DataValidatorGroup::DataValidatorGroup(unsigned siblings) :
_first(nullptr),
_last(nullptr),
_curr_best(-1),
_prev_best(-1),
_first_failover_time(0),
_toggle_count(0)
{
DataValidator *next = nullptr;
DataValidator *prev = nullptr;
for (unsigned i = 0; i < siblings; i++) {
next = new DataValidator();
if (i == 0) {
_first = next;
} else {
prev->setSibling(next);
}
prev = next;
}
_last = next;
if (_first) {
_timeout_interval_us = _first->get_timeout();
}
}
float
DataValidatorGroup::get_vibration_factor(uint64_t timestamp)
{
DataValidator *next = _first;
float vibe = 0.0f;
/* find the best RMS value of a non-timed out sensor */
while (next != nullptr) {
if (next->confidence(timestamp) > 0.5f) {
float *rms = next->rms();
for (unsigned j = 0; j < 3; j++) {
if (rms[j] > vibe) {
vibe = rms[j];
}
}
}
next = next->sibling();
}
return vibe;
}
void
DataValidatorGroup::set_equal_value_threshold(uint32_t threshold)
{
DataValidator *next = _first;
while (next != nullptr) {
next->set_equal_value_threshold(threshold);
next = next->sibling();
}
}
void
DataValidatorGroup::set_timeout(uint32_t timeout_interval_us)
{
DataValidator *next = _first;
while (next != nullptr) {
next->set_timeout(timeout_interval_us);
next = next->sibling();
}
_timeout_interval_us = timeout_interval_us;
}
void Sensors::print_status()
{
_voted_sensors_update.print_status();
PX4_INFO("Airspeed status:");
_airspeed_validator.print();
}
void
DataValidatorGroup::put(unsigned index, uint64_t timestamp, float val[3], uint64_t error_count, int priority)
{
DataValidator *next = _first;
unsigned i = 0;
while (next != nullptr) {
if (i == index) {
next->put(timestamp, val, error_count, priority);
break;
}
next = next->sibling();
i++;
}
}
uint32_t
DataValidatorGroup::failover_state()
{
DataValidator *next = _first;
unsigned i = 0;
while (next != nullptr) {
if (next->used() && (next->state() != DataValidator::ERROR_FLAG_NO_ERROR) && (i == (unsigned)_prev_best)) {
return next->state();
}
next = next->sibling();
i++;
}
return DataValidator::ERROR_FLAG_NO_ERROR;
}
void
Sensors::diff_pres_poll(struct sensor_combined_s &raw)
{
bool updated;
orb_check(_diff_pres_sub, &updated);
if (updated) {
orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);
float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature :
(raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
_airspeed.timestamp = _diff_pres.timestamp;
/* push data into validator */
_airspeed_validator.put(_airspeed.timestamp, _diff_pres.differential_pressure_raw_pa, _diff_pres.error_count, 100);
#ifdef __PX4_POSIX
_airspeed.confidence = 1.0f;
#else
_airspeed.confidence = _airspeed_validator.confidence(hrt_absolute_time());
#endif
/* don't risk to feed negative airspeed into the system */
_airspeed.indicated_airspeed_m_s = math::max(0.0f,
calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa));
_airspeed.true_airspeed_m_s = math::max(0.0f,
calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + _voted_sensors_update.baro_pressure() * 1e2f,
_voted_sensors_update.baro_pressure() * 1e2f, air_temperature_celsius));
_airspeed.true_airspeed_unfiltered_m_s = math::max(0.0f,
calc_true_airspeed(_diff_pres.differential_pressure_raw_pa + _voted_sensors_update.baro_pressure() * 1e2f,
_voted_sensors_update.baro_pressure() * 1e2f, air_temperature_celsius));
_airspeed.air_temperature_celsius = air_temperature_celsius;
_airspeed.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
int instance;
orb_publish_auto(ORB_ID(airspeed), &_airspeed_pub, &_airspeed, &instance, ORB_PRIO_DEFAULT);
