setpoint_continuous_jam_checker.hpp

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/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_SETPOINT_CONTINUOUS_JAM_CHECKER_HPP_
#define TAPROOT_SETPOINT_CONTINUOUS_JAM_CHECKER_HPP_
 
#include "tap/algorithms/math_user_utils.hpp"
#include "tap/architecture/conditional_timer.hpp"
#include "tap/control/setpoint/interfaces/setpoint_subsystem.hpp"
 
namespace tap
{
namespace control
{
namespace setpoint
{
class SetpointContinuousJamChecker
{
public:
    SetpointContinuousJamChecker(
        SetpointSubsystem* setpointSubsystem,
        float distanceTolerance,
        uint32_t temporalTolerance)
        : setpointSubsystem(setpointSubsystem),
          jamTimeout(temporalTolerance),
          distanceTolerance(distanceTolerance)
    {
    }
 
    void restart() { jamTimeout.restart(); }
 
    inline bool check()
    {
        bool withinTolerance = tap::algorithms::compareFloatClose(
            setpointSubsystem->getCurrentValue(),
            setpointSubsystem->getSetpoint(),
            distanceTolerance);
        return jamTimeout.execute(!withinTolerance);
    }
 
    inline float getJamSetpointTolerance() const { return distanceTolerance; }
 
private:
    SetpointSubsystem* setpointSubsystem;
    tap::arch::ConditionalMilliTimer jamTimeout;
    float distanceTolerance;
};  // SetpointContinuousJamChecker
 
}  // namespace setpoint
 
}  // namespace control
 
}  // namespace tap
 
#endif  // TAPROOT_SETPOINT_CONTINUOUS_JAM_CHECKER_HPP_