blob: 73ef643ac90521be42d00f8dcdb053e850c2ac21 [file] [log] [blame]
#pragma once
#include <chrono>
namespace pid_control
{
struct ReadReturn
{
double value;
std::chrono::high_resolution_clock::time_point updated;
double unscaled = value;
bool operator==(const ReadReturn& rhs) const
{
return ((this->value == rhs.value) && (this->updated == rhs.updated) &&
(this->unscaled == rhs.unscaled));
}
};
struct ValueCacheEntry
{
// This is normalized to (0.0, 1.0) range, using configured min and max
double scaled;
// This is the raw value, as recieved from the input/output sensors
double unscaled;
};
/*
* A ReadInterface is a plug-in for the PluggableSensor and anyone implementing
* this basically is providing a way to read a sensor.
*/
class ReadInterface
{
public:
ReadInterface()
{}
virtual ~ReadInterface()
{}
virtual ReadReturn read(void) = 0;
virtual bool getFailed(void) const
{
return false;
}
};
/*
* A WriteInterface is a plug-in for the PluggableSensor and anyone implementing
* this basically is providing a way to write a sensor.
*/
class WriteInterface
{
public:
WriteInterface(int64_t min, int64_t max) : _min(min), _max(max)
{}
virtual ~WriteInterface()
{}
virtual void write(double value) = 0;
/*
* A wrapper around write(), with additional parameters.
* force = true to perform redundant write, even if raw value unchanged.
* written = non-null to be filled in with the actual raw value written.
*/
virtual void write(double value, bool force, int64_t* written)
{
(void)force;
(void)written;
return write(value);
}
/*
* All WriteInterfaces have min/max available in case they want to error
* check.
*/
int64_t getMin(void)
{
return _min;
}
int64_t getMax(void)
{
return _max;
}
private:
int64_t _min;
int64_t _max;
};
} // namespace pid_control