153 lines
3.8 KiB
C++
153 lines
3.8 KiB
C++
#ifndef STEPDETECTION_H
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#define STEPDETECTION_H
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#include "AccelerometerData.h"
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#include "../../data/Timestamp.h"
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#include <cmath>
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#include <vector>
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#ifdef WITH_DEBUG_PLOT
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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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#include <KLib/misc/gnuplot/GnuplotPlotElementPoints.h>
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#endif
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#include "../../Assertions.h"
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#include "../../math/MovingAverageTS.h"
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#include "../../math/dsp/FIRComplex.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 StepDetection {
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private:
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MovingAverageTS<float> avgLong;
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MovingAverageTS<float> avgShort;
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Timestamp blockUntil;
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bool waitForUp = false;
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const Timestamp blockTime; // 150-250 looks good
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const float upperThreshold = +0.4*0.8f; // + is usually smaller than down (look at graphs)
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const float lowerThreshold = -1.5*0.8f; // the 0.8 is for testing!
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#ifdef WITH_DEBUG_PLOT
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K::Gnuplot gp;
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K::GnuplotPlot plot;
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K::GnuplotPlotElementLines lineDet;
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K::GnuplotPlotElementPoints pointDet;
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K::GnuplotPlotElementLines lineX;
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K::GnuplotPlotElementLines lineY;
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K::GnuplotPlotElementLines lineZ;
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Timestamp plotRef;
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Timestamp lastPlot;
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#endif
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public:
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/** ctor */
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StepDetection(const Timestamp blockTime = Timestamp::fromMS(200)) : blockTime(blockTime), avgLong(Timestamp::fromMS(500), 0), avgShort(Timestamp::fromMS(40), 0) {
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#ifdef WITH_DEBUG_PLOT
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gp << "set autoscale xfix\n";
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plot.setTitle("Step Detection");
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plot.add(&lineX); lineX.getStroke().getColor().setHexStr("#ff0000"); lineX.setTitle("accX");
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plot.add(&lineY); lineY.getStroke().getColor().setHexStr("#00ff00"); lineY.setTitle("accY");
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plot.add(&lineZ); lineZ.getStroke().getColor().setHexStr("#0000ff"); lineZ.setTitle("accZ");
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plot.add(&lineDet); lineDet.getStroke().getColor().setHexStr("#000000");
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plot.add(&pointDet); pointDet.setPointSize(2); pointDet.setPointType(7);
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#endif
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}
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/** does the given data indicate a step? */
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bool 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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// difference between long-term-average (gravity) and very-short-time average
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const float delta = avgShort.get() - avgLong.get();
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bool step = false;
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if (blockUntil > ts) {
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step = false;
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} else {
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// wait for a rising edge
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if (waitForUp && delta > upperThreshold) {
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blockUntil = ts + blockTime; // block some time
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waitForUp = false;
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}
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// wait for a falling edge
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if (!waitForUp && delta < lowerThreshold) {
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blockUntil = ts + blockTime; // block some time
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waitForUp = true;
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step = true;
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}
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}
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#ifdef WITH_DEBUG_PLOT
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if (plotRef.isZero()) {plotRef = ts;}
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const Timestamp tsPlot = (ts-plotRef);
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const Timestamp tsOldest = tsPlot - Timestamp::fromMS(5000);
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//lines1.add( K::GnuplotPoint2((ts-ref).ms(), _delta) );
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lineX.add( K::GnuplotPoint2(tsPlot.ms(), acc.x) );
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lineY.add( K::GnuplotPoint2(tsPlot.ms(), acc.y) );
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lineZ.add( K::GnuplotPoint2(tsPlot.ms(), acc.z) );
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lineDet.add( K::GnuplotPoint2(tsPlot.ms(), delta) );
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if (step) {
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pointDet.add( K::GnuplotPoint2(tsPlot.ms(), 0) );
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}
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if (lastPlot + Timestamp::fromMS(50) < tsPlot) {
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lastPlot = tsPlot;
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auto remove = [tsOldest] (const K::GnuplotPoint2 pt) {return pt.x < tsOldest.ms();};
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lineX.removeIf(remove);
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lineY.removeIf(remove);
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lineZ.removeIf(remove);
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lineDet.removeIf(remove);
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pointDet.removeIf(remove);
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gp.draw(plot);
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gp.flush();
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usleep(100);
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}
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#endif
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return step;
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}
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};
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#endif // STEPDETECTION_H
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