ETB quality instrumentation #494

java_console/models/src/com/rusefi/CyclicBuffer.java

@@ -30,6 +30,10 @@ public class CyclicBuffer implements DataBuffer {
             pointer = 0;
     }
 
+    public int getPointer() {
+        return pointer;
+    }
+
     public int getSize() {
         return size;
     }
@@ -44,6 +48,10 @@ public class CyclicBuffer implements DataBuffer {
     }
 
     public double get(int i) {
-        return values[i];
+        if (size < 1)
+            throw new IllegalStateException("Size " + size);
+        while (i < 0)
+            i += size;
+        return values[i % size];
     }
 }

java_console/ui/src/com/rusefi/etb/ClosedLoopControlQualityMetric.java

@@ -8,6 +8,7 @@ import com.rusefi.core.SensorCentral;
 import com.rusefi.core.SensorStats;
 import com.rusefi.core.ValueSource;
 
+import java.util.Objects;
 import java.util.concurrent.Executors;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
@@ -24,6 +25,7 @@ import java.util.concurrent.TimeUnit;
  */
 public class ClosedLoopControlQualityMetric {
     private final ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor(new NamedThreadFactory(ClosedLoopControlQualityMetric.class.getSimpleName()));
+    private final int delayDepth;
 
     private final ValueSource target;
     private final ValueSource result;
@@ -35,15 +37,18 @@ public class ClosedLoopControlQualityMetric {
      * GuardedBy(this)
      */
     private DataBuffer errorsBuffer;
+    private CyclicBuffer targetBuffer;
 
     /**
-     * @param target what value are we trying to achieve
+     * @param delayDepth
-     * @param result what value do we actually have
+     * @param target     what value are we trying to achieve
+     * @param result     what value do we actually have
      */
-    public ClosedLoopControlQualityMetric(ValueSource target, ValueSource result, Sensor destination) {
+    public ClosedLoopControlQualityMetric(ValueSource target, ValueSource result, Sensor destination, int delayDepth) {
         this.target = target;
         this.result = result;
         this.destination = destination;
+        this.delayDepth = delayDepth;
     }
 
     public void start(int bufferSize, int periodMs) {
@@ -51,14 +56,31 @@ public class ClosedLoopControlQualityMetric {
             return;
         isStarted = true;
 
-        errorsBuffer = new CyclicBuffer(bufferSize);
+        create(bufferSize);
         executor.scheduleAtFixedRate(() -> {
-            rememberCurrentError(target.getValue() - result.getValue());
+            add();
             SensorCentral.getInstance().setValue(getStandardDeviation(), destination);
 
         }, 0, periodMs, TimeUnit.MILLISECONDS);
     }
 
+    public void add() {
+        double targetValue = target.getValue();
+        double resultValue = result.getValue();
+        double error = Math.abs(targetValue - resultValue);
+        int pointer = targetBuffer.getPointer();
+        for (int i = 0; i < Math.min(delayDepth - 1, targetBuffer.getSize()); i++) {
+            double thisError = Math.abs(targetBuffer.get(pointer - i) - resultValue);
+            error = Math.min(error, thisError);
+        }
+        rememberCurrentError(error, targetValue);
+    }
+
+    public void create(int bufferSize) {
+        errorsBuffer = new CyclicBuffer(bufferSize);
+        targetBuffer = new CyclicBuffer(delayDepth);
+    }
+
     public synchronized void reset() {
         errorsBuffer.clear();
     }
@@ -67,7 +89,9 @@ public class ClosedLoopControlQualityMetric {
         return DataBuffer.getStandardDeviation(errorsBuffer.getValues());
     }
 
-    private synchronized void rememberCurrentError(double error) {
+    private synchronized void rememberCurrentError(double error, double targetValue) {
+        Objects.requireNonNull(errorsBuffer, "errorsBuffer");
         errorsBuffer.add(error);
+        targetBuffer.add(targetValue);
     }
 }

java_console/ui/src/com/rusefi/etb/StandardTestSequence.java

@@ -5,6 +5,7 @@ import com.rusefi.core.SensorCentral;
 import org.jetbrains.annotations.NotNull;
 
 import static com.rusefi.Timeouts.SECOND;
+import static com.rusefi.ui.etb.EtbTestSequence.PAST_DEPTH;
 
 public class StandardTestSequence {
     public final static ClosedLoopControlQualityMetric metric = createMetric();
@@ -14,7 +15,8 @@ public class StandardTestSequence {
         return new ClosedLoopControlQualityMetric(
                 SensorCentral.getInstance().getValueSource(Sensor.PPS),
                 SensorCentral.getInstance().getValueSource(Sensor.TPS),
-                Sensor.ETB_CONTROL_QUALITY
+                Sensor.ETB_CONTROL_QUALITY,
+                PAST_DEPTH
         );
     }
 

