px4-firmware/validation/data_validator_group.h

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/**
 * @file data_validator_group.h
 *
 * A data validation group to identify anomalies in data streams
 *
 * @author Lorenz Meier <lorenz@px4.io>
 */

#pragma once

#include "data_validator.h"

class DataValidatorGroup
{
public:
	/**
	 * @param siblings initial number of DataValidator's. Must be > 0.
	 */
	DataValidatorGroup(unsigned siblings);
	~DataValidatorGroup();

	/**
	 * Create a new Validator (with index equal to the number of currently existing validators)
	 * @return the newly created DataValidator or nullptr on error
	 */
	DataValidator *add_new_validator();

	/**
	 * Put an item into the validator group.
	 *
	 * @param index		Sensor index
	 * @param timestamp	The timestamp of the measurement
	 * @param val		The 3D vector
	 * @param error_count	The current error count of the sensor
	 * @param priority	The priority of the sensor
	 */
	void			put(unsigned index, uint64_t timestamp, const float val[3], uint64_t error_count, int priority);

	/**
	 * Get the best data triplet of the group
	 *
	 * @return		pointer to the array of best values
	 */
	float			*get_best(uint64_t timestamp, int *index);

	/**
	 * Get the RMS / vibration factor
	 *
	 * @return		float value representing the RMS, which a valid indicator for vibration
	 */
	float			get_vibration_factor(uint64_t timestamp);

	/**
	 * Get the vibration offset in the sensor unit
	 *
	 * @return		float value representing the vibration offset
	 */
	float			get_vibration_offset(uint64_t timestamp, int axis);

	/**
	 * Get the number of failover events
	 *
	 * @return		the number of failovers
	 */
	unsigned		failover_count() const { return _toggle_count; }

	/**
	 * Get the index of the failed sensor in the group
	 *
	 * @return		index of the failed sensor
	 */
	int			failover_index();

	/**
	 * Get the error state of the failed sensor in the group
	 *
	 * @return		bitmask with erro states of the failed sensor
	 */
	uint32_t		failover_state();

	/**
	 * Get the error state of the sensor with the specified index
	 *
	 * @return		bitmask with error states of the sensor
	 */
	uint32_t		get_sensor_state(unsigned index);

	/**
	 * Print the validator value
	 *
	 */
	void			print();

	/**
	 * Set the timeout value for the whole group
	 *
	 * @param timeout_interval_us The timeout interval in microseconds
	 */
	void			set_timeout(uint32_t timeout_interval_us);

	/**
	 * Set the equal count threshold for the whole group
	 *
	 * @param threshold The number of equal values before considering the sensor stale
	 */
	void			set_equal_value_threshold(uint32_t threshold);


private:
	DataValidator *_first{nullptr};		/**< first node in the group */
	DataValidator *_last{nullptr};		/**< last node in the group */

	uint32_t _timeout_interval_us{0}; /**< currently set timeout */

	int _curr_best{-1};		/**< currently best index */
	int _prev_best{-1};		/**< the previous best index */

	uint64_t _first_failover_time{0};	/**< timestamp where the first failover occured or zero if none occured */

	unsigned _toggle_count{0};		/**< number of back and forth switches between two sensors */

	static constexpr float MIN_REGULAR_CONFIDENCE = 0.9f;

	/* we don't want this class to be copied */
	DataValidatorGroup(const DataValidatorGroup &);
	DataValidatorGroup operator=(const DataValidatorGroup &);
};