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Fix battery temperature reporting invalid values in extreme temperatures #442

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merged 3 commits into from
Nov 25, 2024
Merged

Fix battery temperature reporting invalid values in extreme temperatures #442

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8faab9c
Rework moving average logic
miloszlagan Nov 19, 2024
b891a89
Review changes
miloszlagan Nov 22, 2024
72554b8
Use normal accumulation and division for MA calculation
miloszlagan Nov 22, 2024
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31 changes: 16 additions & 15 deletions husarion_ugv_utils/include/husarion_ugv_utils/moving_average.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
#define HUSARION_UGV_UTILS_MOVING_AVERAGE_HPP_

#include <deque>
#include <numeric>

namespace husarion_ugv_utils
{
Expand All @@ -25,40 +26,40 @@ class MovingAverage
{
public:
MovingAverage(const std::size_t window_size = 5, const T initial_value = T(0))
: window_size_(window_size), initial_value_(initial_value), sum_(T(0))
: window_size_(window_size), initial_value_(initial_value)
{
if (window_size_ == 0) {
throw std::invalid_argument("Window size must be greater than 0");
}
}

void Roll(const T value)
{
values_.push_back(value);
sum_ += value;
buffer_.push_back(value);

if (values_.size() > window_size_) {
sum_ -= values_.front();
values_.pop_front();
if (buffer_.size() > window_size_) {
buffer_.pop_front();
}
}

void Reset()
{
values_.erase(values_.begin(), values_.end());
sum_ = T(0);
}
void Reset() { buffer_.erase(buffer_.begin(), buffer_.end()); }

T GetAverage() const
{
if (values_.size() == 0) {
if (buffer_.size() == 0) {
return initial_value_;
}
return sum_ / static_cast<T>(values_.size());

T sum = std::accumulate(buffer_.begin(), buffer_.end(), T(0));
T average = sum / static_cast<T>(buffer_.size());

return average;
}

private:
const std::size_t window_size_;
std::deque<T> values_;
std::deque<T> buffer_;
const T initial_value_;
T sum_;
};

} // namespace husarion_ugv_utils
Expand Down
22 changes: 21 additions & 1 deletion husarion_ugv_utils/test/test_moving_average.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,8 @@ TEST(TestMovingAverage, TestHighOverload)

// test every 1000 rolls expected average
if (i % window_len == 0) {
EXPECT_EQ(sum / double(window_len), ma.GetAverage());
ASSERT_NEAR(
sum / double(window_len), ma.GetAverage(), std::numeric_limits<double>::epsilon());
sum = 0.0;
}
}
Expand Down Expand Up @@ -107,6 +108,25 @@ TEST(TestMovingAverage, TestResetToInitialValue)
EXPECT_EQ(7.0, ma.GetAverage());
}

TEST(TestMovingAverage, TestInfInjectionHandling)
{
husarion_ugv_utils::MovingAverage<double> ma(4);
ma.Roll(1.0);
ma.Roll(2.0);
ma.Roll(3.0);
ma.Roll(4.0);
EXPECT_EQ(2.5, ma.GetAverage());

ma.Roll(std::numeric_limits<double>::infinity());
EXPECT_EQ(std::numeric_limits<double>::infinity(), ma.GetAverage());

ma.Roll(1.0);
ma.Roll(2.0);
ma.Roll(3.0);
ma.Roll(4.0);
EXPECT_EQ(2.5, ma.GetAverage());
}

int main(int argc, char ** argv)
{
testing::InitGoogleTest(&argc, argv);
Expand Down