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mavlink: move SMART_BATTERY_INFO to separate stream header

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This commit is contained in:
Daniel Agar
2021-02-20 16:32:57 -05:00
parent ec6758f5af
commit 5a025cfa28
2 changed files with 111 additions and 97 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -97
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@@ -161,6 +161,7 @@ using matrix::wrap_2pi;
# include "streams/ODOMETRY.hpp"
# include "streams/SCALED_PRESSURE2.hpp"
# include "streams/SCALED_PRESSURE3.hpp"
# include "streams/SMART_BATTERY_INFO.hpp"
# include "streams/UTM_GLOBAL_POSITION.hpp"
#endif // !CONSTRAINED_FLASH
@@ -790,103 +791,6 @@ protected:
}
};
class MavlinkStreamSmartBatteryInfo : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamSmartBatteryInfo::get_name_static();
}
static constexpr const char *get_name_static()
{
return "SMART_BATTERY_INFO";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_SMART_BATTERY_INFO;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamSmartBatteryInfo(mavlink);
}
unsigned get_size() override
{
static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
return size_per_battery * _battery_status_subs.advertised_count();
}
private:
uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
/* do not allow top copying this class */
MavlinkStreamSmartBatteryInfo(MavlinkStreamSysStatus &) = delete;
MavlinkStreamSmartBatteryInfo &operator = (const MavlinkStreamSysStatus &) = delete;
protected:
explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink)
{
}
bool send() override
{
bool updated = false;
for (auto &battery_sub : _battery_status_subs) {
battery_status_s battery_status;
if (battery_sub.update(&battery_status)) {
if (battery_status.serial_number == 0) {
//This is not smart battery
continue;
}
mavlink_smart_battery_info_t msg = {};
msg.id = battery_status.id - 1;
msg.capacity_full_specification = battery_status.capacity;
msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f);
msg.cycle_count = battery_status.cycle_count;
if (battery_status.manufacture_date) {
uint16_t day = battery_status.manufacture_date % 32;
uint16_t month = (battery_status.manufacture_date >> 5) % 16;
uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100;
//Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars)
snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number);
} else {
snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number);
}
//msg.device_name = ??
msg.weight = -1;
msg.discharge_minimum_voltage = -1;
msg.charging_minimum_voltage = -1;
msg.resting_minimum_voltage = -1;
mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg);
updated = true;
}
}
return updated;
}
};
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
@@ -1076,7 +980,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamCommandLong>(),
create_stream_list_item<MavlinkStreamSysStatus>(),
create_stream_list_item<MavlinkStreamBatteryStatus>(),
#if defined(SMART_BATTERY_INFO_HPP)
create_stream_list_item<MavlinkStreamSmartBatteryInfo>(),
#endif // SMART_BATTERY_INFO_HPP
#if defined(HIGHRES_IMU_HPP)
create_stream_list_item<MavlinkStreamHighresIMU>(),
#endif // HIGHRES_IMU_HPP
src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp
+108
View File
@@ -0,0 +1,108 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef SMART_BATTERY_INFO_HPP
#define SMART_BATTERY_INFO_HPP
#include <uORB/topics/battery_status.h>
class MavlinkStreamSmartBatteryInfo : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSmartBatteryInfo(mavlink); }
static constexpr const char *get_name_static() { return "SMART_BATTERY_INFO"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SMART_BATTERY_INFO; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
return size_per_battery * _battery_status_subs.advertised_count();
}
private:
explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
bool send() override
{
bool updated = false;
for (auto &battery_sub : _battery_status_subs) {
battery_status_s battery_status;
if (battery_sub.update(&battery_status)) {
if (battery_status.serial_number == 0) {
// This is not smart battery
continue;
}
mavlink_smart_battery_info_t msg{};
msg.id = battery_status.id - 1;
msg.capacity_full_specification = battery_status.capacity;
msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f);
msg.cycle_count = battery_status.cycle_count;
if (battery_status.manufacture_date) {
uint16_t day = battery_status.manufacture_date % 32;
uint16_t month = (battery_status.manufacture_date >> 5) % 16;
uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100;
//Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars)
snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number);
} else {
snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number);
}
//msg.device_name = ??
msg.weight = -1;
msg.discharge_minimum_voltage = -1;
msg.charging_minimum_voltage = -1;
msg.resting_minimum_voltage = -1;
mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg);
updated = true;
}
}
return updated;
}
};
#endif // SMART_BATTERY_INFO_HPP