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refactoring

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-01-21 19:07:53 +01:00
parent a6ad0887b3
commit 38a1d5a40c
4 changed files with 80 additions and 78 deletions
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92
js/serial_queue.js
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@ -2,65 +2,6 @@
var helper = helper || {};
var SimpleSmoothFilterClass = function (initialValue, smoothingFactor) {
var publicScope = {};
publicScope.value = initialValue;
publicScope.smoothFactor = smoothingFactor;
if (publicScope.smoothFactor >= 1) {
publicScope.smoothFactor = 0.99;
}
if (publicScope.smoothFactor <= 0) {
publicScope.smoothFactor = 0;
}
publicScope.apply = function (newValue) {
publicScope.value = (newValue * (1 - publicScope.smoothFactor)) + (publicScope.value * publicScope.smoothFactor);
return publicScope;
};
publicScope.get = function () {
return publicScope.value;
};
return publicScope;
};
//FIXME extract it to separate file
var WalkingAverageClass = function (maxLength) {
var table = [],
self = {};
/**
*
* @param {number} data
*/
self.put = function (data) {
table.push(data);
if (table.length > maxLength) {
table.shift();
}
};
self.getAverage = function () {
if (table.length > 0) {
var sum = table.reduce(function (a, b) {
return a + b;
});
return sum / table.length;
} else {
return 0;
}
};
return self;
};
helper.mspQueue = (function (serial, MSP) {
var publicScope = {},
@ -69,12 +10,9 @@ helper.mspQueue = (function (serial, MSP) {
privateScope.handlerFrequency = 100;
privateScope.balancerFrequency = 10;
privateScope.loadAverage = new WalkingAverageClass(privateScope.handlerFrequency);
privateScope.roundtripAverage = new WalkingAverageClass(50);
privateScope.hardwareRoundtripAverage = new WalkingAverageClass(50);
privateScope.pastLoadFilter = new SimpleSmoothFilterClass(1, 0.99);
privateScope.currentLoadFilter = new SimpleSmoothFilterClass(1, 0.7);
privateScope.loadFilter = new classes.SimpleSmoothFilter(0.5, 0.996);
privateScope.roundtripFilter = new classes.SimpleSmoothFilter(20, 0.996);
privateScope.hardwareRoundtripFilter = new classes.SimpleSmoothFilter(5, 0.996);
privateScope.targetLoad = 1.5;
privateScope.statusDropFactor = 0.75;
@ -88,12 +26,12 @@ helper.mspQueue = (function (serial, MSP) {
D: 2
},
Iterm: 0,
ItermLimit: 80,
ItermLimit: 85,
previousError: 0,
output: {
min: 0,
max: 95,
minThreshold: 2
max: 97,
minThreshold: 0
}
};
@ -103,7 +41,7 @@ helper.mspQueue = (function (serial, MSP) {
var error = privateScope.currentLoad - privateScope.targetLoad;
var Pterm = error * privateScope.loadPid.gains.P,
Dterm = (error - privateScope.loadPid.previousError) * privateScope.loadPid.gains.P;
Dterm = (error - privateScope.loadPid.previousError) * privateScope.loadPid.gains.D;
privateScope.loadPid.previousError = error;
@ -144,9 +82,7 @@ helper.mspQueue = (function (serial, MSP) {
*/
publicScope.executor = function () {
privateScope.loadAverage.put(privateScope.queue.length);
privateScope.pastLoadFilter.apply(privateScope.currentLoad);
privateScope.currentLoadFilter.apply(privateScope.currentLoad);
privateScope.loadFilter.apply(privateScope.queue.length);
/*
* if port is blocked or there is no connection, do not process the queue
@ -228,11 +164,11 @@ helper.mspQueue = (function (serial, MSP) {
* @returns {number}
*/
publicScope.getLoad = function () {
return privateScope.currentLoad;
return privateScope.loadFilter.get();
};
publicScope.getRoundtrip = function () {
return privateScope.roundtripAverage.getAverage();
return privateScope.roundtripFilter.get();
};
/**
@ -240,11 +176,11 @@ helper.mspQueue = (function (serial, MSP) {
* @param {number} number
*/
publicScope.putRoundtrip = function (number) {
privateScope.roundtripAverage.put(number);
privateScope.roundtripFilter.apply(number);
};
publicScope.getHardwareRoundtrip = function () {
return privateScope.hardwareRoundtripAverage.getAverage();
return privateScope.hardwareRoundtripFilter.get();
};
/**
@ -252,11 +188,11 @@ helper.mspQueue = (function (serial, MSP) {
* @param {number} number
*/
publicScope.putHardwareRoundtrip = function (number) {
privateScope.hardwareRoundtripAverage.put(number);
privateScope.hardwareRoundtripFilter.apply(number);
};
publicScope.balancer = function () {
privateScope.currentLoad = privateScope.loadAverage.getAverage();
privateScope.currentLoad = privateScope.loadFilter.get();
helper.mspQueue.computeDropRatio();
};