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// SPDX-License-Identifier: BSD-3-Clause
// Copyright 2024 UxuginPython
//!Streams that convert from one type to another. Some of these also do keep the same type and are
//!for convenience in certain situations, for example when you do not want to handle a [`None`]
//!variant yourself.
use crate::streams::*;
///A stream converting all `Ok(None)` values from its input to `Err(_)` variants.
pub struct NoneToError<T: Clone, G: Getter<T, E> + ?Sized, E: Copy + Debug> {
input: Reference<G>,
phantom_t: PhantomData<T>,
phantom_e: PhantomData<E>,
}
impl<T: Clone, G: Getter<T, E> + ?Sized, E: Copy + Debug> NoneToError<T, G, E> {
///Constructor for [`NoneToError`].
pub const fn new(input: Reference<G>) -> Self {
Self {
input: input,
phantom_t: PhantomData,
phantom_e: PhantomData,
}
}
}
impl<T: Clone, G: Getter<T, E> + ?Sized, E: Copy + Debug> Getter<T, E> for NoneToError<T, G, E> {
fn get(&self) -> Output<T, E> {
let output = self.input.borrow().get()?;
match output {
Some(_) => {
return Ok(output);
}
None => {
return Err(Error::FromNone);
}
}
}
}
impl<T: Clone, G: Getter<T, E> + ?Sized, E: Copy + Debug> Updatable<E> for NoneToError<T, G, E> {
///This does not need to be called.
fn update(&mut self) -> NothingOrError<E> {
Ok(())
}
}
///A stream converting all `Ok(None)` values from its input to a default `Ok(Some(_))` value.
pub struct NoneToValue<
T: Clone,
G: Getter<T, E> + ?Sized,
TG: TimeGetter<E> + ?Sized,
E: Copy + Debug,
> {
input: Reference<G>,
time_getter: Reference<TG>,
none_value: T,
phantom_e: PhantomData<E>,
}
impl<T: Clone, G: Getter<T, E> + ?Sized, TG: TimeGetter<E> + ?Sized, E: Copy + Debug>
NoneToValue<T, G, TG, E>
{
///Constructor for [`NoneToValue`].
pub const fn new(input: Reference<G>, time_getter: Reference<TG>, none_value: T) -> Self {
Self {
input: input,
time_getter: time_getter,
none_value: none_value,
phantom_e: PhantomData,
}
}
}
impl<T: Clone, G: Getter<T, E> + ?Sized, TG: TimeGetter<E> + ?Sized, E: Copy + Debug> Getter<T, E>
for NoneToValue<T, G, TG, E>
{
fn get(&self) -> Output<T, E> {
let output = self.input.borrow().get()?;
match output {
Some(_) => {
return Ok(output);
}
None => {
return Ok(Some(Datum::new(
self.time_getter.borrow().get()?,
self.none_value.clone(),
)))
}
}
}
}
impl<T: Clone, G: Getter<T, E> + ?Sized, TG: TimeGetter<E> + ?Sized, E: Copy + Debug> Updatable<E>
for NoneToValue<T, G, TG, E>
{
fn update(&mut self) -> NothingOrError<E> {
Ok(())
}
}
pub use acceleration_to_state::AccelerationToState;
mod acceleration_to_state {
use super::*;
struct Update0 {
last_update_time: Time,
acc: Quantity,
update_1: Option<Update1>,
}
struct Update1 {
vel: Quantity,
update_2: Option<Quantity>, //position
}
///A stream that integrates an acceleration getter to construct a full state. Mostly useful for
///encoders.
pub struct AccelerationToState<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> {
acc: Reference<G>,
update: Option<Update0>,
phantom_e: PhantomData<E>,
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> AccelerationToState<G, E> {
///Constructor for [`AccelerationToState`].
