Merge remote-tracking branch 'origin/implement_localisation' into imp…

…lement_localisation

lib/localisation/preprocessing/src/preprocess_keyence.rs

@@ -0,0 +1,39 @@
+enum keyence_data_status{
+    agreed,
+    disagreed,
+}
+
+enum sensor_checks{
+    acceptable,
+    unnaceptable,
+}
+
+fn main {
+    let keyence_data = vec![true, true, false, true, true];
+    let sensor_check = check_keyence_agrees(&keyence_data);
+    println!("{:?}", sensor_check);
+}
+
+pub fn check_keyence_agrees(keyence_data: &Vec<f64>) -> sensor_checks {
+    let mut sensor_check = sensor_checks::acceptable;
+    let mut previous_data_status = keyence_data_status::agreed
+    let mut current_data_status = keyence_data_status::agreed
+
+    for i in 0..keyence_data.len()-1 {
+        if keyence_data[i] != keyence_data{i+1} {
+            current_data_status = keyence_data_status::disagreed
+        }
+    }
+
+    if current_data_status == keyence_data_status::disagreed && previous_data_status == keyence_data_status:: disagreed {
+        println!("Keyence disagreement for two consecutive readings.");
+
+        sensor_check = sensor_checks::unnaceptable
+
+        sensor_check
+    }
+
+    previous_data_status = current_data_status
+
+    sensor_check
+}