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hysteresis: remove dependency/side effect on time

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This commit is contained in:
Julian Oes
2019-05-27 09:57:50 +02:00
parent 7b9562e3b1
commit b29e5e3adb
8 changed files with 92 additions and 87 deletions
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src/lib/hysteresis/hysteresis.cpp
+6 -6
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2019 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
@@ -54,27 +54,27 @@ Hysteresis::set_hysteresis_time_from(const bool from_state, const hrt_abstime ne
}
void
Hysteresis::set_state_and_update(const bool new_state)
Hysteresis::set_state_and_update(const bool new_state, const hrt_abstime &now_us)
{
if (new_state != _state) {
if (new_state != _requested_state) {
_requested_state = new_state;
_last_time_to_change_state = hrt_absolute_time();
_last_time_to_change_state = now_us;
}
} else {
_requested_state = _state;
}
update();
update(now_us);
}
void
Hysteresis::update()
Hysteresis::update(const hrt_abstime &now_us)
{
if (_requested_state != _state) {
const hrt_abstime elapsed = hrt_elapsed_time(&_last_time_to_change_state);
const hrt_abstime elapsed = now_us - _last_time_to_change_state;
if (_state && !_requested_state) {
// true -> false
src/lib/hysteresis/hysteresis.h
+3 -3
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2019 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
@@ -61,9 +61,9 @@ public:
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 set_state_and_update(const bool new_state, const hrt_abstime &now_us);
void update();
void update(const hrt_abstime &now_us);
private:
src/lib/hysteresis/hysteresis_test.cpp
+65 -61
View File
@@ -37,16 +37,11 @@
*/
#include <gtest/gtest.h>
#include <unistd.h>
#include "hysteresis.h"
#if defined(__PX4_DARWIN) || defined(__PX4_CYGWIN)
static const int f = 10;
#else
static const int f = 1;
#endif
static constexpr hrt_abstime SOME_START_TIME = 1558359616134000llu;
TEST(Hysteresis, InitFalse)
@@ -63,138 +58,147 @@ TEST(Hysteresis, InitTrue)
TEST(Hysteresis, Zero)
{
hrt_abstime time_us = SOME_START_TIME;
// Default is 0 hysteresis.
systemlib::Hysteresis hysteresis(false);
EXPECT_FALSE(hysteresis.get_state());
// Change and see result immediately.
hysteresis.set_state_and_update(true);
hysteresis.set_state_and_update(true, time_us);
EXPECT_TRUE(hysteresis.get_state());
hysteresis.set_state_and_update(false);
hysteresis.set_state_and_update(false, time_us);
EXPECT_FALSE(hysteresis.get_state());
hysteresis.set_state_and_update(true);
hysteresis.set_state_and_update(true, time_us);
EXPECT_TRUE(hysteresis.get_state());
time_us += 1000;
// A wait won't change anything.
px4_usleep(1000 * f);
hysteresis.update();
hysteresis.update(time_us);
EXPECT_TRUE(hysteresis.get_state());
}
TEST(Hysteresis, ChangeAfterTime)
{
hrt_abstime time_us = SOME_START_TIME;
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(false, 5000 * f);
hysteresis.set_hysteresis_time_from(true, 3000 * f);
hysteresis.set_hysteresis_time_from(false, 5000);
hysteresis.set_hysteresis_time_from(true, 3000);
// Change to true.
hysteresis.set_state_and_update(true);
hysteresis.set_state_and_update(true, time_us);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(4000 * f);
hysteresis.update();
time_us += 4000;
hysteresis.update(time_us);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(2000 * f);
hysteresis.update();
time_us += 2000;
hysteresis.update(time_us);
EXPECT_TRUE(hysteresis.get_state());
// Change back to false.
hysteresis.set_state_and_update(false);
hysteresis.set_state_and_update(false, time_us);
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(1000 * f);
hysteresis.update();
time_us += 1000;
hysteresis.update(time_us);
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
time_us += 3000;
hysteresis.update(time_us);
EXPECT_FALSE(hysteresis.get_state());
}
TEST(Hysteresis, HysteresisChanged)
{
hrt_abstime time_us = SOME_START_TIME;
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(true, 2000 * f);
hysteresis.set_hysteresis_time_from(false, 5000 * f);
hysteresis.set_hysteresis_time_from(true, 2000);
hysteresis.set_hysteresis_time_from(false, 5000);
// Change to true.
hysteresis.set_state_and_update(true);
hysteresis.set_state_and_update(true, time_us);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
time_us += 3000;
hysteresis.update(time_us);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
time_us += 3000;
hysteresis.update(time_us);
EXPECT_TRUE(hysteresis.get_state());
// Change hysteresis time.
hysteresis.set_hysteresis_time_from(true, 10000 * f);
hysteresis.set_hysteresis_time_from(true, 10000);
// Change back to false.
hysteresis.set_state_and_update(false);
hysteresis.set_state_and_update(false, time_us);
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(7000 * f);
hysteresis.update();
time_us += 7000;
hysteresis.update(time_us);
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(5000 * f);
hysteresis.update();
time_us += 5000;
hysteresis.update(time_us);
EXPECT_FALSE(hysteresis.get_state());
}
TEST(Hysteresis, ChangeAfterMultipleSets)
{
hrt_abstime time_us = SOME_START_TIME;
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(true, 5000 * f);
hysteresis.set_hysteresis_time_from(false, 5000 * f);
hysteresis.set_hysteresis_time_from(true, 5000);
hysteresis.set_hysteresis_time_from(false, 5000);
// Change to true.
hysteresis.set_state_and_update(true);
hysteresis.set_state_and_update(true, time_us);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(true);
time_us += 3000;
hysteresis.set_state_and_update(true, time_us);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(true);
time_us += 3000;
hysteresis.set_state_and_update(true, time_us);
EXPECT_TRUE(hysteresis.get_state());
// Change to false.
hysteresis.set_state_and_update(false);
hysteresis.set_state_and_update(false, time_us);
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(false);
time_us += 3000;
hysteresis.set_state_and_update(false, time_us);
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(false);
time_us += 3000;
hysteresis.set_state_and_update(false, time_us);
EXPECT_FALSE(hysteresis.get_state());
}
TEST(Hysteresis, TakeChangeBack)
{
hrt_abstime time_us = SOME_START_TIME;
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(false, 5000 * f);
hysteresis.set_hysteresis_time_from(false, 5000);
// Change to true.
hysteresis.set_state_and_update(true);
hysteresis.set_state_and_update(true, time_us);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
time_us += 3000;
hysteresis.update(time_us);
EXPECT_FALSE(hysteresis.get_state());
// Change your mind to false.
hysteresis.set_state_and_update(false);
hysteresis.set_state_and_update(false, time_us);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(6000 * f);
hysteresis.update();
time_us += 6000;
hysteresis.update(time_us);
EXPECT_FALSE(hysteresis.get_state());
// And true again
hysteresis.set_state_and_update(true);
hysteresis.set_state_and_update(true, time_us);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
time_us += 3000;
hysteresis.update(time_us);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
time_us += 3000;
hysteresis.update(time_us);
EXPECT_TRUE(hysteresis.get_state());
// The other directory is immediate.
hysteresis.set_state_and_update(false);
hysteresis.set_state_and_update(false, time_us);
EXPECT_FALSE(hysteresis.get_state());
}