redundant_sensor.cpp

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#include "pch.h"
 
#include "redundant_sensor.h"
 
RedundantSensor::RedundantSensor(SensorType outputType, SensorType first, SensorType second)
    : Sensor(outputType)
    , m_first(first)
    , m_second(second)
{
}
 
void RedundantSensor::configure(float /*split threshold*/maxDifference, bool ignoreSecondSensor) {
    m_maxDifference = maxDifference;
    m_ignoreSecond = ignoreSecondSensor;
}
 
SensorResult RedundantSensor::get() const {
    auto sensor1 = Sensor::get(m_first);
 
    // If we're set to disable redundancy, just pass thru the first sensor
    if (m_ignoreSecond) {
        return sensor1;
    }
 
    auto sensor2 = Sensor::get(m_second);
 
    // If either result is invalid, return invalid.
    if (!sensor1.Valid || !sensor2.Valid) {
        return UnexpectedCode::Inconsistent;
    }
 
    // If both are valid, check that they're near one another
    float delta = absF(sensor1.Value - sensor2.Value);
    if (delta > m_maxDifference) {
        return UnexpectedCode::Inconsistent;
    }
 
    // Both sensors are valid, and their readings are close. All is well.
    // Return the average
    return (sensor1.Value + sensor2.Value) / 2;
}