}
}
void
DataValidatorGroup::print()
{
/* print the group's state */
ECL_INFO("validator: best: %d, prev best: %d, failsafe: %s (%u events)",
_curr_best, _prev_best, (_toggle_count > 0) ? "YES" : "NO",
_toggle_count);
DataValidator *next = _first;
unsigned i = 0;
while (next != nullptr) {
if (next->used()) {
uint32_t flags = next->state();
ECL_INFO("sensor #%u, prio: %d, state:%s%s%s%s%s%s", i, next->priority(),
((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TOUT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ECNT" : ""),
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " EDNST" : ""),
((flags == DataValidator::ERROR_FLAG_NO_ERROR) ? " OK" : ""));
next->print();
}
next = next->sibling();
i++;
}
}
float
DataValidatorGroup::get_vibration_offset(uint64_t timestamp, int axis)
{
DataValidator *next = _first;
float vibe = -1.0f;
/* find the best vibration value of a non-timed out sensor */
while (next != nullptr) {
if (next->confidence(timestamp) > 0.5f) {
float *vibration_offset = next->vibration_offset();
if (vibe < 0.0f || vibration_offset[axis] < vibe) {
vibe = vibration_offset[axis];
}
}
next = next->sibling();
}
return vibe;
}
NewAccountDialog::NewAccountDialog( GuiFactory* factory )
: GeneralDialogBox(factory,factory->getLanguageManager(),factory->getGuiColorManager(),factory->getFontManager())
{
setTitle("account.create");
setOkText("account.create");
addLabel("fields.required");
m_txtUsername = createTextField("username");
m_txtPassword = createTextField("password");
m_txtConfirmPassword = createTextField("confirm.password");
m_txtEmail = createTextField("email",DIALOG_TEXT_LONG);
// m_txtConfirmEmail = createTextField("email.confirm",DIALOG_TEXT_LONG);
//std::vector<std::string> items;
//items.push_back("gender.male");
//items.push_back("gender.female");
//m_gender = createDropdown("gender.gender","gender.gender",items);
//m_birthday = createDate("birthday");
//m_txtPassphrase = createTextField("security.phrase");
m_cbAge = createCheckBox("");
m_cbAge->setText(getFactory()->getLanguageManager()->getElementWithArg("over.age","13"));
addLabel("fields.optional");
m_txtFirstName = createTextField("first.name");
m_txtLastName = createTextField("last.name");
DataValidator dv;
m_txtFirstName->setMaxLength(25);
m_txtLastName->setMaxLength(25);
m_txtUsername->setMaxLength(dv.getMaxUsernameLength());
m_txtPassword->setIsPassword(true);
m_txtPassword->setMaxLength(20);
m_txtConfirmPassword->setIsPassword(true);
m_txtConfirmPassword->setMaxLength(20);
m_txtEmail->setMaxLength(35);
//m_txtConfirmEmail->setMaxLength(35);
}
bool NewAccountDialog::validateData()
{
std::vector<std::string> errors;
DataValidator dv;
std::stringstream ss;
/*
if(m_txtFirstName->getTextLength() < 3)
{
errors.push_back("firstname.validate");
}
if(m_txtLastName->getTextLength() < 3)
{
errors.push_back("lastname.validate");
}
*/
if(m_txtUsername->getTextLength() < 3)
{
errors.push_back("username.validate");
}
if(!dv.usernameIsValid(m_txtUsername->getText()))
{
errors.push_back("username.invalid.validate");
}
if(!dv.isPasswordValid(m_txtPassword->getPassword()))
{
errors.push_back("password.validate");
}
else if(m_txtPassword->getPassword() != m_txtConfirmPassword->getPassword())
{
errors.push_back("account.password.mismatch");
}
if(m_txtEmail->getTextLength() == 0)
{
errors.push_back("email.validate");
}
else if(!dv.isEmailValid(m_txtEmail->getText()))
{
errors.push_back("email.invalid.validate");
}
if(!m_cbAge->checked())
{
errors.push_back("confirm.age");
