/**
* @brief TimeSeriesPlotData::append Appends data to time series data
* @param obj UAVO with new data
* @return
*/
bool TimeSeriesPlotData::append(UAVObject* obj)
{
if (uavObjectName == obj->getName()) {
//Get the field of interest
UAVObjectField* field = obj->getField(uavFieldName);
if (field) {
QDateTime NOW = QDateTime::currentDateTime(); //THINK ABOUT REIMPLEMENTING THIS TO SHOW UAVO TIME, NOT SYSTEM TIME
double currentValue = valueAsDouble(obj, field, haveSubField, uavSubFieldName) * pow(10, scalePower);
//Perform scope math, if necessary
if (mathFunction == "Boxcar average" || mathFunction == "Standard deviation"){
//Put the new value at the back
yDataHistory->append( currentValue );
// calculate average value
meanSum += currentValue;
if(yDataHistory->size() > meanSamples) {
meanSum -= yDataHistory->first();
yDataHistory->pop_front();
}
// make sure to correct the sum every meanSamples steps to prevent it
// from running away due to floating point rounding errors
correctionSum+=currentValue;
if (++correctionCount >= meanSamples) {
meanSum = correctionSum;
correctionSum = 0.0f;
correctionCount = 0;
}
double boxcarAvg=meanSum/yDataHistory->size();
if ( mathFunction == "Standard deviation" ){
//Calculate square of sample standard deviation, with Bessel's correction
double stdSum=0;
for (int i=0; i < yDataHistory->size(); i++){
stdSum+= pow(yDataHistory->at(i)- boxcarAvg,2)/(meanSamples-1);
}
yData->append(sqrt(stdSum));
}
else {
yData->append(boxcarAvg);
}
}
else{
yData->append( currentValue );
}
double valueX = NOW.toTime_t() + NOW.time().msec() / 1000.0;
xData->append(valueX);
//Remove stale data
removeStaleData();
return true;
}
}
return false;
}
double ConfigurationManager::retrieveAsDouble(std::string namespaceName, std::string identifier, double defaultValue)
{
double result = defaultValue;
EntriesMap::const_iterator iter = entries->find(std::make_pair(namespaceName, identifier));
if(iter != entries->end())
{
result = valueAsDouble(iter->second,defaultValue);
}
return result;
}
/**
* @brief SeriesPlotData::append Appends data to series plot
* @param obj UAVO with new data
* @return
*/
bool SeriesPlotData::append(UAVObject* obj)
{
if (uavObjectName == obj->getName()) {
//Get the field of interest
UAVObjectField* field = obj->getField(uavFieldName);
if (field) {
double currentValue = valueAsDouble(obj, field, haveSubField, uavSubFieldName) * pow(10, scalePower);
//Perform scope math, if necessary
if (mathFunction == "Boxcar average" || mathFunction == "Standard deviation"){
//Put the new value at the front
yDataHistory->append( currentValue );
// calculate average value
meanSum += currentValue;
if(yDataHistory->size() > meanSamples) {
meanSum -= yDataHistory->first();
yDataHistory->pop_front();
}
// make sure to correct the sum every meanSamples steps to prevent it
// from running away due to floating point rounding errors
correctionSum+=currentValue;
if (++correctionCount >= meanSamples) {
meanSum = correctionSum;
correctionSum = 0.0f;
correctionCount = 0;
}
double boxcarAvg=meanSum/yDataHistory->size();
if ( mathFunction == "Standard deviation" ){
//Calculate square of sample standard deviation, with Bessel's correction
double stdSum=0;
for (int i=0; i < yDataHistory->size(); i++){
stdSum+= pow(yDataHistory->at(i)- boxcarAvg,2)/(meanSamples-1);
}
yData->append(sqrt(stdSum));
}
else {
yData->append(boxcarAvg);
}
}
else{
yData->append( currentValue );
}
if (yData->size() > getXWindowSize()) { //If new data overflows the window, remove old data...
yData->pop_front();
} else //...otherwise, add a new y point at position xData
xData->insert(xData->size(), xData->size());
return true;
}
}
return false;
}
/**
* @brief SpectrogramData::append Appends data to spectrogram
* @param obj UAVO with new data
* @return
*/
bool SpectrogramData::append(UAVObject* multiObj)
{
QDateTime NOW = QDateTime::currentDateTime(); //TODO: Upgrade this to show UAVO time and not system time
// Check to make sure it's the correct UAVO
if (uavObjectName == multiObj->getName()) {
// Only run on UAVOs that have multiple instances
if (multiObj->isSingleInstance())
return false;
//Instantiate object manager
UAVObjectManager *objManager;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm != NULL);
objManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(objManager != NULL);
// Get list of object instances
QVector<UAVObject*> list = objManager->getObjectInstancesVector(multiObj->getName());
// Remove a row's worth of data.
unsigned int spectrogramWidth = list.size();
// Check that there is a full window worth of data. While GCS is starting up, the size of
// multiple instance UAVOs is 1, so it's possible for spurious data to come in before
// the flight controller board has had time to initialize the UAVO size.
if (spectrogramWidth != windowWidth){
qDebug() << "Incomplete data set in" << multiObj->getName() << "." << uavFieldName << "spectrogram: " << spectrogramWidth << " samples provided, but expected " << windowWidth;
return false;
}
//Initialize vector where we will read out an entire row of multiple instance UAVO
QVector<double> values;
timeDataHistory->append(NOW.toTime_t() + NOW.time().msec() / 1000.0);
UAVObjectField* multiField = multiObj->getField(uavFieldName);
Q_ASSERT(multiField);
if (multiField ) {
// Get the field of interest
foreach (UAVObject *obj, list) {
UAVObjectField* field = obj->getField(uavFieldName);
double currentValue = valueAsDouble(obj, field, haveSubField, uavSubFieldName) * pow(10, scalePower);
double vecVal = currentValue;
//Normally some math would go here, modifying vecVal before appending it to values
// .
// .
// .
// Second to last step, see if autoscale is turned on and if the value exceeds the maximum for the scope.
if ( zMaximum == 0 && vecVal > rasterData->interval(Qt::ZAxis).maxValue()){
// Change scope maximum and color depth
rasterData->setInterval(Qt::ZAxis, QwtInterval(0, vecVal) );
autoscaleValueUpdated = vecVal;
}
// Last step, assign value to vector
values += vecVal;
}
while (timeDataHistory->back() - timeDataHistory->front() > timeHorizon){
timeDataHistory->pop_front();
zDataHistory->remove(0, fminl(spectrogramWidth, zDataHistory->size()));
}
// Doublecheck that there are the right number of samples. This can occur if the "field" assert fails
if(values.size() == (int) windowWidth){
*zDataHistory << values;
}
return true;
}
}
