192 lines
8.1 KiB
C++
192 lines
8.1 KiB
C++
#if defined BOARD_OBP60S3 || defined BOARD_OBP40S3
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#include "BoatDataCalibration.h"
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#include <cmath>
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#include <math.h>
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#include <unordered_map>
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CalibrationDataList calibrationData;
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std::unordered_map<std::string, TypeCalibData> CalibrationDataList::calibMap; // list of calibration data instances
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void CalibrationDataList::readConfig(GwConfigHandler* config, GwLog* logger)
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// Initial load of calibration data into internal list
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// This method is called once at init phase of <obp60task> to read the configuration values
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{
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std::string instance;
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double offset;
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double slope;
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double smooth;
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String calInstance = "";
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String calOffset = "";
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String calSlope = "";
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String calSmooth = "";
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// Load user format configuration values
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String lengthFormat = config->getString(config->lengthFormat); // [m|ft]
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String distanceFormat = config->getString(config->distanceFormat); // [m|km|nm]
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String speedFormat = config->getString(config->speedFormat); // [m/s|km/h|kn]
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String windspeedFormat = config->getString(config->windspeedFormat); // [m/s|km/h|kn|bft]
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String tempFormat = config->getString(config->tempFormat); // [K|C|F]
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// Read calibration settings for data instances
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for (int i = 0; i < MAX_CALIBRATION_DATA; i++) {
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calInstance = "calInstance" + String(i + 1);
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calOffset = "calOffset" + String(i + 1);
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calSlope = "calSlope" + String(i + 1);
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calSmooth = "calSmooth" + String(i + 1);
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instance = std::string(config->getString(calInstance, "---").c_str());
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if (instance == "---") {
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LOG_DEBUG(GwLog::LOG, "no calibration data for instance no. %d", i + 1);
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continue;
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}
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calibMap[instance] = { 0.0f, 1.0f, 1.0f, 0.0f, false };
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offset = (config->getString(calOffset, "")).toFloat();
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slope = (config->getString(calSlope, "")).toFloat();
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smooth = (config->getString(calSmooth, "")).toInt(); // user input is int; further math is done with double
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// Convert calibration values to internal standard formats
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if (instance == "AWS" || instance == "TWS") {
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if (windspeedFormat == "m/s") {
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// No conversion needed
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} else if (windspeedFormat == "km/h") {
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offset /= 3.6; // Convert km/h to m/s
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} else if (windspeedFormat == "kn") {
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offset /= 1.94384; // Convert kn to m/s
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} else if (windspeedFormat == "bft") {
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offset *= 2 + (offset / 2); // Convert Bft to m/s (approx) -> to be improved
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}
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} else if (instance == "AWA" || instance == "COG" || instance == "TWA" || instance == "TWD" || instance == "HDM" || instance == "PRPOS" || instance == "RPOS") {
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offset *= M_PI / 180; // Convert deg to rad
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} else if (instance == "DBT") {
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if (lengthFormat == "m") {
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// No conversion needed
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} else if (lengthFormat == "ft") {
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offset /= 3.28084; // Convert ft to m
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}
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} else if (instance == "SOG" || instance == "STW") {
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if (speedFormat == "m/s") {
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// No conversion needed
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} else if (speedFormat == "km/h") {
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offset /= 3.6; // Convert km/h to m/s
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} else if (speedFormat == "kn") {
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offset /= 1.94384; // Convert kn to m/s
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}
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} else if (instance == "WTemp") {
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if (tempFormat == "K" || tempFormat == "C") {
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// No conversion needed
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} else if (tempFormat == "F") {
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offset *= 9.0 / 5.0; // Convert °F to K
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slope *= 9.0 / 5.0; // Convert °F to K
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}
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}
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// transform smoothing factor from {0.01..10} to {0.3..0.95} and invert for exponential smoothing formula
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if (smooth <= 0) {
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smooth = 0;
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} else {
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if (smooth > 10) {
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smooth = 10;
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}
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smooth = 0.3 + ((smooth - 0.01) * (0.95 - 0.3) / (10 - 0.01));
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}
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smooth = 1 - smooth;
