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authorStanislaw Halik <sthalik@misaki.pl>2017-07-07 11:06:04 +0200
committerStanislaw Halik <sthalik@misaki.pl>2017-07-07 11:06:04 +0200
commitcba24a90995bcc6364040e2da568f6f5f5565e58 (patch)
treeaa4c10bd5e99bfbe6a8c4ecac7601c9af062fac3 /filter-accela
parentfa8e4da6148fa00e77fc3a4be55769d40a1db057 (diff)
filter/accela: add debug knob
Diffstat (limited to 'filter-accela')
-rw-r--r--filter-accela/ftnoir_filter_accela.cpp47
-rw-r--r--filter-accela/ftnoir_filter_accela.h15
2 files changed, 46 insertions, 16 deletions
diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp
index a4095774..92b9e197 100644
--- a/filter-accela/ftnoir_filter_accela.cpp
+++ b/filter-accela/ftnoir_filter_accela.cpp
@@ -11,11 +11,9 @@
#include <QMutexLocker>
#include "api/plugin-api.hpp"
-using std::fabs;
-using std::sqrt;
-using std::pow;
-using std::copysign;
-using std::fmin;
+#include "compat/math-imports.hpp"
+
+using namespace otr_math;
constexpr settings_accela::gains settings_accela::rot_gains[16];
constexpr settings_accela::gains settings_accela::pos_gains[16];
@@ -25,12 +23,6 @@ accela::accela() : first_run(true)
s.make_splines(spline_rot, spline_pos);
}
-template <typename T>
-static inline constexpr T signum(T x)
-{
- return T((T(0) < x) - (x < T(0)));
-}
-
template<int N = 3, typename F>
never_inline
static void do_deltas(const double* deltas, double* output, double alpha, double& smoothed, F&& fun)
@@ -44,7 +36,8 @@ static void do_deltas(const double* deltas, double* output, double alpha, double
return sqrt(ret);
);
- const double dist = smoothed = fmin(dist_, alpha*dist_ + (1-alpha)*smoothed);
+ const double dist = fmin(dist_, alpha*dist_ + (1-alpha)*smoothed);
+ smoothed = dist;
const double value = double(fun(dist));
for (unsigned k = 0; k < N; k++)
@@ -78,18 +71,26 @@ static void do_deltas(const double* deltas, double* output, double alpha, double
void accela::filter(const double* input, double *output)
{
- if (first_run)
+ if (unlikely(first_run))
{
+ first_run = false;
+
for (int i = 0; i < 6; i++)
{
const double f = input[i];
output[i] = f;
last_output[i] = f;
}
- first_run = false;
+
smoothed_input[0] = 0;
smoothed_input[1] = 0;
+
t.start();
+#if defined DEBUG_ACCELA
+ debug_max = 0;
+ debug_timer.start();
+#endif
+
return;
}
@@ -132,6 +133,24 @@ void accela::filter(const double* input, double *output)
do_deltas(&deltas[Yaw], &output[Yaw], alpha, smoothed_input[0], [this](double x) { return spline_rot.get_value_no_save(x); });
+#if defined DEBUG_ACCELA
+ var.input(smoothed_input[0]);
+ debug_max = fmax(debug_max, smoothed_input[0]);
+
+ using time_units::secs_;
+
+ if (debug_timer.is_elapsed(secs_(1)))
+ {
+ qDebug() << "accela:"
+ << "max" << debug_max
+ << "mean" << var.avg()
+ << "stddev" << var.stddev();
+
+ var.clear();
+ debug_max = 0;
+ }
+#endif
+
// pos
for (unsigned i = 0; i < 3; i++)
diff --git a/filter-accela/ftnoir_filter_accela.h b/filter-accela/ftnoir_filter_accela.h
index bbe74b08..fa3c611f 100644
--- a/filter-accela/ftnoir_filter_accela.h
+++ b/filter-accela/ftnoir_filter_accela.h
@@ -11,11 +11,17 @@
#include "accela-settings.hpp"
#include "api/plugin-api.hpp"
#include "compat/timer.hpp"
+#include "compat/variance.hpp"
#include <atomic>
#include <QMutex>
#include <QTimer>
+// ------------------------------------
+// debug knob
+// ------------------------------------
+//#define DEBUG_ACCELA
+
class accela : public IFilter
{
public:
@@ -25,13 +31,18 @@ public:
spline spline_rot, spline_pos;
private:
settings_accela s;
- bool first_run;
double last_output[6], deltas[6];
double smoothed_input[2];
Timer t;
+#if defined DEBUG_ACCELA
+ Timer debug_timer;
+ double debug_max;
+ variance var;
+#endif
+ bool first_run;
};
-class dialog_accela: public IFilterDialog
+class dialog_accela : public IFilterDialog
{
Q_OBJECT
public: