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

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#include "EscBattery.hpp"
#include <drivers/drv_hrt.h>

using namespace time_literals;

EscBattery::EscBattery() :
	ModuleParams(nullptr),
	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
	_battery(3, this)
{
	parameters_updated();
}

EscBattery::~EscBattery()
{
}

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

	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.update(&esc_status)) {

		if (hrt_elapsed_time(&esc_status.timestamp) < 500_ms ||
		    esc_status.esc_count == 0 ||
		    esc_status.esc_count > 8) {
			return;
		}

		float average_voltage_v = 0.0f;
		float total_current_a = 0.0f;

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

		average_voltage_v /= esc_status.esc_count;

		const bool connected = true;
		const bool selected_source = true;
		const int priority = 0;
		const bool should_publish = true;

		actuator_controls_s ctrl;
		_actuator_ctrl_0_sub.copy(&ctrl);

		_battery.updateBatteryStatus(
			esc_status.timestamp,
			average_voltage_v,
			total_current_a,
			connected,
			selected_source,
			priority,
			ctrl.control[actuator_controls_s::INDEX_THROTTLE],
			should_publish);
		_battery.publish();
	}
}

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);
}