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calibMap[instance].offset = offset;
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calibMap[instance].slope = slope;
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calibMap[instance].smooth = smooth;
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calibMap[instance].isCalibrated = false;
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LOG_DEBUG(GwLog::LOG, "stored calibration data: %s, offset: %f, slope: %f, smoothing: %f", instance.c_str(),
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calibMap[instance].offset, calibMap[instance].slope, calibMap[instance].smooth);
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}
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LOG_DEBUG(GwLog::LOG, "all calibration data read");
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}
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void CalibrationDataList::calibrateInstance(GwApi::BoatValue* boatDataValue, GwLog* logger)
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// Method to calibrate the boat data value
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{
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std::string instance = boatDataValue->getName().c_str();
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double offset = 0;
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double slope = 1.0;
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double dataValue = 0;
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std::string format = "";
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if (calibMap.find(instance) == calibMap.end()) {
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LOG_DEBUG(GwLog::DEBUG, "BoatDataCalibration: %s not found in calibration data list", instance.c_str());
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return;
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} else if (!boatDataValue->valid) { // no valid boat data value, so we don't want to apply calibration data
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calibMap[instance].isCalibrated = false;
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return;
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} else {
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offset = calibMap[instance].offset;
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slope = calibMap[instance].slope;
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dataValue = boatDataValue->value;
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format = boatDataValue->getFormat().c_str();
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LOG_DEBUG(GwLog::DEBUG, "BoatDataCalibration: %s: value: %f, format: %s", instance.c_str(), dataValue, format.c_str());
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if (format == "formatWind") { // instance is of type angle
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dataValue = (dataValue * slope) + offset;
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dataValue = fmod(dataValue, 2 * M_PI);
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if (dataValue > (M_PI)) {
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dataValue -= (2 * M_PI);
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} else if (dataValue < (M_PI * -1)) {
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dataValue += (2 * M_PI);
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}
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} else if (format == "formatCourse") { // instance is of type direction
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dataValue = (dataValue * slope) + offset;
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dataValue = fmod(dataValue, 2 * M_PI);
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if (dataValue < 0) {
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dataValue += (2 * M_PI);
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}
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} else if (format == "kelvinToC") { // instance is of type temperature
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dataValue = ((dataValue - 273.15) * slope) + offset + 273.15;
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} else {
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dataValue = (dataValue * slope) + offset;
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}
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calibMap[instance].isCalibrated = true;
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boatDataValue->value = dataValue;
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calibrationData.smoothInstance(boatDataValue, logger); // smooth the boat data value
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calibMap[instance].value = boatDataValue->value; // store the calibrated + smoothed value in the list
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LOG_DEBUG(GwLog::DEBUG, "BoatDataCalibration: %s: Offset: %f, Slope: %f, Result: %f", instance.c_str(), offset, slope, calibMap[instance].value);
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}
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}
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void CalibrationDataList::smoothInstance(GwApi::BoatValue* boatDataValue, GwLog* logger)
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// Method to smoothen the boat data value
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{
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static std::unordered_map<std::string, double> lastValue; // array for last values of smoothed boat data values
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std::string instance = boatDataValue->getName().c_str();
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double oldValue = 0;
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double dataValue = boatDataValue->value;
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double smoothFactor = 0;
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if (!boatDataValue->valid) { // no valid boat data value, so we don't want to smoothen value
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return;
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} else if (calibMap.find(instance) == calibMap.end()) {
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LOG_DEBUG(GwLog::DEBUG, "BoatDataCalibration: smooth factor for %s not found in calibration data list", instance.c_str());
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return;
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} else {
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smoothFactor = calibMap[instance].smooth;
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if (lastValue.find(instance) != lastValue.end()) {
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oldValue = lastValue[instance];
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dataValue = oldValue + (smoothFactor * (dataValue - oldValue)); // exponential smoothing algorithm
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}
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lastValue[instance] = dataValue; // store the new value for next cycle; first time, store only the current value and return
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boatDataValue->value = dataValue; // set the smoothed value to the boat data value
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LOG_DEBUG(GwLog::DEBUG, "BoatDataCalibration: %s: Smoothing factor: %f, Smoothed value: %f", instance.c_str(), smoothFactor, dataValue);
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}
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}
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#endif |