class SoftwarePLL implements synchronisation between ticks and timestamp. See https://github.com/michael1309/SoftwarePLL/blob/master/README.md for details. More...

#include <softwarePLL.h>

Public Member Functions
double	AllowedTimeDeviation () const

void	AllowedTimeDeviation (double val)

double	extraPolateRelativeTimeStamp (uint32_t tick)

uint32_t	ExtrapolationDivergenceCounter () const

void	ExtrapolationDivergenceCounter (uint32_t val)

int	findDiffInFifo (double diff, double tol)

uint64_t	FirstTick () const

void	FirstTick (uint64_t val)

double	FirstTimeStamp () const

void	FirstTimeStamp (double val)

bool	getCorrectedTimeStamp (uint32_t &sec, uint32_t &nanoSec, uint32_t tick)

bool	GetCorrectedTimeStamp (uint32_t &sec, uint32_t &nanoSec, uint32_t tick)
	Computes the timestamp of a measurement from sensor ticks. More...

bool	getDemoFileData (std::string fileName, std::vector< uint32_t > &tickVec, std::vector< uint32_t > &secVec, std::vector< uint32_t > &nanoSecVec)

double	InterpolationSlope () const

void	InterpolationSlope (double val)

bool	IsInitialized () const

void	IsInitialized (bool val)

bool	IsInitialized () const
	Returns the initialization status, i.e. true, if SoftwarePLL is initialized, or false otherwise (inconsistent or not enough samples in the fifo buffer) More...

bool	pushIntoFifo (double curTimeStamp, uint32_t curtick)

bool	UpdatePLL (uint32_t sec, uint32_t nanoSec, uint32_t curtick)
	Updates PLL internale State should be called only with network send timestamps. More...

bool	updatePLL (uint32_t sec, uint32_t nanoSec, uint32_t curtick)
	Updates PLL internale State should be called only with network send timestamps. More...

	~SoftwarePLL ()

	~SoftwarePLL ()
	Destructor of class SoftwarePLL. More...

Static Public Member Functions
static SoftwarePLL &	instance ()

static SoftwarePLL &	Instance (const std::string &id="", int fifo_length=7)
	Creates an instance of SoftwarePLL or returns an existing one, given its id. More...

static void	testbed ()

Public Attributes
int	packeds_droped = 0

Static Public Attributes
static const int	fifoSize = 7

Protected Member Functions
double	AllowedTimeDeviation () const
	Returns the max. allowed time difference between estimated and measured timestamp time in seconds. More...

void	AllowedTimeDeviation (double val)
	Set the max. allowed time difference between estimated and measured receive timestamp in seconds. More...

double	ExtraPolateRelativeTimeStamp (uint32_t tick)
	Extrapolates and returns the measurement timestamp in seconds relative to FirstTimeStamp. The timestamp of a measurement in seconds can be estimated from sensor ticks by ExtraPolateRelativeTimeStamp(tick) + FirstTimeStamp(). More...

uint32_t	ExtrapolationDivergenceCounter () const
	Returns the counter of extrapolated divergences (number of times the estimated and measured receive timestamp differed more than AllowedTimeDeviation. More...

void	ExtrapolationDivergenceCounter (uint32_t val)
	Sets the counter of extrapolated divergences (number of times the estimated and measured receive timestamp differed more than AllowedTimeDeviation. More...

uint64_t	FirstTick () const
	Returns the first sensor tick in the fifo buffer. More...

void	FirstTick (uint64_t val)
	Sets the first sensor tick in the fifo buffer. More...

double	FirstTimeStamp () const
	Returns the first timestamp in the fifo buffer in seconds. More...

void	FirstTimeStamp (double val)
	Sets the first timestamp in the fifo buffer in seconds. More...

double	InterpolationSlope () const
	Returns the interpolated slope (gradient of the regression line) More...

void	InterpolationSlope (double val)
	Sets the interpolated slope (gradient of the regression line) More...

void	IsInitialized (bool val)
	Sets the initialization status, i.e. true, if SoftwarePLL is initialized, or false otherwise (inconsistent or not enough samples in the fifo buffer) More...

bool	PushIntoFifo (double curTimeStamp, uint32_t curtick)
	Pushes measurement timestamp and sensor ticks to the fifo, updates tick fifo and clock (timestamp) fifo. More...

