data_validator_group.h

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/**
 * @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 DataValidatorGroup
{
public:
    /**
     * @param siblings initial number of DataValidator's. Must be > 0.
     */
    DataValidatorGroup(unsigned siblings);
    ~DataValidatorGroup();

    /**
     * Create a new Validator (with index equal to the number of currently existing validators)
     * @return the newly created DataValidator or nullptr on error
     */
    DataValidator *add_new_validator();

    /**
     * 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, const 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 vibration offset in the sensor unit
     *
     * @return      float value representing the vibration offset
     */
    float           get_vibration_offset(uint64_t timestamp, int axis);

    /**
     * Get the number of failover events
     *
     * @return      the number of failovers
     */
    unsigned        failover_count() const { return _toggle_count; }

    /**
     * Get the index of the failed sensor in the group
     *
     * @return      index of the failed sensor
     */
    int         failover_index();

    /**
     * Get the error state of the failed sensor in the group
     *
     * @return      bitmask with erro states of the failed sensor
     */
    uint32_t        failover_state();

    /**
     * Print the validator value
     *
     */
    void            print();

    /**
     * Set the timeout value for the whole group
     *
     * @param timeout_interval_us The timeout interval in microseconds
     */
    void            set_timeout(uint32_t timeout_interval_us);

    /**
     * Set the equal count threshold for the whole group
     *
     * @param threshold The number of equal values before considering the sensor stale
     */
    void            set_equal_value_threshold(uint32_t threshold);


private:
    DataValidator *_first{nullptr};     /**< first node in the group */
    DataValidator *_last{nullptr};      /**< last node in the group */

    uint32_t _timeout_interval_us{0}; /**< currently set timeout */

    int _curr_best{-1};     /**< currently best index */
    int _prev_best{-1};     /**< the previous best index */

    uint64_t _first_failover_time{0};   /**< timestamp where the first failover occured or zero if none occured */

    unsigned _toggle_count{0};      /**< 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 &);
};