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Commit 28a6988

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Voting
1 parent 1f64574 commit 28a6988

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4 files changed

+87
-7
lines changed

4 files changed

+87
-7
lines changed

‎src/eloquentarduino/data_structures/NdQueue.h

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -91,11 +91,11 @@ namespace Eloquent {
9191
uint8_t sampleIdx = (_head + k) % depth;
9292
uint16_t offset = k * num_features;
9393

94-
memcpy(X + offset, _samples[sampleIdx], sizeof(float) * num_features);
94+
//memcpy(X + offset, _samples[sampleIdx], sizeof(float) * num_features);
9595

96-
//for (uint16_t i = 0; i < num_features; i++) {
97-
// X[offset + i] = _samples[sampleIdx][i];
98-
//}
96+
for (uint16_t i = 0; i < num_features; i++) {
97+
X[offset + i] = _samples[sampleIdx][i];
98+
}
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}
100100
}
101101

Lines changed: 75 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,75 @@
1+
#pragma once
2+
3+
4+
namespace Eloquent {
5+
namespace DataStructures {
6+
/**
7+
* Output a robust value when a given number of votes agree
8+
* @tparam votes
9+
* @tparam quorum
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*/
11+
template<uint8_t votes, uint8_t quorum>
12+
class MajorityVoting {
13+
public:
14+
15+
/**
16+
* Reset state
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*/
18+
void clear() {
19+
_idx = 0;
20+
21+
for (uint8_t i = 0; i < votes; i++)
22+
_votes[i] = 0;
23+
}
24+
25+
/**
26+
* Add vote to voting system
27+
*/
28+
void vote(uint8_t vote) {
29+
_votes[_idx % votes] = vote;
30+
_idx += 1;
31+
}
32+
33+
/**
34+
* Test if quorum was achieved
35+
*/
36+
bool hasMajority() {
37+
_decision = 255;
38+
39+
if (_idx < votes)
40+
return false;
41+
42+
bool majority = false;
43+
44+
for (uint8_t i = 0; i < votes - quorum; i++) {
45+
uint8_t vote = _votes[i];
46+
uint8_t count = 1;
47+
48+
for (uint8_t j = i + 1; j < votes; j++)
49+
if (_votes[j] == vote)
50+
count += 1;
51+
52+
if (count >= quorum) {
53+
_decision = vote;
54+
majority = true;
55+
break;
56+
}
57+
}
58+
59+
return majority;
60+
}
61+
62+
/**
63+
* Get robust decision, if any
64+
*/
65+
uint8_t decision() {
66+
return _decision;
67+
}
68+
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protected:
70+
uint8_t _votes[votes] = {0};
71+
uint8_t _idx = 0;
72+
uint8_t _decision;
73+
};
74+
}
75+
}

‎src/eloquentarduino/io/print.h

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,5 @@
1-
#pragma once
1+
#ifndef ELOQUENTARDUINO_PRINT
2+
#define ELOQUENTARDUINO_PRINT 1
23

34
#if defined(Stream_h)
45

@@ -66,4 +67,5 @@ namespace eloquent {
6667
}
6768
}
6869

70+
#endif
6971
#endif

‎src/eloquentarduino/io/serial_print.h

Lines changed: 5 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,10 @@
1-
#pragma once
1+
#ifndef ELOQUENTARDUINO_SERIAL_PRINT
2+
#define ELOQUENTARDUINO_SERIAL_PRINT 1
3+
4+
#if defined(Stream_h)
25

36
#include "print.h"
47

5-
#if defined(Stream_h)
68

79
namespace eloquent {
810
namespace io {
@@ -40,4 +42,5 @@ namespace eloquent {
4042
}
4143
}
4244

45+
#endif
4346
#endif

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