pub const fn new(acc: Reference<G>) -> Self {
Self {
acc: acc,
update: None,
phantom_e: PhantomData,
}
}
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> Getter<State, E>
for AccelerationToState<G, E>
{
fn get(&self) -> Output<State, E> {
match &self.update {
Some(update_0) => match &update_0.update_1 {
Some(update_1) => match update_1.update_2 {
Some(position) => Ok(Some(Datum::new(
update_0.last_update_time,
State::new(position, update_1.vel, update_0.acc),
))),
None => Ok(None),
},
None => Ok(None),
},
None => Ok(None),
}
}
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> Updatable<E> for AccelerationToState<G, E> {
fn update(&mut self) -> NothingOrError<E> {
match self.acc.borrow().get() {
Ok(gotten) => match gotten {
Some(new_acc_datum) => {
let new_time = new_acc_datum.time;
let new_acc = new_acc_datum.value;
new_acc
.unit
.assert_eq_assume_ok(&MILLIMETER_PER_SECOND_SQUARED);
match &self.update {
Some(update_0) => {
let old_time = update_0.last_update_time;
let old_acc = update_0.acc;
let delta_time = Quantity::from(new_time - old_time);
let vel_addend =
(old_acc + new_acc) / Quantity::dimensionless(2.0) * delta_time;
match &update_0.update_1 {
Some(update_1) => {
let old_vel = update_1.vel;
let new_vel = old_vel + vel_addend;
let pos_addend = (old_vel + new_vel)
/ Quantity::dimensionless(2.0)
* delta_time;
match &update_1.update_2 {
Some(old_pos) => {
self.update = Some(Update0 {
last_update_time: new_time,
acc: new_acc,
update_1: Some(Update1 {
vel: new_vel,
update_2: Some(*old_pos + pos_addend),
}),
})
}
None => {
self.update = Some(Update0 {
last_update_time: new_time,
acc: new_acc,
update_1: Some(Update1 {
vel: new_vel,
update_2: Some(pos_addend),
}),
})
}
}
}
None => {
self.update = Some(Update0 {
last_update_time: new_time,
acc: new_acc,
update_1: Some(Update1 {
vel: vel_addend,
update_2: None,
}),
})
}
}
}
None => {
self.update = Some(Update0 {
last_update_time: new_time,
acc: new_acc,
update_1: None,
});
}
}
}
None => (), //This just does nothing if the input gives a None. It does not reset
//it or anything.
},
Err(error) => {
self.update = None;
return Err(error);
}
}
Ok(())
}
}
}
pub use velocity_to_state::VelocityToState;
mod velocity_to_state {
use super::*;
struct Update0 {
last_update_time: Time,
vel: Quantity,
update_1: Option<Update1>,
}
struct Update1 {
acc: Quantity,
pos: Quantity,
}
///A stream that integrates and derivates a velocity getter to construct a full state. Mostly
///useful for encoders.
pub struct VelocityToState<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> {
vel: Reference<G>,
update: Option<Update0>,
phantom_e: PhantomData<E>,
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> VelocityToState<G, E> {
///Constructor for [`VelocityToState`].
pub const fn new(vel: Reference<G>) -> Self {
Self {
vel: vel,
update: None,
phantom_e: PhantomData,
}
}
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> Getter<State, E> for VelocityToState<G, E> {
fn get(&self) -> Output<State, E> {
match &self.update {
Some(update_0) => match &update_0.update_1 {
Some(update_1) => Ok(Some(Datum::new(
update_0.last_update_time,
State::new(
update_1.pos.into(),
update_0.vel.into(),
update_1.acc.into(),
),
))),
None => Ok(None),
},
None => Ok(None),
}
}
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> Updatable<E> for VelocityToState<G, E> {
fn update(&mut self) -> NothingOrError<E> {
match self.vel.borrow().get() {
Ok(gotten) => match gotten {
Some(new_vel_datum) => {
let new_time = new_vel_datum.time;
let new_vel = new_vel_datum.value;
new_vel.unit.assert_eq_assume_ok(&MILLIMETER_PER_SECOND);
match &self.update {
Some(update_0) => {
let old_time = update_0.last_update_time;
let delta_time = Quantity::from(new_time - old_time);
let old_vel = update_0.vel;
let new_acc = (new_vel - old_vel) / delta_time;
let pos_addend =
(old_vel + new_vel) / Quantity::dimensionless(2.0) * delta_time;
match &update_0.update_1 {
Some(update_1) => {
self.update = Some(Update0 {
last_update_time: new_time,
vel: new_vel,
update_1: Some(Update1 {
acc: new_acc,
pos: update_1.pos + pos_addend,
}),
});
}
None => {
self.update = Some(Update0 {
last_update_time: new_time,
vel: new_vel,
update_1: Some(Update1 {
acc: new_acc,
pos: pos_addend,
}),
});
}
}
}
None => {
self.update = Some(Update0 {
last_update_time: new_time,
vel: new_vel,
update_1: None,
});
}
}
}
None => (),
},
Err(error) => {
self.update = None;
return Err(error);
}
}
Ok(())
}
}
}
pub use position_to_state::PositionToState;
mod position_to_state {
use super::*;
struct Update0 {
last_update_time: Time,
pos: Quantity,
update_1: Option<Update1>,
}
struct Update1 {
vel: Quantity,
update_2: Option<Quantity>, //acceleration
}
///A stream that derivates a position getter to construct a full state. Mostly useful for encoders.
