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Julian Oes
95 lines
2.8 KiB
C++
95 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file hysteresis.cpp
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#include "hysteresis.h"
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namespace systemlib
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{
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void
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Hysteresis::set_hysteresis_time_from(const bool from_state, const hrt_abstime new_hysteresis_time_us)
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{
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if (from_state == true) {
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_time_from_true_us = new_hysteresis_time_us;
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} else {
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_time_from_false_us = new_hysteresis_time_us;
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}
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}
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void
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Hysteresis::set_state_and_update(const bool new_state, const hrt_abstime &now_us)
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{
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if (new_state != _state) {
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if (new_state != _requested_state) {
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_requested_state = new_state;
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_last_time_to_change_state = now_us;
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}
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} else {
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_requested_state = _state;
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}
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update(now_us);
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}
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void
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Hysteresis::update(const hrt_abstime &now_us)
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{
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if (_requested_state != _state) {
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const hrt_abstime elapsed = now_us - _last_time_to_change_state;
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if (_state && !_requested_state) {
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// true -> false
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if (elapsed >= _time_from_true_us) {
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_state = false;
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}
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} else if (!_state && _requested_state) {
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// false -> true
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if (elapsed >= _time_from_false_us) {
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_state = true;
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}
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}
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}
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}
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} // namespace systemlib
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