PX4-Autopilot/src/modules/esc_battery/EscBattery.cpp

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#include "EscBattery.hpp"

#include <math.h>

using namespace time_literals;

EscBattery::EscBattery() :
	ModuleParams(nullptr),
	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
	_battery(1, this, ESC_BATTERY_INTERVAL_US, battery_status_s::BATTERY_SOURCE_ESCS)
{
}

bool
EscBattery::init()
{
	if (!_esc_status_sub.registerCallback()) {
		PX4_ERR("callback registration failed");
		return false;
	}

	_esc_status_sub.set_interval_us(ESC_BATTERY_INTERVAL_US);

	return true;
}

void
EscBattery::parameters_updated()
{
	ModuleParams::updateParams();
}

void
EscBattery::Run()
{
	if (should_exit()) {
		_esc_status_sub.unregisterCallback();
		exit_and_cleanup();
		return;
	}

	if (_parameter_update_sub.updated()) {
		// Clear update
		parameter_update_s param_update;
		_parameter_update_sub.copy(&param_update);

		parameters_updated();
	}

	esc_status_s esc_status;

	if (_esc_status_sub.copy(&esc_status)) {

		if (esc_status.esc_count == 0 || esc_status.esc_count > esc_status_s::CONNECTED_ESC_MAX) {
			return;
		}

		const uint8_t online_esc_count = math::countSetBits(esc_status.esc_online_flags);
		float average_voltage_v = 0.0f;
		float total_current_a = 0.0f;

		for (unsigned i = 0; i < esc_status.esc_count; ++i) {
			if ((1 << i) & esc_status.esc_online_flags) {
				average_voltage_v += esc_status.esc[i].esc_voltage;
				total_current_a += esc_status.esc[i].esc_current;
			}
		}

		average_voltage_v /= online_esc_count;

		_battery.setConnected(true);
		_battery.updateVoltage(average_voltage_v);
		_battery.updateCurrent(total_current_a);
		_battery.updateAndPublishBatteryStatus(esc_status.timestamp);
	}
}

int EscBattery::task_spawn(int argc, char *argv[])
{
	EscBattery *instance = new EscBattery();

	if (instance) {
		_object.store(instance);
		_task_id = task_id_is_work_queue;

		if (instance->init()) {
			return PX4_OK;
		}

	} else {
		PX4_ERR("alloc failed");
	}

	delete instance;
	_object.store(nullptr);
	_task_id = -1;

	return PX4_ERROR;
}

int EscBattery::custom_command(int argc, char *argv[])
{
	return print_usage("unknown command");
}

int EscBattery::print_usage(const char *reason)
{
	if (reason) {
		PX4_WARN("%s\n", reason);
	}

	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description
This implements using information from the ESC status and publish it as battery status.

)DESCR_STR");

	PRINT_MODULE_USAGE_NAME("esc_battery", "system");
	PRINT_MODULE_USAGE_COMMAND("start");
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

	return 0;
}

extern "C" __EXPORT int esc_battery_main(int argc, char *argv[])
{
	return EscBattery::main(argc, argv);
}