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systemlib: added library for hysteresis

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There have been two cases where a hysteresis function wasn't working
correctly. It is therefore a good idea to abstract the hysteresis
functionality into a library.
This commit is contained in:
Julian Oes
2016-07-30 12:26:56 +02:00
parent 36299c59b4
commit 401d807261
4 changed files with 270 additions and 0 deletions
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unittests/hysteresis_test.cpp
+114
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#include <systemlib/hysteresis/hysteresis.h>
#include "gtest/gtest.h"
const static unsigned hysteresis_time_us = 5000;
TEST(HysteresisTest, InitFalse)
{
systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
ASSERT_FALSE(hysteresis.get_state());
}
TEST(HysteresisTest, InitTrue)
{
systemlib::Hysteresis hysteresis(hysteresis_time_us, true);
ASSERT_TRUE(hysteresis.get_state());
}
TEST(HysteresisTest, ZeroCase)
{
systemlib::Hysteresis hysteresis(0, false);
ASSERT_FALSE(hysteresis.get_state());
// Change and see result immediately.
hysteresis.set_state_and_update(true);
ASSERT_TRUE(hysteresis.get_state());
hysteresis.set_state_and_update(false);
ASSERT_FALSE(hysteresis.get_state());
hysteresis.set_state_and_update(true);
ASSERT_TRUE(hysteresis.get_state());
// A wait won't change anything.
usleep(1000);
hysteresis.update();
ASSERT_TRUE(hysteresis.get_state());
}
TEST(HysteresisTest, ChangeAfterTime)
{
systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
// Change to true.
hysteresis.set_state_and_update(true);
ASSERT_FALSE(hysteresis.get_state());
usleep(3000);
hysteresis.update();
ASSERT_FALSE(hysteresis.get_state());
usleep(3000);
hysteresis.update();
ASSERT_TRUE(hysteresis.get_state());
// Change back to false.
hysteresis.set_state_and_update(false);
ASSERT_TRUE(hysteresis.get_state());
usleep(3000);
hysteresis.update();
ASSERT_TRUE(hysteresis.get_state());
usleep(3000);
hysteresis.update();
ASSERT_FALSE(hysteresis.get_state());
}
TEST(HysteresisTest, ChangeAfterTimeMultipleSets)
{
systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
// Change to true.
hysteresis.set_state_and_update(true);
ASSERT_FALSE(hysteresis.get_state());
usleep(3000);
hysteresis.set_state_and_update(true);
ASSERT_FALSE(hysteresis.get_state());
usleep(3000);
hysteresis.set_state_and_update(true);
ASSERT_TRUE(hysteresis.get_state());
// Change to false.
hysteresis.set_state_and_update(false);
ASSERT_TRUE(hysteresis.get_state());
usleep(3000);
hysteresis.set_state_and_update(false);
ASSERT_TRUE(hysteresis.get_state());
usleep(3000);
hysteresis.set_state_and_update(false);
ASSERT_FALSE(hysteresis.get_state());
}
TEST(HysteresisTest, TakeChangeBack)
{
systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
// Change to true.
hysteresis.set_state_and_update(true);
ASSERT_FALSE(hysteresis.get_state());
usleep(3000);
hysteresis.update();
ASSERT_FALSE(hysteresis.get_state());
// Change your mind to false.
hysteresis.set_state_and_update(false);
ASSERT_FALSE(hysteresis.get_state());
usleep(6000);
hysteresis.update();
ASSERT_FALSE(hysteresis.get_state());
// And true again
hysteresis.set_state_and_update(true);
ASSERT_FALSE(hysteresis.get_state());
usleep(3000);
hysteresis.update();
ASSERT_FALSE(hysteresis.get_state());
usleep(3000);
hysteresis.update();
ASSERT_TRUE(hysteresis.get_state());
}