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Merged
merged 3 commits into from
Aug 21, 2025
Merged

states: add started and stopped moving states #660

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1d0adc1
states: add started and stopped moving states
JordanYates Aug 21, 2025
eb8a0f9
algorithm_runner: stationary_windows: start/stop moving
JordanYates Aug 21, 2025
dae8b00
tests: algorithm_runner: stationary_windowed: test states
JordanYates Aug 21, 2025
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4 changes: 4 additions & 0 deletions include/infuse/states.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,10 @@ enum infuse_state {
INFUSE_STATE_DEVICE_STATIONARY = 4,
/* Device is currently sending high-priority data to the cloud */
INFUSE_STATE_HIGH_PRIORITY_UPLINK = 5,
/* Device started moving */
INFUSE_STATE_DEVICE_STARTED_MOVING = 6,
/* Device stopped moving */
INFUSE_STATE_DEVICE_STOPPED_MOVING = 7,
/* Start of application-specific state range */
INFUSE_STATES_APP_START = 128,
INFUSE_STATES_END = UINT8_MAX
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11 changes: 9 additions & 2 deletions subsys/algorithm_runner/algorithms/alg_stationary_windowed.c
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Expand Up @@ -92,9 +92,16 @@ void algorithm_stationary_windowed_fn(const struct zbus_channel *chan, const voi
* The timeout is included so that even if the IMU stops producing data, the
* state will get cleared.
*/
infuse_state_set_timeout(INFUSE_STATE_DEVICE_STATIONARY, c->window_seconds + 10);
if (!infuse_state_set_timeout(INFUSE_STATE_DEVICE_STATIONARY,
c->window_seconds + 10)) {
/* State was not previously set */
infuse_state_set_timeout(INFUSE_STATE_DEVICE_STOPPED_MOVING, 1);
}
} else {
infuse_state_clear(INFUSE_STATE_DEVICE_STATIONARY);
if (infuse_state_clear(INFUSE_STATE_DEVICE_STATIONARY)) {
/* Stationary state was previously set */
infuse_state_set_timeout(INFUSE_STATE_DEVICE_STARTED_MOVING, 1);
}
}

reset:
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47 changes: 45 additions & 2 deletions tests/subsys/algorithm/algorithms/stationary_windowed/src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -91,9 +91,31 @@ static void expect_logging(uint8_t count)
zassert_equal(count, found);
}

static int moving_count;
static int stopped_count;

static void state_set(enum infuse_state state, bool already, uint16_t timeout, void *user_ctx)
{
switch (state) {
case INFUSE_STATE_DEVICE_STARTED_MOVING:
zassert_equal(1, timeout);
moving_count += 1;
break;
case INFUSE_STATE_DEVICE_STOPPED_MOVING:
zassert_equal(1, timeout);
stopped_count += 1;
break;
default:
break;
}
}

ZTEST(alg_stationary, test_send)
{
INFUSE_STATES_ARRAY(states);
struct infuse_state_cb state_cb = {
.state_set = state_set,
};
k_tid_t imu_thread;

schedule[0].task_args.infuse.imu = (struct task_imu_args){
Expand All @@ -108,6 +130,7 @@ ZTEST(alg_stationary, test_send)
/* Initialise algorithm runner */
algorithm_runner_init();
algorithm_runner_register(&test_alg);
infuse_state_register_callback(&state_cb);

/* Start with lots of movement */
imu_emul_accelerometer_data_configure(DEV, 0.0f, 0.0f, 1.0f, 800);
Expand All @@ -120,6 +143,8 @@ ZTEST(alg_stationary, test_send)
zassert_false(infuse_state_get(INFUSE_STATE_DEVICE_STATIONARY));
k_sleep(K_MINUTES(1));
}
zassert_equal(0, moving_count);
zassert_equal(0, stopped_count);

/* Reduce the movement, let the window update */
imu_emul_accelerometer_data_configure(DEV, 0.0f, 0.0f, 1.0f, 100);
Expand All @@ -130,6 +155,14 @@ ZTEST(alg_stationary, test_send)
zassert_true(infuse_state_get(INFUSE_STATE_DEVICE_STATIONARY));
k_sleep(K_MINUTES(1));
}
zassert_equal(0, moving_count);
zassert_equal(1, stopped_count);

/* Start moving again */
imu_emul_accelerometer_data_configure(DEV, 0.0f, 0.0f, 1.0f, 800);
k_sleep(K_MINUTES(4));
zassert_equal(1, moving_count);
zassert_equal(1, stopped_count);

/* Run for 30 seconds, then change the sample rate drastically */
k_sleep(K_SECONDS(30));
Expand All @@ -138,6 +171,7 @@ ZTEST(alg_stationary, test_send)
schedule[0].task_args.infuse.imu.accelerometer.rate_hz = 10;
schedule[0].task_args.infuse.imu.fifo_sample_buffer = 10;
imu_thread = task_schedule(0);
imu_emul_accelerometer_data_configure(DEV, 0.0f, 0.0f, 1.0f, 100);

/* The changed sample rate should have skipped the decision */
k_sleep(K_MINUTES(3));
Expand All @@ -148,6 +182,8 @@ ZTEST(alg_stationary, test_send)
zassert_false(infuse_state_get(INFUSE_STATE_DEVICE_STATIONARY));
k_sleep(K_MINUTES(2));
zassert_true(infuse_state_get(INFUSE_STATE_DEVICE_STATIONARY));
zassert_equal(1, moving_count);
zassert_equal(2, stopped_count);

/* Terminate the IMU producer */
task_terminate(0);
Expand All @@ -160,18 +196,25 @@ ZTEST(alg_stationary, test_send)
}
zassert_false(infuse_state_get(INFUSE_STATE_DEVICE_STATIONARY));

/* Stationary timing out shouldn't update the moving count */
zassert_equal(1, moving_count);
zassert_equal(2, stopped_count);

/* Flush the pending TDF's */
tdf_data_logger_flush(TDF_DATA_LOGGER_SERIAL);
expect_logging(9);
expect_logging(11);

/* Validate the last published data */
struct infuse_zbus_chan_movement_std_dev *out = ZBUS_CHAN->message;

zassert_equal(9, zbus_chan_pub_stats_count(ZBUS_CHAN));
zassert_equal(11, zbus_chan_pub_stats_count(ZBUS_CHAN));
zassert_within(7000, out->data.std_dev, 300);
zassert_equal(1200, out->data.count);
zassert_equal(1200, out->expected_samples);
zassert_equal(40000, out->movement_threshold);

/* Unregister callback */
infuse_state_unregister_callback(&state_cb);
}

static void test_before(void *fixture)
Expand Down