kazu
04d8ae8c74
- some should be the same as previous commit (sorry!) - some should be new: LINT checks, ...?
127 lines
2.7 KiB
C++
127 lines
2.7 KiB
C++
#ifndef ACTIVITYDETECTOR_H
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#define ACTIVITYDETECTOR_H
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#include "../imu/AccelerometerData.h"
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#include "../pressure/BarometerData.h"
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#include "../../data/Timestamp.h"
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#include "../../Assertions.h"
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#include "../../math/MovingAverageTS.h"
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#include "../../math/MovingStdDevTS.h"
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#include "../activity/Activity.h"
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#include <KLib/misc/gnuplot/Gnuplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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#include <KLib/misc/gnuplot/GnuplotPlot.h>
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#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
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/**
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* simple step detection based on accelerometer magnitude.
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* magnitude > threshold? -> step!
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* block for several msec until detecting the next one
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*/
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class ActivityDetector {
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private:
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MovingAverageTS<float> avgLong;
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MovingAverageTS<float> avgShort;
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MovingStdDevTS<float> stdDev;
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MovingStdDevTS<float> stdDev2;
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MovingAverageTS<float> baroAvgSlow;
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MovingAverageTS<float> baroAvgFast;
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public:
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K::Gnuplot gp;
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K::GnuplotPlot gplot;
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K::GnuplotPlotElementLines l1;
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K::GnuplotPlotElementLines l2;
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/** ctor */
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ActivityDetector() : avgLong(Timestamp::fromMS(1500), 0), avgShort(Timestamp::fromMS(500), 0),
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stdDev(Timestamp::fromMS(200), 0), stdDev2(Timestamp::fromMS(2000), 0) {
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;
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gplot.add(&l1);
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gplot.add(&l2); l2.getStroke().getColor().setHexStr("#ff0000");
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}
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/** add barometer data */
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void add(const Timestamp ts, const BarometerData& baro) {
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if (baro.isValid()) {
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baroAvgSlow.add(ts, baro.hPa);
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baroAvgFast.add(ts, baro.hPa);
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}
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}
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Activity get() {
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// delta in acceleration
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const float delta_acc = std::abs(avgLong.get() - avgShort.get());
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if (delta_acc < 0.3) {
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return Activity::STANDING;
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}
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// delta in pressure
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const float delta_hPa = baroAvgFast.get() - baroAvgSlow.get();
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if (std::abs(delta_hPa) < 0.1) {
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return Activity::WALKING;
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} else if (delta_hPa > 0) {
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return Activity::WALKING_DOWN;
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} else {
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return Activity::WALKING_UP;
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}
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}
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/** does the given data indicate a step? */
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void add(const Timestamp ts, const AccelerometerData& acc) {
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// update averages
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avgLong.add(ts, acc.magnitude());
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avgShort.add(ts, acc.magnitude());
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stdDev.add(ts, acc.magnitude());
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stdDev2.add(ts, acc.magnitude());
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// const float delta = std::abs(avgLong.get() - avgShort.get());
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// static int x = 0; ++x;
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//// if (x % 10 == 0) {
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//// l1.add({x, avgLong.get()});
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//// l2.add({x, avgShort.get()});
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//// gp.draw(gplot);
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//// gp.flush();
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//// }
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// if (delta < 0.3) {
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// return Activity::STANDING;
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// }
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// if (avgLong.get() > 9.81+0.5) {
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// return Activity::WALKING_UP;
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// } else if (avgLong.get() < 9.81-0.5) {
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// return Activity::WALKING_DOWN;
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// }
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// return Activity::WALKING;
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}
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};
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#endif // ACTIVITYDETECTOR_H
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