}
/*
if(m_txtEmail->getText() != m_txtConfirmEmail->getText())
{
errors.push_back("email.mismatch.validate");
}
*/
/*
if(m_gender->getSelectedIndex() < 0)
{
errors.push_back("gender.validate");
}
if(m_txtPassphrase->getTextLength() == 0)
{
errors.push_back("security.phrase.validate");
}
bool anythingEmpty = false;
for(int i = 0; i < m_birthday.size(); i++)
{
if(m_birthday[i]->getSelectedIndex() < 0)
anythingEmpty = true;
}
*/
/*
if(anythingEmpty)
{
errors.push_back("birthday.validate");
}
else
{
int month = m_birthday[0]->getSelectedIndex();
month++;
ss.clear();
ss.str("");
ss << m_birthday[1]->getItemAt(m_birthday[1]->getSelectedIndex());
int day = 0;
ss >> day;
if(!dv.dateIsValid(2000,month,day))
{
errors.push_back("birthday.invalid.validate");
}
}
*/
std::string errorText;
std::string bullet;
bullet += 0xe2;
bullet += 0x80;
bullet += 0xa2;
for(int i = 0; i < errors.size(); i++)
{
errorText += bullet;
errorText += " ";
errorText += getFactory()->getLanguageManager()->getElement(errors[i]);
if(i + 1 < errors.size())
errorText += "\n\n";
}
if(errorText.length() > 0)
{
DISPATCH_SCENE_EVENT
(*it)->showMessageBox(
getFactory()->getLanguageManager()->getElement("newaccount.validate"),errorText,MessageBox::MT_OK,this,1);
}
return errorText.length() == 0;
}
float *
DataValidatorGroup::get_best(uint64_t timestamp, int *index)
{
DataValidator *next = _first;
// XXX This should eventually also include voting
int pre_check_best = _curr_best;
float pre_check_confidence = 1.0f;
int pre_check_prio = -1;
float max_confidence = -1.0f;
int max_priority = -1000;
int max_index = -1;
DataValidator *best = nullptr;
unsigned i = 0;
while (next != nullptr) {
float confidence = next->confidence(timestamp);
if (static_cast<int>(i) == pre_check_best) {
pre_check_prio = next->priority();
pre_check_confidence = confidence;
}
/*
* Switch if:
* 1) the confidence is higher and priority is equal or higher
* 2) the confidence is no less than 1% different and the priority is higher
*/
if ((((max_confidence < MIN_REGULAR_CONFIDENCE) && (confidence >= MIN_REGULAR_CONFIDENCE)) ||
(confidence > max_confidence && (next->priority() >= max_priority)) ||
(fabsf(confidence - max_confidence) < 0.01f && (next->priority() > max_priority))
) && (confidence > 0.0f)) {
max_index = i;
max_confidence = confidence;
max_priority = next->priority();
best = next;
}
next = next->sibling();
i++;
}
/* the current best sensor is not matching the previous best sensor,
* or the only sensor went bad */
if (max_index != _curr_best || ((max_confidence < FLT_EPSILON) && (_curr_best >= 0))) {
bool true_failsafe = true;
/* check whether the switch was a failsafe or preferring a higher priority sensor */
if (pre_check_prio != -1 && pre_check_prio < max_priority &&
fabsf(pre_check_confidence - max_confidence) < 0.1f) {
/* this is not a failover */
true_failsafe = false;
/* reset error flags, this is likely a hotplug sensor coming online late */
best->reset_state();
}
/* if we're no initialized, initialize the bookkeeping but do not count a failsafe */
if (_curr_best < 0) {
_prev_best = max_index;
} else {
/* we were initialized before, this is a real failsafe */
_prev_best = pre_check_best;
if (true_failsafe) {
_toggle_count++;
/* if this is the first time, log when we failed */
if (_first_failover_time == 0) {
_first_failover_time = timestamp;
}
}
}
/* for all cases we want to keep a record of the best index */
_curr_best = max_index;
}
*index = max_index;
return (best) ? best->value() : nullptr;
}