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#include "sensor.h"
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namespace sensor_simulator
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{
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Sensor::Sensor(std::shared_ptr<Ekf> ekf): _ekf{ekf}
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{
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}
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Sensor::~Sensor()
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{
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}
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void Sensor::update(uint32_t time)
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{
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if(should_send(time))
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{
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send(time);
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_time_last_data_sent = time;
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}
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}
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bool Sensor::should_send(uint32_t time) const
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{
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return _is_running && is_time_to_send(time);
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}
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bool Sensor::is_time_to_send(uint32_t time) const
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{
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return (time >= _time_last_data_sent) && ((time - _time_last_data_sent) >= _update_period);
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}
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} // namespace sensor_simulator
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