Private Member Functions
bool	nearSameTimeStamp (double relTimeStamp1, double relTimeStamp2)

bool	NearSameTimeStamp (double relTimeStamp1, double relTimeStamp2)

SoftwarePLL &	operator= (const SoftwarePLL &)

SoftwarePLL &	operator= (const SoftwarePLL &)

	SoftwarePLL ()

	SoftwarePLL (const SoftwarePLL &)

	SoftwarePLL (int fifo_length=7)

	SoftwarePLL (const SoftwarePLL &)

bool	updateInterpolationSlope ()

bool	UpdateInterpolationSlope ()

Private Attributes
double	allowedTimeDeviation

double	AllowedTimeDeviation_

double	clockFifo [fifoSize]

std::vector< double >	ClockFifo_

double	dClockDiffFeedBack

double	dTAvgFeedback

uint32_t	extrapolationDivergenceCounter

uint32_t	ExtrapolationDivergenceCounter_

const int	FifoSize_

uint64_t	firstTick

uint64_t	FirstTick_

double	firstTimeStamp

double	FirstTimeStamp_

double	interpolationSlope

double	InterpolationSlope_

bool	isInitialized

bool	IsInitialized_

uint32_t	lastcurtick = 0

uint32_t	Lastcurtick_ = 0

uint32_t	lastValidTick

double	lastValidTimeStamp

uint32_t	mostRecentNanoSec

uint32_t	mostRecentSec

double	mostRecentTimeStamp

int	numberValInFifo

int	NumberValInFifo_

uint32_t	tickFifo [fifoSize]

std::vector< uint32_t >	TickFifo_

Static Private Attributes
static std::map< std::string, SoftwarePLL * >	_instances

static const double	MaxAllowedTimeDeviation = 0.1

static const double	MaxAllowedTimeDeviation_ = 0.1

static const uint32_t	MaxExtrapolationCounter = 20

static const uint32_t	MaxExtrapolationCounter_ = 20

Detailed Description

class SoftwarePLL implements synchronisation between ticks and timestamp. See https://github.com/michael1309/SoftwarePLL/blob/master/README.md for details.

Definition at line 20 of file softwarePLL.h.

Constructor & Destructor Documentation

SoftwarePLL::~SoftwarePLL ( )

inline

Definition at line 29 of file softwarePLL.h.

SoftwarePLL::SoftwarePLL ( )

inlineprivate

Definition at line 111 of file softwarePLL.h.

SoftwarePLL::SoftwarePLL ( const SoftwarePLL & )

private

SoftwarePLL::~SoftwarePLL ( )

Destructor of class SoftwarePLL.

SoftwarePLL::SoftwarePLL ( int fifo_length = 7 )

inlineprivate

Definition at line 186 of file SoftwarePLL.h.

SoftwarePLL::SoftwarePLL ( const SoftwarePLL & )

private

Member Function Documentation

double SoftwarePLL::AllowedTimeDeviation ( ) const

inline

Definition at line 66 of file softwarePLL.h.

void SoftwarePLL::AllowedTimeDeviation ( double val )

inline

Definition at line 69 of file softwarePLL.h.

double SoftwarePLL::AllowedTimeDeviation ( ) const

inlineprotected

Returns the max. allowed time difference between estimated and measured timestamp time in seconds.

Returns: allowed time difference between estimated and measured timestamp

Definition at line 125 of file SoftwarePLL.h.

void SoftwarePLL::AllowedTimeDeviation ( double val )

inlineprotected

Set the max. allowed time difference between estimated and measured receive timestamp in seconds.

Parameters

[in] val allowed time difference between estimated and measured timestamp

Definition at line 132 of file SoftwarePLL.h.

double SoftwarePLL::extraPolateRelativeTimeStamp ( uint32_t tick )

Definition at line 90 of file softwarePLL.cpp.

double SoftwarePLL::ExtraPolateRelativeTimeStamp ( uint32_t tick )

protected

Extrapolates and returns the measurement timestamp in seconds relative to FirstTimeStamp. The timestamp of a measurement in seconds can be estimated from sensor ticks by ExtraPolateRelativeTimeStamp(tick) + FirstTimeStamp().

