forked from Archive/PX4-Autopilot
systemlib: added library for hysteresis
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
parent
36299c59b4
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401d807261
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/****************************************************************************
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*
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* Copyright (c) 2016 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 <px4_log.h>
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#include "systemlib/hysteresis/hysteresis.h"
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namespace systemlib {
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void
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Hysteresis::set_state_and_update(const bool new_state)
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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 = hrt_absolute_time();
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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();
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}
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void
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Hysteresis::update()
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{
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if (_requested_state != _state &&
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hrt_elapsed_time(&_last_time_to_change_state) >= _hysteresis_time_us) {
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_state = _requested_state;
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}
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}
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} // namespace systemlib
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@ -0,0 +1,78 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 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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class Hysteresis
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{
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public:
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Hysteresis(unsigned hysteresis_time_us, bool init_state) :
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_hysteresis_time_us(hysteresis_time_us),
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_state(init_state),
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_requested_state(init_state),
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_last_time_to_change_state(0)
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{}
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~Hysteresis()
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{}
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bool get_state() const {
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return _state;
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}
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void set_state_and_update(const bool new_state);
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void update();
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private:
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unsigned _hysteresis_time_us;
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bool _state;
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bool _requested_state;
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hrt_abstime _last_time_to_change_state;
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};
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} // namespace systemlib
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@ -173,6 +173,11 @@ add_executable(param_test param_test.cpp uorb_stub.cpp
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target_link_libraries(param_test ${PX4_SITL_BUILD}/libmsg_gen.a)
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add_gtest(param_test)
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# hysteresis_test
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add_executable(hysteresis_test hysteresis_test.cpp
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${PX4_SRC}/modules/systemlib/hysteresis/hysteresis.cpp)
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add_gtest(hysteresis_test)
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# param_shmem_test
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#add_executable(param_shmem_test param_test.cpp uorb_stub.cpp
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# ${PX4_SRC}/modules/systemlib/bson/tinybson.c
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@ -0,0 +1,114 @@
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#include <systemlib/hysteresis/hysteresis.h>
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#include "gtest/gtest.h"
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const static unsigned hysteresis_time_us = 5000;
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TEST(HysteresisTest, InitFalse)
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{
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systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
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ASSERT_FALSE(hysteresis.get_state());
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}
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TEST(HysteresisTest, InitTrue)
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{
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systemlib::Hysteresis hysteresis(hysteresis_time_us, true);
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ASSERT_TRUE(hysteresis.get_state());
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}
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TEST(HysteresisTest, ZeroCase)
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{
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systemlib::Hysteresis hysteresis(0, false);
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ASSERT_FALSE(hysteresis.get_state());
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// Change and see result immediately.
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hysteresis.set_state_and_update(true);
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ASSERT_TRUE(hysteresis.get_state());
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hysteresis.set_state_and_update(false);
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ASSERT_FALSE(hysteresis.get_state());
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hysteresis.set_state_and_update(true);
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ASSERT_TRUE(hysteresis.get_state());
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// A wait won't change anything.
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usleep(1000);
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hysteresis.update();
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ASSERT_TRUE(hysteresis.get_state());
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}
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TEST(HysteresisTest, ChangeAfterTime)
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{
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systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
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// Change to true.
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hysteresis.set_state_and_update(true);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_TRUE(hysteresis.get_state());
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// Change back to false.
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hysteresis.set_state_and_update(false);
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ASSERT_TRUE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_TRUE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_FALSE(hysteresis.get_state());
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}
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TEST(HysteresisTest, ChangeAfterTimeMultipleSets)
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{
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systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
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// Change to true.
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hysteresis.set_state_and_update(true);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(true);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(true);
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ASSERT_TRUE(hysteresis.get_state());
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// Change to false.
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hysteresis.set_state_and_update(false);
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ASSERT_TRUE(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(false);
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ASSERT_TRUE(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(false);
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ASSERT_FALSE(hysteresis.get_state());
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}
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TEST(HysteresisTest, TakeChangeBack)
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{
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systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
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// Change to true.
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hysteresis.set_state_and_update(true);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_FALSE(hysteresis.get_state());
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// Change your mind to false.
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hysteresis.set_state_and_update(false);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(6000);
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hysteresis.update();
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ASSERT_FALSE(hysteresis.get_state());
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// And true again
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hysteresis.set_state_and_update(true);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_TRUE(hysteresis.get_state());
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}
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