java_console/ui/src/com/rusefi/etb/test/ClosedLoopControlQualityMetricTest.java

@@ -0,0 +1,33 @@
+package com.rusefi.etb.test;
+
+import com.rusefi.core.Sensor;
+import com.rusefi.etb.ClosedLoopControlQualityMetric;
+import org.junit.Test;
+
+import java.util.concurrent.atomic.AtomicInteger;
+
+import static org.junit.Assert.assertEquals;
+
+public class ClosedLoopControlQualityMetricTest {
+    private static final double EPS = 0;
+
+    @Test
+    public void testPastDepth() {
+        AtomicInteger targetValue = new AtomicInteger();
+        AtomicInteger resultValue = new AtomicInteger();
+
+        ClosedLoopControlQualityMetric m = new ClosedLoopControlQualityMetric(
+                targetValue::doubleValue,
+                resultValue::doubleValue,
+                Sensor.ETB_CONTROL_QUALITY, 3);
+        m.create(1000);
+
+        m.add();
+        assertEquals(0, m.getStandardDeviation(), EPS);
+
+        targetValue.set(10);
+        // result same 0
+        m.add();
+        assertEquals(0, m.getStandardDeviation(), EPS);
+    }
+}

java_console/ui/src/com/rusefi/ui/etb/EtbMonteCarloSequence.java

@@ -26,14 +26,14 @@ import static com.rusefi.ui.etb.EtbTestSequence.*;
  * (c) Andrey Belomutskiy
  */
 public class EtbMonteCarloSequence {
-    private static final int TOTAL_CYCLES_COUNT = 300;
+    private static final int TOTAL_CYCLES_COUNT = 15;
     private static final double DEFAULT_POSITION = 7;
     private static final int CLT_THRESHOLD = 75;
     private final JButton button = new JButton("ETB I feel lucky!");
     private final static Random r = new Random();
     private int counter;
 
-    private double bestResultSoFar = 75;
+    private double bestResultSoFar = 750;
 
     public EtbMonteCarloSequence() {
         button.addActionListener(e -> {
@@ -44,8 +44,6 @@ public class EtbMonteCarloSequence {
                 public void run() {
                     CommandQueue.getInstance().write(CANCEL_DIRECT_DRIVE_COMMAND);
                     sleep(3 * SECOND);
-                    int durationSeconds = 300;
-                    int frequencyHz = 100;
                     // 30000 data points at 100Hz should be 300 seconds worth of data
                     StandardTestSequence.metric.start(/* buffer size: */durationSeconds * frequencyHz, /*period, ms: */ 1000 / frequencyHz);
 
@@ -58,9 +56,9 @@ public class EtbMonteCarloSequence {
 
     private void runRandomCycle() {
         final int offset = 0;//r.nextInt(100);
-        final double pFactor = 1 + (r.nextInt(300) / 100.0);
+        final double pFactor = 6 + counter * 2;// + (r.nextInt(300) / 100.0);
-        final double iFactor = r.nextInt(30) / 100.0;
+        final double iFactor = 0;//r.nextInt(30) / 100.0;
-        final double dFactor = r.nextInt(30) / 100.0;
+        final double dFactor = 0;//r.nextInt(30) / 100.0;
         String stats = "mcstats:offset:" + offset +
                 ":pFactor:" + pFactor +
                 ":iFactor:" + iFactor +

java_console/ui/src/com/rusefi/ui/etb/EtbTestSequence.java

@@ -28,6 +28,9 @@ import static com.rusefi.Timeouts.SECOND;
  */
 public class EtbTestSequence {
     protected static final ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
+    public static final int durationSeconds = 300;
+    public static final int frequencyHz = 100;
+    public static final int PAST_DEPTH = 200 / (1000 / frequencyHz);
 
     private static final String BUTTON_TEXT = "Measure Control Quality";
 
@@ -38,7 +41,8 @@ public class EtbTestSequence {
         button.addActionListener(e -> {
             button.setEnabled(false);
             // 3000 data points at 10Hz should be 300 seconds worth of data
-            StandardTestSequence.metric.start(/* buffer size: */3000, /*period, ms: */ 100);
+            StandardTestSequence.metric.start(/* buffer size: */durationSeconds * frequencyHz,
+                    /*period, ms: */ 1000 / frequencyHz);
 
             AtomicInteger stepCounter = new AtomicInteger();
             AtomicInteger totalSteps = new AtomicInteger();