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80 lines
2.5 KiB
C++
80 lines
2.5 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.h
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*
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* Hysteresis of a boolean value.
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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namespace systemlib
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{
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class Hysteresis
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{
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public:
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explicit Hysteresis(bool init_state) :
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_state(init_state),
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_requested_state(init_state)
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{}
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Hysteresis() = delete; // no default constructor
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~Hysteresis() = default;
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bool get_state() const { return _state; }
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void set_hysteresis_time_from(const bool from_state, const hrt_abstime new_hysteresis_time_us);
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void set_state_and_update(const bool new_state, const hrt_abstime &now_us);
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void update(const hrt_abstime &now_us);
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private:
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hrt_abstime _last_time_to_change_state{0};
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hrt_abstime _time_from_true_us{0};
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hrt_abstime _time_from_false_us{0};
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bool _state;
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bool _requested_state;
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};
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} // namespace systemlib
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