3f8d21e146
1) when barometer produces false measurements, we needed some kind of upper boundary 2) coding error static.. while initializing this object over multiple test iterations isnt the best idea
139 lines
4.3 KiB
C++
139 lines
4.3 KiB
C++
#ifndef ACTIVITYBUTTERPRESSURE_H
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#define ACTIVITYBUTTERPRESSURE_H
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#include "../../data/Timestamp.h"
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#include "../../math/filter/Butterworth.h"
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#include "../../math/FixedFrequencyInterpolator.h"
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#include "../../math/MovingAVG.h"
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#include "../pressure/BarometerData.h"
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#include "Activity.h"
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/**
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* receives pressure measurements, interpolates them to a ficex frequency, lowpass filtering
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* activity recognition based on a small window given by matlabs diff(window)
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*/
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class ActivityButterPressure {
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public:
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struct History {
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Timestamp ts;
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BarometerData data;
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History(const Timestamp ts, const BarometerData data) : ts(ts), data(data) {;}
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};
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private:
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std::vector<History> output;
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std::vector<History> baroInterpHistory;
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Activity currentActivity;
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MovingAVG<float> mvAvg = MovingAVG<float>(20);
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/** change this values for much success
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*
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* Nexus 6:
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* butter = Filter::ButterworthLP<float>(10,0.1f,2);
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* threshold = 0.025;
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* diffSize = 20;
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* FixedFrequencyInterpolator<float> ffi = FixedFrequencyInterpolator<float>(Timestamp::fromMS(100));
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*/
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const bool additionalLowpassFilter = false;
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const unsigned long diffSize = 20; //the number values used for finding the activity.
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//TODO: some kind of algorithm to calculate the threshold
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const float threshold = 0.025f; // if diffSize is getting smaller, treshold needs to be adjusted in the same direction!
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const float upperBoundary = 0.1; // if this boundary is passed, we should have errors in barometer data
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Filter::ButterworthLP<float> butter = Filter::ButterworthLP<float>(10,0.05f,2);
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Filter::ButterworthLP<float> butter2 = Filter::ButterworthLP<float>(10,0.05f,2);
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bool firstCall = false;
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FixedFrequencyInterpolator<float> ffi = FixedFrequencyInterpolator<float>(Timestamp::fromMS(100));
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public:
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/** ctor */
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ActivityButterPressure() : currentActivity(Activity::STANDING){
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;
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}
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/** add new sensor readings that were received at the given timestamp */
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void add(const Timestamp& ts, const BarometerData& baro) {
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//init
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if(!firstCall){
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butter.stepInitialization(baro.hPa);
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firstCall = true;
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butter2.stepInitialization(0);
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currentActivity = Activity::STANDING;
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}
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bool newInterpolatedValues = false;
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//interpolate & butter
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auto callback = [&] (const Timestamp ts, const float val) {
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//interp
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float interpValue = val;
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baroInterpHistory.push_back(History(ts, BarometerData(interpValue)));
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//butter
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float butterValue = butter.process(interpValue);
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output.push_back(History(ts, BarometerData(butterValue)));
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newInterpolatedValues = true;
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};
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ffi.add(ts, baro.hPa, callback);
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if(newInterpolatedValues == true){
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//getActivity
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if(output.size() > diffSize){
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//diff
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std::vector<float> diff;
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for(unsigned long i = output.size() - diffSize; i < output.size() - 1; ++i){
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float diffVal = output[i+1].data.hPa - output[i].data.hPa;
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diff.push_back(diffVal);
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}
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float sum = 0;
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for(float val : diff){
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sum += val;
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}
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float actValue = 0;
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if(additionalLowpassFilter == true){
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//additional butter/moving average for the results
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//mvAvg.add(sum);
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//actValue = mvAvg.get();
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actValue = butter2.process(sum);
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}else{
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actValue = sum;
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}
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if(actValue > threshold && actValue < upperBoundary){
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currentActivity = Activity::WALKING_DOWN;
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}
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else if (actValue < -threshold && actValue > -upperBoundary){
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currentActivity = Activity::WALKING_UP;
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}
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else{
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currentActivity = Activity::WALKING;
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}
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}
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}
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}
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/** get the current Activity */
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Activity get() const {
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return currentActivity;
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}
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};
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#endif // ACTIVITYBUTTERPRESSURE_H
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