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mavlink: move SMART_BATTERY_INFO to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -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