huge commit

- worked on about everything
- grid walker using plugable modules
- wifi models
- new distributions
- worked on geometric data-structures
- added typesafe timestamps
- worked on grid-building
- added sensor-classes
- added sensor analysis (step-detection, turn-detection)
- offline data reader
- many test-cases

tests/sensors/pressure/TestBarometer.cpp

@@ -0,0 +1,125 @@
+#ifdef WITH_TESTS
+
+#include "../../Tests.h"
+
+#include "../../../sensors/pressure/RelativePressure.h"
+#include "../../../sensors/pressure/PressureTendence.h"
+
+#include <random>
+
+TEST(Barometer, relCalib) {
+
+	RelativePressure baro;
+	baro.setCalibrationTimeframe(Timestamp::fromMS(3000));
+
+	ASSERT_EQ(0, baro.getBaseAvg());
+	ASSERT_EQ(0, baro.getSigma());
+
+	std::minstd_rand gen;
+	std::normal_distribution<float> dist(930, 0.15);
+
+	for (int i = 0; i <= 4000; i += 25) {
+		const Timestamp ts = Timestamp::fromMS(i);
+		baro.add(ts, BarometerData(dist(gen)));
+
+
+		if (i < 3000) {	// not yet calibrated
+			ASSERT_EQ(0, baro.getBaseAvg());
+			ASSERT_EQ(0, baro.getSigma());
+			ASSERT_EQ(0, baro.getPressureRealtiveToStart());
+		} else {		// calibrated
+			ASSERT_NEAR(930, baro.getBaseAvg(), 0.1);
+			ASSERT_NEAR(0.15, baro.getSigma(), 0.02);
+		}
+
+	}
+
+	// calibration OK?
+	ASSERT_NEAR(930, baro.getBaseAvg(), 0.1);
+	ASSERT_NEAR(0.15, baro.getSigma(), 0.02);
+
+	// get a HUGE value realtive to the calibration
+	baro.add(Timestamp::fromMS(9000), BarometerData(2000));
+	ASSERT_NEAR(2000-930, baro.getPressureRealtiveToStart(), 0.1);
+
+	// has no impact on calibration
+	ASSERT_NEAR(930, baro.getBaseAvg(), 0.1);
+	ASSERT_NEAR(0.15, baro.getSigma(), 0.02);
+
+	baro.reset();
+
+	// everything back to zero
+	ASSERT_EQ(0, baro.getBaseAvg());
+	ASSERT_EQ(0, baro.getSigma());
+	ASSERT_EQ(0, baro.getPressureRealtiveToStart());
+
+}
+
+#include <fstream>
+
+TEST(Barometer, tendence) {
+
+	std::ifstream inp ("/tmp/baro1.dat");
+
+	const float timeframe = 5.0;
+	PressureTendence tend(Timestamp::fromSec(timeframe));
+
+	while (inp.is_open() && !inp.eof()) {
+
+		int msec;
+		float hPa;
+
+		inp >> msec;
+		inp >> hPa;
+
+		tend.add(Timestamp::fromMS(msec), BarometerData(hPa));
+		tend.get();
+
+	}
+
+	sleep(1000);
+
+}
+
+TEST(Barometer, tendence2) {
+
+
+	const float timeframe = 5.0;
+	PressureTendence tend(Timestamp::fromSec(timeframe));
+
+	ASSERT_EQ(0, tend.get());
+
+	const float noiseSigma = 0.04;		// typical barometer noise
+	const float start = 930;			// start at 930 hPa
+	const float incPerSec = 0.100;		// and incremrent the pressure by 0.1 hPa per second
+	float curhPa = start;
+
+	// add zero-mean noise
+	std::minstd_rand gen;
+	std::normal_distribution<float> dist(0, noiseSigma);
+
+	// 10 Hz for 30 seconds
+	for (int i = 0; i < 30000; i += 100) {
+
+		// next pressure (add increment)
+		curhPa += sin(i/1200.0f) * 0.02;//incPerSec * 100 / 1000;
+
+		// add noise
+		float curhPaNoised = curhPa + dist(gen) + sin(i/200.0f)*0.1;
+
+		// calculate tendence
+		tend.add(Timestamp::fromMS(i), BarometerData(curhPaNoised));
+		std::cout << "w/o noise: " << curhPa << "\twith noise: " << curhPaNoised << "\ttendence/sec:" << (tend.get()/timeframe) << std::endl;
+
+	}
+
+	sleep(1000);
+
+
+	// tendence must be clear and smaller than the sigma
+	ASSERT_NEAR(incPerSec * timeframe, tend.get(), noiseSigma);
+
+}
+
+
+#endif