AirLib/include/common/DelayLine.hpp - master - vasandi/AirSim

AirLib/include/common/DelayLine.hpp
93 строки2 KB
Андрей Васильченко
сборка под ubuntu 26.04
08 июл 2026, 10:15
08 июл 2026, 10:15d53c5a2
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.

#ifndef common_utils_DelayLine_hpp
#define common_utils_DelayLine_hpp

#include "common/Common.hpp"
#include "UpdatableObject.hpp"
#include <list>

namespace msr
{
namespace airlib
{

    template <typename T>
    class DelayLine : public UpdatableObject
    {
    public:
        DelayLine()
        {
        }
        DelayLine(TTimeDelta delay) //in seconds
        {
            initialize(delay);
        }
        void initialize(TTimeDelta delay) //in seconds
        {
            setDelay(delay);
        }
        void setDelay(TTimeDelta delay)
        {
            delay_ = delay;
        }
        double getDelay() const
        {
            return delay_;
        }

        //*** Start: UpdatableState implementation ***//
        virtual void resetImplementation() override
        {
            values_.clear();
            times_.clear();
            last_time_ = 0;
            last_value_ = T();
        }

        virtual void update() override
        {
            UpdatableObject::update();

            if (!times_.empty() &&
                ClockBase::elapsedBetween(clock()->nowNanos(), times_.front()) >= delay_) {

                last_value_ = values_.front();
                last_time_ = times_.front();

                times_.pop_front();
                values_.pop_front();
            }
        }
        //*** End: UpdatableState implementation ***//

        T getOutput() const
        {
            return last_value_;
        }
        double getOutputTime() const
        {
            return last_time_;
        }

        void push_back(const T& val, TTimePoint time_offset = 0)
        {
            values_.push_back(val);
            times_.push_back(clock()->nowNanos() + time_offset);
        }

    private:
        template <typename TItem>
        using list = std::list<TItem>;

        list<T> values_;
        list<TTimePoint> times_;
        TTimeDelta delay_;

        T last_value_;
        TTimePoint last_time_;
    };
}
} //namespace
#endif