pub struct PositionToState<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> {
pos: Reference<G>,
update: Option<Update0>,
phantom_e: PhantomData<E>,
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> PositionToState<G, E> {
///Constructor for [`PositionToState`].
pub const fn new(pos: Reference<G>) -> Self {
Self {
pos: pos,
update: None,
phantom_e: PhantomData,
}
}
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> Getter<State, E> for PositionToState<G, E> {
fn get(&self) -> Output<State, E> {
match &self.update {
Some(update_0) => match &update_0.update_1 {
Some(update_1) => match update_1.update_2 {
Some(acc) => Ok(Some(Datum::new(
update_0.last_update_time,
State::new(update_0.pos.into(), update_1.vel.into(), acc.into()),
))),
None => Ok(None),
},
None => Ok(None),
},
None => Ok(None),
}
}
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> Updatable<E> for PositionToState<G, E> {
fn update(&mut self) -> NothingOrError<E> {
match self.pos.borrow().get() {
Ok(gotten) => match gotten {
Some(new_pos_datum) => {
let new_time = new_pos_datum.time;
let new_pos = new_pos_datum.value;
new_pos.unit.assert_eq_assume_ok(&MILLIMETER);
match &self.update {
Some(update_0) => {
let old_time = update_0.last_update_time;
let delta_time = Quantity::from(new_time - old_time);
let old_pos = update_0.pos;
let new_vel = (new_pos - old_pos) / delta_time;
match &update_0.update_1 {
Some(update_1) => {
let old_vel = update_1.vel;
let new_acc = (new_vel - old_vel) / delta_time;
self.update = Some(Update0 {
last_update_time: new_time,
pos: new_pos,
update_1: Some(Update1 {
vel: new_vel,
update_2: Some(new_acc),
}),
});
}
None => {
self.update = Some(Update0 {
last_update_time: new_time,
pos: new_pos,
update_1: Some(Update1 {
vel: new_vel,
update_2: None,
}),
});
}
}
}
None => {
self.update = Some(Update0 {
last_update_time: new_time,
pos: new_pos,
update_1: None,
});
}
}
}
None => (),
},
Err(error) => {
self.update = None;
return Err(error);
}
}
Ok(())
}
}
}
///Stream to convert an [`f32`] to a [`Quantity`] with a given [`Unit`].
pub struct FloatToQuantity<G: Getter<f32, E> + ?Sized, E: Copy + Debug> {
unit: Unit,
input: Reference<G>,
value: Output<f32, E>,
}
impl<G: Getter<f32, E>, E: Copy + Debug> FloatToQuantity<G, E> {
///Constructor for [`FloatToQuantity`].
pub fn new(unit: Unit, input: Reference<G>) -> Self {
Self {
unit: unit,
input: input,
value: Ok(None),
}
}
}
impl<G: Getter<f32, E>, E: Copy + Debug> Updatable<E> for FloatToQuantity<G, E> {
fn update(&mut self) -> NothingOrError<E> {
self.value = self.input.borrow().get();
Ok(())
}
}
impl<G: Getter<f32, E>, E: Copy + Debug> Getter<Quantity, E> for FloatToQuantity<G, E> {
fn get(&self) -> Output<Quantity, E> {
match self.value {
Err(err) => Err(err),
Ok(None) => Ok(None),
Ok(Some(datum)) => Ok(Some(Datum::new(
datum.time,
Quantity::new(datum.value, self.unit),
))),
}
}
}
///Stream to convert a [`Quantity`] to a raw [`f32`].
pub struct QuantityToFloat<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> {
input: Reference<G>,
value: Output<f32, E>,
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> QuantityToFloat<G, E> {
///Constructor for [`QuantityToFloat`].
pub fn new(input: Reference<G>) -> Self {
Self {
input: input,
value: Ok(None),
}
}
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> Getter<f32, E> for QuantityToFloat<G, E> {
fn get(&self) -> Output<f32, E> {
self.value
}
}
impl<G: Getter<Quantity, E> + ?Sized, E: Copy + Debug> Updatable<E> for QuantityToFloat<G, E> {
fn update(&mut self) -> NothingOrError<E> {
let gotten = self.input.borrow().get();
self.value = match gotten {
Err(error) => Err(error),
Ok(None) => Ok(None),
Ok(Some(datum)) => Ok(Some(Datum::new(datum.time, datum.value.value))),
};
Ok(())
}
}