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Move the SimpleAnalyzer to a separate file

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This commit is contained in:
acfloria
2018-04-10 09:57:03 +02:00
committed by Beat Küng
parent ae807fc189
commit fb1bb7a769
5 changed files with 311 additions and 169 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/CMakeLists.txt
+1
View File
@@ -56,6 +56,7 @@ px4_add_module(
mavlink_rate_limiter.cpp
mavlink_receiver.cpp
mavlink_shell.cpp
mavlink_simple_analyzer.cpp
mavlink_stream.cpp
mavlink_ulog.cpp
DEPENDS
src/modules/mavlink/mavlink_messages.cpp
+9 -115
View File
@@ -47,6 +47,7 @@
#include "mavlink_main.h"
#include "mavlink_messages.h"
#include "mavlink_command_sender.h"
#include "mavlink_simple_analyzer.h"
#include <commander/px4_custom_mode.h>
#include <drivers/drv_pwm_output.h>
@@ -105,9 +106,9 @@
#include <uORB/uORB.h>
static uint16_t cm_uint16_from_m_float(float m);
static void get_mavlink_custom_mode(struct vehicle_status_s *status, uint8_t *mavlink_base_mode,
union px4_custom_mode *custom_mode);
static void get_mavlink_mode_state(struct vehicle_status_s *status, uint8_t *mavlink_state,
static void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, uint8_t *mavlink_base_mode,
union px4_custom_mode *custom_mode);
static void get_mavlink_mode_state(const struct vehicle_status_s *const status, uint8_t *mavlink_state,
uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
uint16_t
@@ -123,8 +124,8 @@ cm_uint16_from_m_float(float m)
return (uint16_t)(m * 100.0f);
}
void get_mavlink_custom_mode(struct vehicle_status_s *status, uint8_t *mavlink_base_mode,
union px4_custom_mode *custom_mode)
void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, uint8_t *mavlink_base_mode,
union px4_custom_mode *custom_mode)
{
custom_mode->data = 0;
*mavlink_base_mode = 0;
@@ -249,7 +250,7 @@ void get_mavlink_custom_mode(struct vehicle_status_s *status, uint8_t *mavlink_b
}
}
void get_mavlink_mode_state(struct vehicle_status_s *status, uint8_t *mavlink_state,
void get_mavlink_mode_state(const struct vehicle_status_s *const status, uint8_t *mavlink_state,
uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode)
{
*mavlink_state = 0;
@@ -257,7 +258,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, uint8_t *mavlink_st
*mavlink_custom_mode = 0;
union px4_custom_mode custom_mode;
get_mavlink_custom_mode(status, mavlink_base_mode, &custom_mode);
get_mavlink_navigation_mode(status, mavlink_base_mode, &custom_mode);
*mavlink_custom_mode = custom_mode.data;
/* set system state */
@@ -4389,7 +4390,7 @@ protected:
// flight mode
union px4_custom_mode custom_mode;
uint8_t mavlink_base_mode;
get_mavlink_custom_mode(&status, &mavlink_base_mode, &custom_mode);
get_mavlink_navigation_mode(&status, &mavlink_base_mode, &custom_mode);
msg->custom_mode = custom_mode.custom_mode_hl;
}
@@ -4743,110 +4744,3 @@ MavlinkStream *create_mavlink_stream(const char *stream_name, Mavlink *mavlink)
return nullptr;
}
SimpleAnalyzer::SimpleAnalyzer(Mode mode, float window) :
_window(window),
_mode(mode)
{
reset();
}
SimpleAnalyzer::~SimpleAnalyzer()
{
}
void SimpleAnalyzer::reset()
{
_n = 0;
switch (_mode) {
case AVERAGE:
_result = 0.0f;
break;
case MIN:
_result = FLT_MAX;
break;
case MAX:
_result = FLT_MIN;
break;
default:
PX4_ERR("SimpleAnalyzer: Unknown mode.");
}
}
void SimpleAnalyzer::add_value(float val, float update_rate)
{
switch (_mode) {
case AVERAGE:
_result = (_result * _n + val) / (_n + 1u);
break;
case MIN:
if (val < _result) {
_result = val;
}
break;
case MAX:
if (val > _result) {
_result = val;
}
break;
}
// if we get more measurements than n_max so the exponential moving average
// is computed
if ((_n < update_rate * _window) && (update_rate > 1.0f)) {
_n++;
}
// value sanity checks
if (!PX4_ISFINITE(_result)) {
PX4_ERR("SimpleAnalyzer: Result is not finite, reset the analyzer.");
reset();
}
}
bool SimpleAnalyzer::valid() const
{
return _n > 0u;
}
float SimpleAnalyzer::get() const
{
return _result;
}
float SimpleAnalyzer::get_scaled(float scalingfactor) const
{
return get() * scalingfactor;
}
void SimpleAnalyzer::check_limits(float &x, float min, float max) const
{
if (x > max) {
x = max;
} else if (x < min) {
x = min;
}
}
void SimpleAnalyzer::int_round(float &x) const
{
if (x < 0) {
x -= 0.5f;
} else {
x += 0.5f;
}
}
src/modules/mavlink/mavlink_messages.h
-54
View File
@@ -43,8 +43,6 @@
#include "mavlink_stream.h"
#include <limits>
class StreamListItem
{
@@ -63,56 +61,4 @@ public:
const char *get_stream_name(const uint16_t msg_id);
MavlinkStream *create_mavlink_stream(const char *stream_name, Mavlink *mavlink);
class SimpleAnalyzer
{
public:
enum Mode {
AVERAGE = 0,
MIN,
MAX,
};
SimpleAnalyzer(Mode mode, float window = 60.0f);
virtual ~SimpleAnalyzer();
void reset();
void add_value(float val, float update_rate);
bool valid() const;
float get() const;
float get_scaled(float scalingfactor) const;
template <typename T>
void get_scaled(T &ret, float scalingfactor) const
{
float avg = get_scaled(scalingfactor);
int_round(avg);
check_limits(avg, std::numeric_limits<T>::min(), std::numeric_limits<T>::max());
ret = static_cast<T>(avg);
}
private:
unsigned int _n = 0;
float _window = 60.0f;
Mode _mode = AVERAGE;
float _result = 0.0f;
void check_limits(float &x, float min, float max) const;
void int_round(float &x) const;
};
template<typename Tin, typename Tout>
void convert_limit_safe(Tin in, Tout *out)
{
if (in > std::numeric_limits<Tout>::max()) {
*out = std::numeric_limits<Tout>::max();
} else if (in < std::numeric_limits<Tout>::min()) {
*out = std::numeric_limits<Tout>::min();
} else {
*out = static_cast<Tout>(in);
}
}
#endif /* MAVLINK_MESSAGES_H_ */
src/modules/mavlink/mavlink_simple_analyzer.cpp
+148
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@@ -0,0 +1,148 @@
/****************************************************************************
*
* Copyright (c) 2015-2018 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 mavlink_simple_analyzer.cpp
*
* @author Achermann Florian <acfloria@ethz.ch>
*/
#include "mavlink_simple_analyzer.h"
#include <float.h>
#include <px4_log.h>
#include <px4_defines.h>
SimpleAnalyzer::SimpleAnalyzer(Mode mode, float window) :
_window(window),
_mode(mode)
{
reset();
}
void SimpleAnalyzer::reset()
{
_n = 0;
switch (_mode) {
case AVERAGE:
_result = 0.0f;
break;
case MIN:
_result = FLT_MAX;
break;
case MAX:
_result = FLT_MIN;
break;
default:
PX4_ERR("SimpleAnalyzer: Unknown mode.");
}
}
void SimpleAnalyzer::add_value(float val, float update_rate)
{
switch (_mode) {
case AVERAGE:
_result = (_result * _n + val) / (_n + 1u);
break;
case MIN:
if (val < _result) {
_result = val;
}
break;
case MAX:
if (val > _result) {
_result = val;
}
break;
}
// if we get more measurements than n_max so the exponential moving average
// is computed
if ((_n < update_rate * _window) && (update_rate > 1.0f)) {
_n++;
}
// value sanity checks
if (!PX4_ISFINITE(_result)) {
PX4_DEBUG("SimpleAnalyzer: Result is not finite, reset the analyzer.");
reset();
}
}
bool SimpleAnalyzer::valid() const
{
return _n > 0u;
}
float SimpleAnalyzer::get() const