Parameters

tick	sensor ticks

Returns: measurement timestamp in seconds relative to FirstTimeStamp

Definition at line 72 of file SoftwarePLL.cpp.

uint32_t SoftwarePLL::ExtrapolationDivergenceCounter ( ) const

inline

Definition at line 72 of file softwarePLL.h.

void SoftwarePLL::ExtrapolationDivergenceCounter ( uint32_t val )

inline

Definition at line 75 of file softwarePLL.h.

uint32_t SoftwarePLL::ExtrapolationDivergenceCounter ( ) const

inlineprotected

Returns the counter of extrapolated divergences (number of times the estimated and measured receive timestamp differed more than AllowedTimeDeviation.

Returns: counter of extrapolated divergences

Definition at line 139 of file SoftwarePLL.h.

void SoftwarePLL::ExtrapolationDivergenceCounter ( uint32_t val )

inlineprotected

Sets the counter of extrapolated divergences (number of times the estimated and measured receive timestamp differed more than AllowedTimeDeviation.

Parameters

[in] val counter of extrapolated divergences

Definition at line 146 of file SoftwarePLL.h.

int SoftwarePLL::findDiffInFifo	(	double	diff,
		double	tol
	)

Definition at line 99 of file softwarePLL.cpp.

uint64_t SoftwarePLL::FirstTick ( ) const

inline

Definition at line 48 of file softwarePLL.h.

void SoftwarePLL::FirstTick ( uint64_t val )

inline

Definition at line 51 of file softwarePLL.h.

uint64_t SoftwarePLL::FirstTick ( ) const

inlineprotected

Returns the first sensor tick in the fifo buffer.

Returns: first sensor tick

Definition at line 83 of file SoftwarePLL.h.

void SoftwarePLL::FirstTick ( uint64_t val )

inlineprotected

Sets the first sensor tick in the fifo buffer.

Parameters

[in] val first sensor tick

Definition at line 90 of file SoftwarePLL.h.

double SoftwarePLL::FirstTimeStamp ( ) const

inline

Definition at line 54 of file softwarePLL.h.

void SoftwarePLL::FirstTimeStamp ( double val )

inline

Definition at line 57 of file softwarePLL.h.

double SoftwarePLL::FirstTimeStamp ( ) const

inlineprotected

Returns the first timestamp in the fifo buffer in seconds.

Returns: first timestamp

Definition at line 97 of file SoftwarePLL.h.

void SoftwarePLL::FirstTimeStamp ( double val )

inlineprotected

Sets the first timestamp in the fifo buffer in seconds.

Parameters

[in] val first timestamp

Definition at line 104 of file SoftwarePLL.h.

bool SoftwarePLL::getCorrectedTimeStamp	(	uint32_t &	sec,
		uint32_t &	nanoSec,
		uint32_t	tick
	)

Definition at line 183 of file softwarePLL.cpp.

bool SoftwarePLL::GetCorrectedTimeStamp	(	uint32_t &	sec,
		uint32_t &	nanoSec,
		uint32_t	tick
	)

Computes the timestamp of a measurement from sensor ticks.

Parameters

[out]	sec	Estimated system Timetamp (seconds)
[out]	nanoSec	Estimated system Timetamp (nanoseconds)
[in]	tick	sensor ticks

Returns: true if timestamp is computed, false otherwise (SoftwarePLL not initialized)

Definition at line 138 of file SoftwarePLL.cpp.

bool SoftwarePLL::getDemoFileData	(	std::string	fileName,
		std::vector< uint32_t > &	tickVec,
		std::vector< uint32_t > &	secVec,
		std::vector< uint32_t > &	nanoSecVec
	)

static SoftwarePLL& SoftwarePLL::instance ( )

inlinestatic

Definition at line 23 of file softwarePLL.h.

SoftwarePLL & SoftwarePLL::Instance	(	const std::string &	id = `""`,
		int	fifo_length = `7`
	)

static

Creates an instance of SoftwarePLL or returns an existing one, given its id.

