1 /* 2 * Copyright (C) 2018 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 #ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_COMMON_DATA_ONLINE_CALIBRATION_H_ 18 #define LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_COMMON_DATA_ONLINE_CALIBRATION_H_ 19 20 #include <string.h> 21 22 #include "calibration/online_calibration/common_data/calibration_callback.h" 23 #include "calibration/online_calibration/common_data/calibration_data.h" 24 #include "calibration/online_calibration/common_data/sensor_data.h" 25 26 namespace online_calibration { 27 28 /* 29 * This abstract base class provides a set of general interface functions for 30 * calibration algorithms. The data structures used are intended to be lean and 31 * portable to a wide variety of software and hardware systems. Algorithm 32 * wrappers may use this as a basis for providing the following functionality: 33 * 34 * SetMeasurement - Delivers new sensor data. 35 * SetInitialCalibration - Initializes the algorithm's calibration data. 36 * GetSensorCalibration - Retrieves the latest calibration data set. 37 * new_calibration_ready - Used to poll for new calibration updates. 38 * SetCalibrationCallback - User provides a pointer its own Callback object. 39 * UpdateDynamicSystemSettings - Provides feedback to adjust system behavior. 40 * get_sensor_type - Returns the sensor type which is being calibrated. 41 * 42 * NOTE 1: This class accomodates two methods of providing calibration updates. 43 * Either, or both, may be used depending on system requirements. 1) Polling can 44 * be achieved with new_calibration_ready/GetSensorCalibration functions. 2) 45 * Callback notification of new calibration updates can managed using the 46 * SetCalibrationCallback function. 47 * 48 * NOTE 2: This code implementation specifically avoids using standard template 49 * libraries (STL) and other external APIs since they may not be fully 50 * supported on embedded hardware targets. Only basic C/C++ support will be 51 * assumed. 52 */ 53 54 // CalibrationType: Sets the calibration type (e.g., CalibrationDataThreeAxis). 55 template <class CalibrationType> 56 class OnlineCalibration { 57 public: 58 // Virtual destructor. 59 virtual ~OnlineCalibration() {} 60 61 // Sends new sensor data to the calibration algorithm, and returns the state 62 // of the calibration update flags, 'cal_update_polling_flags_'. 63 virtual CalibrationTypeFlags SetMeasurement(const SensorData& sample) = 0; 64 65 // Sets the initial calibration data of the calibration algorithm. Returns 66 // "true" if set successfully. 67 virtual bool SetInitialCalibration(const CalibrationType& cal_data) = 0; 68 69 // Polling Updates: New calibration updates are generated during 70 // SetMeasurement and the 'cal_update_polling_flags_' are set according to 71 // which calibration values have changed. To prevent missing updates in 72 // systems that use polling, this bitmask remains latched until the 73 // calibration data is retrieved with this function. 74 const CalibrationType& GetSensorCalibration() const { 75 cal_update_polling_flags_ = CalibrationTypeFlags::NONE; 76 return cal_data_; 77 } 78 79 // Polling Updates: This function returns 'cal_update_polling_flags_' to 80 // indicate which calibration components have a pending update. The updated 81 // calibration data may be retrieved with GetSensorCalibration, and the 82 // 'cal_update_polling_flags_' will reset. 83 CalibrationTypeFlags new_calibration_ready() const { 84 return cal_update_polling_flags_; 85 } 86 87 // Sets the pointer to the CallbackInterface object used for notification of 88 // new calibration updates. 89 void SetCalibrationCallback( 90 CallbackInterface<CalibrationType>* calibration_callback) { 91 calibration_callback_ = calibration_callback; 92 } 93 94 // Returns the sensor-type this calibration algorithm provides updates for. 95 virtual SensorType get_sensor_type() const = 0; 96 97 protected: 98 // Helper function that activates the registered callback. 99 void OnNotifyCalibrationUpdate(CalibrationTypeFlags cal_update_flags) const { 100 if (calibration_callback_ != nullptr) { 101 calibration_callback_->Call(cal_data_, cal_update_flags); 102 } 103 } 104 105 // Helper function used to initialize the calibration data. 106 void InitializeCalData() { 107 cal_data_.reset(); 108 cal_data_.type = get_sensor_type(); 109 cal_update_polling_flags_ = CalibrationTypeFlags::NONE; 110 } 111 112 // Stores the sensor calibration data. 113 CalibrationType cal_data_; 114 115 // Tracks the most recent sensor temperature value. 116 float temperature_celsius_ = kInvalidTemperatureCelsius; 117 118 // This bitmask indicates which subset of calibration parameters have changed 119 // and is used specifically for polling; the callback notification passes its 120 // own set of update flags which do not need this latching behavior. Marked 121 // mutable so that these flags may be reset when GetSensorCalibration is 122 // called. 123 mutable CalibrationTypeFlags cal_update_polling_flags_ = 124 CalibrationTypeFlags::NONE; 125 126 private: 127 // Pointer to a callback object. 128 CallbackInterface<CalibrationType>* calibration_callback_ = nullptr; 129 }; 130 131 } // namespace online_calibration 132 133 #endif // LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_ONLINE_CALIBRATION_COMMON_DATA_ONLINE_CALIBRATION_H_ 134
