Move the SimpleAnalyzer to a separate file

src/modules/mavlink/mavlink_simple_analyzer.cpp

@@ -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;
+	}
+}