Parameters

id	identifier of the instance, f.e. "Sensor1", "TIM571".
fifo_length	length of fifo (buffer size, i.e. number of ticks in fifo). Applied only for new instances of SoftwarePLL, existing instance will keep their buffer size.

Returns: instance of a SoftwarePLL

Definition at line 28 of file SoftwarePLL.cpp.

double SoftwarePLL::InterpolationSlope ( ) const

inline

Definition at line 60 of file softwarePLL.h.

void SoftwarePLL::InterpolationSlope ( double val )

inline

Definition at line 63 of file softwarePLL.h.

double SoftwarePLL::InterpolationSlope ( ) const

inlineprotected

Returns the interpolated slope (gradient of the regression line)

Returns: interpolated slope

Definition at line 111 of file SoftwarePLL.h.

void SoftwarePLL::InterpolationSlope ( double val )

inlineprotected

Sets the interpolated slope (gradient of the regression line)

Parameters

[in] val interpolated slope

Definition at line 118 of file SoftwarePLL.h.

bool SoftwarePLL::IsInitialized ( ) const

inline

Definition at line 42 of file softwarePLL.h.

void SoftwarePLL::IsInitialized ( bool val )

inline

Definition at line 45 of file softwarePLL.h.

bool SoftwarePLL::IsInitialized ( ) const

inline

Returns the initialization status, i.e. true, if SoftwarePLL is initialized, or false otherwise (inconsistent or not enough samples in the fifo buffer)

Returns: initialization status

Definition at line 67 of file SoftwarePLL.h.

void SoftwarePLL::IsInitialized ( bool val )

inlineprotected

Sets the initialization status, i.e. true, if SoftwarePLL is initialized, or false otherwise (inconsistent or not enough samples in the fifo buffer)

Parameters

[in] val initialization status

Definition at line 76 of file SoftwarePLL.h.

bool SoftwarePLL::nearSameTimeStamp	(	double	relTimeStamp1,
		double	relTimeStamp2
	)

private

Definition at line 198 of file softwarePLL.cpp.

bool SoftwarePLL::NearSameTimeStamp	(	double	relTimeStamp1,
		double	relTimeStamp2
	)

private

Definition at line 153 of file SoftwarePLL.cpp.

SoftwarePLL& SoftwarePLL::operator= ( const SoftwarePLL & )

private

SoftwarePLL& SoftwarePLL::operator= ( const SoftwarePLL & )

private

bool SoftwarePLL::pushIntoFifo	(	double	curTimeStamp,
		uint32_t	curtick
	)

Definition at line 69 of file softwarePLL.cpp.

bool SoftwarePLL::PushIntoFifo	(	double	curTimeStamp,
		uint32_t	curtick
	)

protected

Pushes measurement timestamp and sensor ticks to the fifo, updates tick fifo and clock (timestamp) fifo.

Parameters

curTimeStamp	measurement timestamp in seconds (receive time)
curtick	sensor ticks

Returns: always true

Definition at line 51 of file SoftwarePLL.cpp.

void SoftwarePLL::testbed ( )

static

Definition at line 307 of file softwarePLL.cpp.

bool SoftwarePLL::updateInterpolationSlope ( )

private

Definition at line 211 of file softwarePLL.cpp.

bool SoftwarePLL::UpdateInterpolationSlope ( )

private

Definition at line 166 of file SoftwarePLL.cpp.

bool SoftwarePLL::UpdatePLL	(	uint32_t	sec,
		uint32_t	nanoSec,
		uint32_t	curtick
	)

Updates PLL internale State should be called only with network send timestamps.

Parameters

[in]	sec	System Timetamp from received network packed
[in]	nanoSec	System Timestamp from received network packed
[in]	curtick	sensor ticks

Returns: PLL is in valid state (true)

Definition at line 81 of file SoftwarePLL.cpp.

bool SoftwarePLL::updatePLL	(	uint32_t	sec,
		uint32_t	nanoSec,
		uint32_t	curtick
	)

Updates PLL internale State should be called only with network send timestamps.

Parameters

sec	System Timetamp from received network packed
nsec	System Timestamp from received network packed
curtick	micro Seconds since scanner start from SOPAS Datagram

Returns: PLL is in valid state (true)

Definition at line 125 of file softwarePLL.cpp.

