Merge branch 'main' into 2027

wpimath/src/main/native/cpp/filter/EdgeCounterFilter.cpp

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "wpi/math/filter/EdgeCounterFilter.hpp"
+
+#include "wpi/math/util/MathShared.hpp"
+
+using namespace wpi::math;
+
+EdgeCounterFilter::EdgeCounterFilter(int requiredEdges, units::second_t window)
+    : m_requiredEdges(requiredEdges), m_windowTime(window) {
+  ResetTimer();
+}
+
+void EdgeCounterFilter::ResetTimer() {
+  m_firstEdgeTime = wpi::math::MathSharedStore::GetTimestamp();
+}
+
+bool EdgeCounterFilter::HasElapsed() const {
+  return wpi::math::MathSharedStore::GetTimestamp() - m_firstEdgeTime >=
+         m_windowTime;
+}
+
+bool EdgeCounterFilter::Calculate(bool input) {
+  bool enoughEdges = m_currentCount >= m_requiredEdges;
+
+  bool expired = HasElapsed() && !enoughEdges;
+  bool activationEnded = !input && enoughEdges;
+
+  if (expired || activationEnded) {
+    m_currentCount = 0;
+  }
+
+  if (input && !m_lastInput) {
+    if (m_currentCount == 0) {
+      ResetTimer();  // Start timer on first rising edge
+    }
+
+    m_currentCount++;
+  }
+
+  m_lastInput = input;
+
+  return input && m_currentCount >= m_requiredEdges;
+}