{
return _result;
}
float SimpleAnalyzer::get_scaled(float scalingfactor) const
{
return get() * scalingfactor;
}
void SimpleAnalyzer::check_limits(float &x, float min, float max) const
{
if (x > max) {
x = max;
} else if (x < min) {
x = min;
}
}
void SimpleAnalyzer::int_round(float &x) const
{
if (x < 0) {
x -= 0.5f;
} else {
x += 0.5f;
}
}
src/modules/mavlink/mavlink_simple_analyzer.h
+153
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@@ -0,0 +1,153 @@
/****************************************************************************
*
* Copyright (c) 2012-2018 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 mavlink_simple_analyzer.h
*
* @author Achermann Florian <acfloria@ethz.ch>
*/
#ifndef MAVLINK_SIMPLE_ANALYZER_H_
#define MAVLINK_SIMPLE_ANALYZER_H_
#include <limits>
/**
* SimpleAnalyzer
*
* Class used for simple analysis of data streams.
* The data can be analyzed in the following three modes:
*
* AVERAGE:
* The average value is computed at the beginning. Based on the number of analyzed values,
* the update rate and the window size the switch to the moving average is determined.
*
* MIN:
* The minimum value is tracked.
*
* MAX:
* The maximum value is tracked.
*/
class SimpleAnalyzer
{
public:
enum Mode {
AVERAGE = 0,
MIN,
MAX,
};
/**
* Constructor
*
* Defines the mode of the analyzer and the window size in case of the
* averaging mode.
*
* @param[in] mode: The mode of the analyzer
* @param[in] window: The window size in seconds. Only used in the averaging mode.
*/
SimpleAnalyzer(Mode mode, float window = 60.0f);
/**
* Reset the analyzer to the initial state.
*/
void reset();
/**
* Add a new value to the analyzer and update the result according to the mode.
*
* @param[in] val: The value to process
* @param[in] update_rate: The update rate in [1/s] for which new value are added.
* Used in the averaging mode to determine when to switch from averaging to the moving average.
*/
void add_value(float val, float update_rate);
/**
* Returns true if at least one value has been added to the analyzer.
*/
bool valid() const;
/**
* Get the current result of the analyzer.
*/
float get() const;
/**
* Get the scaled value of the current result of the analyzer.
*
* @param[in] scalingfactor: The factor used to scale the result.
*/
float get_scaled(float scalingfactor) const;
/**
* Get the rounded scaled value casted to the input template type.
* Should only be used to return integer types.
*
* @param[out] ret: The scaled and rounded value of the current analyzer result.
* @parma[in] scalingfactor: The factor which is used to scale the result.
*/
template <typename T>
void get_scaled(T &ret, float scalingfactor) const
{
float avg = get_scaled(scalingfactor);
int_round(avg);
check_limits(avg, std::numeric_limits<T>::min(), std::numeric_limits<T>::max());
ret = static_cast<T>(avg);
}
private:
unsigned int _n = 0; /**< The number of added samples */
float _window = 60.0f; /**< The window size for the moving average filter [s] */
Mode _mode = AVERAGE; /**< The mode of the simple analyzer */
float _result = 0.0f; /**< The result of the analyzed data. */
void check_limits(float &x, float min, float max) const;
void int_round(float &x) const;
};
template<typename Tin, typename Tout>
void convert_limit_safe(Tin in, Tout *out)
{
if (in > std::numeric_limits<Tout>::max()) {
*out = std::numeric_limits<Tout>::max();
} else if (in < std::numeric_limits<Tout>::min()) {
*out = std::numeric_limits<Tout>::min();
} else {
*out = static_cast<Tout>(in);
}
}
#endif /* MAVLINK_SIMPLE_ANALYZER_H_ */