battery_nwc_yarp.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_BATTERYCLIENT_BATTERYCLIENT_H
#define YARP_DEV_BATTERYCLIENT_BATTERYCLIENT_H
 
 
#include <yarp/os/Network.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/dev/IBattery.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ControlBoardHelpers.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/dev/PolyDriver.h>
 
#include <mutex>
 
 
#define DEFAULT_THREAD_PERIOD 20 //ms
const int BATTERY_TIMEOUT=100; //ms
 
 
class BatteryInputPortProcessor : public yarp::os::BufferedPort<yarp::os::Bottle>
{
    yarp::os::Bottle lastBottle;
    std::mutex mutex;
    yarp::os::Stamp lastStamp;
    double deltaT;
    double deltaTMax;
    double deltaTMin;
    double prev;
    double now;
 
    int state;
    int count;
 
public:
 
    inline void resetStat();
 
    BatteryInputPortProcessor();
 
    using yarp::os::BufferedPort<yarp::os::Bottle>::onRead;
    void onRead(yarp::os::Bottle &v) override;
 
    inline int getLast(yarp::os::Bottle &data, yarp::os::Stamp &stmp);
 
    inline int getIterations();
 
    // time is in ms
    void getEstFrequency(int &ite, double &av, double &min, double &max);
 
    double getVoltage();
    double getCurrent();
    double getCharge();
    double getTemperature();
    int getStatus();
 
};
 
class Battery_nwc_yarp :
        public yarp::dev::DeviceDriver,
        public yarp::dev::IPreciselyTimed,
        public yarp::dev::IBattery
{
protected:
    BatteryInputPortProcessor inputPort;
    yarp::os::Port rpcPort;
    std::string local;
    std::string remote;
    std::string m_carrier;
    yarp::os::Stamp lastTs; //used by IPreciselyTimed
    std::string deviceId;
 
public:
 
    /* DeviceDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
 
    /* IPreciselyTimed methods */
    yarp::os::Stamp getLastInputStamp() override;
 
    bool getBatteryVoltage(double &voltage) override;
 
    bool getBatteryCurrent(double &current) override;
 
    bool getBatteryCharge(double &charge) override;
 
    bool getBatteryStatus(Battery_status &status) override;
 
    bool getBatteryInfo(std::string &battery_info) override;
 
    bool getBatteryTemperature(double &temperature) override;
};
 
#endif // YARP_DEV_BATTERYCLIENT_BATTERYCLIENT_H