Member Data Documentation

std::map< std::string, SoftwarePLL * > SoftwarePLL::_instances

staticprivate

Definition at line 197 of file SoftwarePLL.h.

double SoftwarePLL::allowedTimeDeviation

private

Definition at line 97 of file softwarePLL.h.

double SoftwarePLL::AllowedTimeDeviation_

private

Definition at line 179 of file SoftwarePLL.h.

double SoftwarePLL::clockFifo[fifoSize]

private

Definition at line 90 of file softwarePLL.h.

std::vector<double> SoftwarePLL::ClockFifo_

private

Definition at line 176 of file SoftwarePLL.h.

double SoftwarePLL::dClockDiffFeedBack

private

Definition at line 95 of file softwarePLL.h.

double SoftwarePLL::dTAvgFeedback

private

Definition at line 94 of file softwarePLL.h.

uint32_t SoftwarePLL::extrapolationDivergenceCounter

private

Definition at line 109 of file softwarePLL.h.

uint32_t SoftwarePLL::ExtrapolationDivergenceCounter_

private

Definition at line 185 of file SoftwarePLL.h.

const int SoftwarePLL::fifoSize = 7

static

Definition at line 82 of file softwarePLL.h.

const int SoftwarePLL::FifoSize_

private

Definition at line 172 of file SoftwarePLL.h.

uint64_t SoftwarePLL::firstTick

private

Definition at line 98 of file softwarePLL.h.

uint64_t SoftwarePLL::FirstTick_

private

Definition at line 180 of file SoftwarePLL.h.

double SoftwarePLL::firstTimeStamp

private

Definition at line 96 of file softwarePLL.h.

double SoftwarePLL::FirstTimeStamp_

private

Definition at line 178 of file SoftwarePLL.h.

double SoftwarePLL::interpolationSlope

private

Definition at line 103 of file softwarePLL.h.

double SoftwarePLL::InterpolationSlope_

private

Definition at line 182 of file SoftwarePLL.h.

bool SoftwarePLL::isInitialized

private

Definition at line 93 of file softwarePLL.h.

bool SoftwarePLL::IsInitialized_

private

Definition at line 177 of file SoftwarePLL.h.

uint32_t SoftwarePLL::lastcurtick = 0

private

Definition at line 99 of file softwarePLL.h.

uint32_t SoftwarePLL::Lastcurtick_ = 0

private

Definition at line 181 of file SoftwarePLL.h.

uint32_t SoftwarePLL::lastValidTick

private

Definition at line 92 of file softwarePLL.h.

double SoftwarePLL::lastValidTimeStamp

private

Definition at line 91 of file softwarePLL.h.

const double SoftwarePLL::MaxAllowedTimeDeviation = 0.1

staticprivate

Definition at line 87 of file softwarePLL.h.

const double SoftwarePLL::MaxAllowedTimeDeviation_ = 0.1

staticprivate

Definition at line 173 of file SoftwarePLL.h.

const uint32_t SoftwarePLL::MaxExtrapolationCounter = 20

staticprivate

Definition at line 88 of file softwarePLL.h.

const uint32_t SoftwarePLL::MaxExtrapolationCounter_ = 20

staticprivate

Definition at line 174 of file SoftwarePLL.h.

uint32_t SoftwarePLL::mostRecentNanoSec

private

Definition at line 101 of file softwarePLL.h.

uint32_t SoftwarePLL::mostRecentSec

private

Definition at line 100 of file softwarePLL.h.

double SoftwarePLL::mostRecentTimeStamp

private

Definition at line 102 of file softwarePLL.h.

int SoftwarePLL::numberValInFifo

private

Definition at line 86 of file softwarePLL.h.

int SoftwarePLL::NumberValInFifo_

private

Definition at line 171 of file SoftwarePLL.h.

int SoftwarePLL::packeds_droped = 0

Definition at line 83 of file softwarePLL.h.

uint32_t SoftwarePLL::tickFifo[fifoSize]

private

Definition at line 89 of file softwarePLL.h.

std::vector<uint32_t> SoftwarePLL::TickFifo_

private

Definition at line 175 of file SoftwarePLL.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation