uint64_t timestamp,
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float val[3], uint64_t error_count, int priority);
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/**
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* Get the best data triplet of the group
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*
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* @return pointer to the array of best values
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*/
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float* get_best(uint64_t timestamp, int *index);
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/**
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* Get the RMS / vibration factor
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*
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* @return float value representing the RMS, which a valid indicator for vibration
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*/
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float get_vibration_factor(uint64_t timestamp);
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/**
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* Get the vibration offset in the sensor unit
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*
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* @return float value representing the vibration offset
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*/
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float get_vibration_offset(uint64_t timestamp, int axis);
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/**
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* Get the number of failover events
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*
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* @return the number of failovers
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*/
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unsigned failover_count();
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/**
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* Get the index of the failed sensor in the group
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*
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* @return index of the failed sensor
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*/
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int failover_index();
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/**
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* Get the error state of the failed sensor in the group
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*
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* @return bitmask with erro states of the failed sensor
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*/
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uint32_t failover_state();
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/**
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* Print the validator value
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*
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*/
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void print();
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/**
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* Set the timeout value
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*
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* @param timeout_interval_us The timeout interval in microseconds
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*/
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void set_timeout(uint64_t timeout_interval_us);
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private:
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DataValidator *_first; /**< sibling in the group */
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int _curr_best; /**< currently best index */
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int _prev_best; /**< the previous best index */
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uint64_t _first_failover_time; /**< timestamp where the first failover occured or zero if none occured */
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unsigned _toggle_count; /**< number of back and forth switches between two sensors */
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static constexpr float MIN_REGULAR_CONFIDENCE = 0.9f;
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/* we don't want this class to be copied */
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DataValidatorGroup(const DataValidatorGroup&);
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DataValidatorGroup operator=(const DataValidatorGroup&);
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};
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