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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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20 changes: 10 additions & 10 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 @@ -25,40 +25,40 @@ 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)
{
}
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void Roll(const T value)
{
values_.push_back(value);
sum_ += value;

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

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

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

T sum = T(0);

for (const auto & value : values_) {
sum += value / static_cast<T>(values_.size());
}

return sum;
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}

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

} // namespace husarion_ugv_utils
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23 changes: 21 additions & 2 deletions husarion_ugv_utils/test/test_moving_average.cpp
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Expand Up @@ -61,12 +61,12 @@ TEST(TestMovingAverage, TestHighOverload)

double sum = 0.0;
for (std::size_t i = 1; i <= window_len * 10; i++) {
sum += double(i);
sum += double(i) / double(window_len);
ma.Roll(double(i));

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