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hysteresis: move out of systemlib, move to gtest

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This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
This commit is contained in:
Julian Oes
2019-05-27 09:57:50 +02:00
parent b849991494
commit 7b9562e3b1
16 changed files with 88 additions and 99 deletions
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src/lib/systemlib/CMakeLists.txt
-1
View File
@@ -35,7 +35,6 @@ set(SRCS
conversions.c
cpuload.c
crc.c
hysteresis/hysteresis.cpp
mavlink_log.c
otp.c
)
src/lib/systemlib/hysteresis/hysteresis.cpp
-94
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@@ -1,94 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file hysteresis.cpp
*
* @author Julian Oes <julian@oes.ch>
*/
#include "hysteresis.h"
namespace systemlib
{
void
Hysteresis::set_hysteresis_time_from(const bool from_state, const hrt_abstime new_hysteresis_time_us)
{
if (from_state == true) {
_time_from_true_us = new_hysteresis_time_us;
} else {
_time_from_false_us = new_hysteresis_time_us;
}
}
void
Hysteresis::set_state_and_update(const bool new_state)
{
if (new_state != _state) {
if (new_state != _requested_state) {
_requested_state = new_state;
_last_time_to_change_state = hrt_absolute_time();
}
} else {
_requested_state = _state;
}
update();
}
void
Hysteresis::update()
{
if (_requested_state != _state) {
const hrt_abstime elapsed = hrt_elapsed_time(&_last_time_to_change_state);
if (_state && !_requested_state) {
// true -> false
if (elapsed >= _time_from_true_us) {
_state = false;
}
} else if (!_state && _requested_state) {
// false -> true
if (elapsed >= _time_from_false_us) {
_state = true;
}
}
}
}
} // namespace systemlib
src/lib/systemlib/hysteresis/hysteresis.h
-79
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@@ -1,79 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file hysteresis.h
*
* Hysteresis of a boolean value.
*
* @author Julian Oes <julian@oes.ch>
*/
#pragma once
#include <drivers/drv_hrt.h>
namespace systemlib
{
class Hysteresis
{
public:
explicit Hysteresis(bool init_state) :
_state(init_state),
_requested_state(init_state)
{}
Hysteresis() = delete; // no default constructor
~Hysteresis() = default;
bool get_state() const { return _state; }
void set_hysteresis_time_from(const bool from_state, const hrt_abstime new_hysteresis_time_us);
void set_state_and_update(const bool new_state);
void update();
private:
hrt_abstime _last_time_to_change_state{0};
hrt_abstime _time_from_true_us{0};
hrt_abstime _time_from_false_us{0};
bool _state;
bool _requested_state;
};
} // namespace systemlib