/****************************************************************************
*
* 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
class DataValidator;
class DataValidatorGroup {
public:
DataValidatorGroup(unsigned siblings);
virtual ~DataValidatorGroup();
/**
* Put an item into the validator group.
*
* @param x X Item to put
* @param y Y Item to put
* @param z Z Item to put
*/
bool put(unsigned index, uint64_t timestamp, float x);
/**
* Get the best data triplet of the group
*
* @param x X Item to put
* @param y Y Item to put
* @param z Z Item to put
*/
void get_best(uint64_t timestamp, int *index, float *x);
/**
* Get the next sibling in the group
*
* @return the next sibling
*/
float sibling() { return _sibling; }
/**
* Print the validator value
*
*/
float print(bool auto_reset);
private:
DataValidator *_first; /**< sibling in the group */
/* we don't want this class to be copied */
DataValidatorGroup(const DataValidatorGroup&);
DataValidatorGroup operator=(const DataValidatorGroup&);
};
DataValidatorGroup(unsigned siblings) :
_first(nullptr)
{
DataValidator *next = _first;
for (unsigned i = 0; i < siblings; i++) {
next = new DataValidator(next);
}
}
~DataValidatorGroup()
{
}
bool
DataValidatorGroup::put(unsigned index, uint64_t timestamp, float x)
{
DataValidator *next = _first;
unsigned i = 0;
while (next != nullptr) {
if (i == index) {
next->put(timestamp, x);
break;
}
next = next->sibling();
i++;
}
}
bool
DataValidatorGroup::get_best(uint64_t timestamp, int *index, float *x)
{
DataValidator *next = _first;
// XXX This should eventually also include voting
float max_confidence = 0.0f;
int max_index = -1;
float best_value = 0.0f;
unsigned i = 0;
while (next != nullptr) {
float confidence = next->confidence(timestamp);
if (confidence > max_confidence) {
max_index = i;
max_confidence = confidence;
best_value = next->get();
}
next = next->sibling();
i++;
}
*index = max_index;
*x = best_value;
}
float
DataValidatorGroup::print()
{
DataValidator *next = _first;
while (next != nullptr) {
next->print();
next = next->sibling();
}
}
