generic_debouncer.h

Go to the documentation of this file.

 
 
#pragma once
 
#include <units/time.h>
 
#include <chrono>
 
namespace argos_lib {
  template <class T>
  class GenericDebouncer {
   public:
    explicit GenericDebouncer(const units::millisecond_t symmetricDebounceTime, T initialValue = {})
        : m_debounceTime{symmetricDebounceTime}
        , m_rawStatus{initialValue}
        , m_debouncedStatus{initialValue}
        , m_debounceTransitionTime{std::chrono::steady_clock::now()} {}
 
    [[nodiscard]] T operator()(T newVal) {
      const auto prevRawValue = m_rawStatus;
      const auto curTime = std::chrono::steady_clock::now();
 
      if (newVal != m_debouncedStatus && newVal != prevRawValue) {
        m_debounceTransitionTime = curTime;
      }
 
      if (newVal != m_debouncedStatus) {
        const auto timeSinceTransition = units::millisecond_t{static_cast<double>(
            std::chrono::duration_cast<std::chrono::milliseconds>(curTime - m_debounceTransitionTime).count())};
        if (timeSinceTransition >= m_debounceTime) {
          m_debouncedStatus = newVal;
        }
      }
 
      m_rawStatus = newVal;
      return m_debouncedStatus;
    }
 
    void Reset(T newVal) {
      m_rawStatus = newVal;
      m_debouncedStatus = newVal;
    }
 
   private:
    units::millisecond_t m_debounceTime;
    T m_rawStatus;        
    T m_debouncedStatus;  
    std::chrono::time_point<std::chrono::steady_clock>
        m_debounceTransitionTime;  
  };
 
}  // namespace argos_lib