Move the SimpleAnalyzer to a separate file

2026-11-13 05:41:36 +08:00 · 2018-04-11 15:15:28 +02:00
parent ae807fc189
commit fb1bb7a769
5 changed files with 311 additions and 169 deletions
@@ -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_ */