Data validator: Build as library

src/lib/ecl/ecl.h

@@ -38,6 +38,9 @@
  */
 
 #include <drivers/drv_hrt.h>
+#include <px4_log.h>
 
 #define ecl_absolute_time hrt_absolute_time
 #define ecl_elapsed_time hrt_elapsed_time
+#define ECL_WARN PX4_WARN
+#define ECL_INFO PX4_INFO

src/lib/ecl/validation/data_validator.cpp

@@ -1,3 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file data_validator.c
+ *
+ * A data validation class to identify anomalies in data streams
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+#include "data_validator.h"
+#include <ecl/ecl.h>
+
 DataValidator::DataValidator(DataValidator *prev_sibling) :
 	_time_last(0),
 	_timeout_interval(70000),
@@ -53,46 +97,6 @@ DataValidator::put(uint64_t timestamp, float val[3], uint64_t error_count_in)
 
 	_time_last = timestamp;
 }
-/****************************************************************************
- *
- *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file data_validator.c
- *
- * A data validation class to identify anomalies in data streams
- *
- * @author Lorenz Meier <lorenz@px4.io>
- */
 
 float
 DataValidator::confidence(uint64_t timestamp)
@@ -124,12 +128,12 @@ void
 DataValidator::print()
 {
 	if (_time_last == 0) {
-		printf("\tno data\n");
+		ECL_INFO("\tno data\n");
 		return;
 	}
 
 	for (unsigned i = 0; i < _dimensions; i++) {
-		printf("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f\n",
+		ECL_INFO("\tval: %8.4f, lp: %8.4f mean dev: %8.4f RMS: %8.4f\n",
 			(double) _value[i], (double)_lp[i], (double)_mean[i], (double)_rms[i]);
 	}
 }

src/lib/ecl/validation/data_validator.h

@@ -42,8 +42,9 @@
 #pragma once
 
 #include <cmath>
+#include <stdint.h>
 
-class DataValidator {
+class __EXPORT DataValidator {
 public:
 	DataValidator(DataValidator *prev_sibling = nullptr);
 	virtual ~DataValidator();

src/lib/ecl/validation/data_validator_group.cpp

@@ -39,6 +39,9 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
+#include "data_validator_group.h"
+#include <ecl/ecl.h>
+
 DataValidatorGroup::DataValidatorGroup(unsigned siblings) :
 	_first(nullptr),
 	_curr_best(-1),
@@ -169,7 +172,7 @@ void
 DataValidatorGroup::print()
 {
 	/* print the group's state */
-	warnx("validator: best: %d, prev best: %d, failsafe: %s (# %u)",
+	ECL_INFO("validator: best: %d, prev best: %d, failsafe: %s (# %u)",
 		_curr_best, _prev_best, (_toggle_count > 0) ? "YES" : "NO",
 		_toggle_count);
 
@@ -178,7 +181,7 @@ DataValidatorGroup::print()
 	unsigned i = 0;
 
 	while (next != nullptr) {
-		printf("sensor #%u:\n", i);
+		ECL_INFO("sensor #%u:\n", i);
 		next->print();
 		next = next->sibling();
 		i++;

src/lib/ecl/validation/data_validator_group.h

@@ -43,7 +43,7 @@
 
 #include "data_validator.h"
 
-class DataValidatorGroup {
+class __EXPORT DataValidatorGroup {
 public:
 	DataValidatorGroup(unsigned siblings);
 	virtual ~DataValidatorGroup();