Initial import

validation/data_validator_group.h

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+/****************************************************************************
+ *
+ *   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_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 __EXPORT DataValidatorGroup {
+public:
+	DataValidatorGroup(unsigned siblings);
+	virtual ~DataValidatorGroup();
+
+	/**
+	 * 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,
+					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 number of failover events
+	 *
+	 * @return		the number of failovers
+	 */
+	unsigned		failover_count();
+
+	/**
+	 * Print the validator value
+	 *
+	 */
+	void			print();
+
+	/**
+	 * Set the timeout value
+	 *
+	 * @param timeout_interval_us The timeout interval in microseconds
+	 */
+	void			set_timeout(uint64_t timeout_interval_us);
+
+private:
+	DataValidator *_first;		/**< sibling in the group */
+	int _curr_best;		/**< currently best index */
+	int _prev_best;		/**< the previous best index */
+	uint64_t _first_failover_time;	/**< timestamp where the first failover occured or zero if none occured */
+	unsigned _toggle_count;		/**< 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&);
+};