PX4-Autopilot/src/drivers/uavcan/sensors/battery.hpp

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/**
 * @author Jacob Dahl <dahl.jakejacob@gmail.com>
 * @author Alex Klimaj <alex@arkelectron.com>
 */

#pragma once

#include "sensor_bridge.hpp"
#include <uORB/topics/battery_info.h>
#include <uORB/topics/battery_status.h>
#include <uavcan/equipment/power/BatteryInfo.hpp>
#include <ardupilot/equipment/power/BatteryInfoAux.hpp>
#include <cuav/equipment/power/CBAT.hpp>
#include <battery/battery.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/module_params.h>

using namespace time_literals;

class UavcanBatteryBridge : public UavcanSensorBridgeBase, public ModuleParams
{
public:
	static const char *const NAME;

	UavcanBatteryBridge(uavcan::INode &node, NodeInfoPublisher *node_info_publisher);

	const char *get_name() const override { return NAME; }

	int init() override;

private:

	/* Different options to update the battery status */
	enum class BatteryDataType {
		Raw, // data from BatteryInfo message only
		RawAux, // data combination from BatteryInfo and BatteryInfoAux messages
		Filter, // filter data from BatteryInfo message with Battery library
		CBAT, // CBAT messages
	};

	void battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg);
	void battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::equipment::power::BatteryInfoAux> &msg);
	void cbat_sub_cb(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &msg);
	void filterData(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg, uint8_t instance);

	typedef uavcan::MethodBinder < UavcanBatteryBridge *,
		void (UavcanBatteryBridge::*)
		(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &) >
		BatteryInfoCbBinder;
	typedef uavcan::MethodBinder < UavcanBatteryBridge *,
		void (UavcanBatteryBridge::*)
		(const uavcan::ReceivedDataStructure<ardupilot::equipment::power::BatteryInfoAux> &) >
		BatteryInfoAuxCbBinder;

	typedef uavcan::MethodBinder < UavcanBatteryBridge *,
		void (UavcanBatteryBridge::*)
		(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &) >
		CBATCbBinder;

	uavcan::Subscriber<uavcan::equipment::power::BatteryInfo, BatteryInfoCbBinder> _sub_battery;
	uavcan::Subscriber<ardupilot::equipment::power::BatteryInfoAux, BatteryInfoAuxCbBinder> _sub_battery_aux;
	uavcan::Subscriber<cuav::equipment::power::CBAT, CBATCbBinder> _sub_cbat;

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
		(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
		(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr
	)

	float _discharged_mah = 0.f;
	float _discharged_mah_loop = 0.f;
	uint8_t _warning;
	hrt_abstime _last_timestamp;

	// Separate battery info publication because UavcanSensorBridgeBase only supports publishing one topic
	uORB::PublicationMulti<battery_info_s> _battery_info_pub[battery_status_s::MAX_INSTANCES] {ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info)};

	battery_info_s _battery_info[battery_status_s::MAX_INSTANCES] {};
	battery_status_s _battery_status[battery_status_s::MAX_INSTANCES] {};
	BatteryDataType _batt_update_mod[battery_status_s::MAX_INSTANCES] {};
	uint8_t _node_ids[battery_status_s::MAX_INSTANCES] {}; // UAVCAN node ID per instance

	static constexpr int FILTER_DATA = 2;
	static constexpr int BATTERY_INDEX_1 = 1;
	static constexpr int BATTERY_INDEX_2 = 2;
	static constexpr int BATTERY_INDEX_3 = 3;
	static constexpr int SAMPLE_INTERVAL_US = 500_ms; // Typical message rate for a CAN battery monitor should be 2-5Hz.

	static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_3, "Battery array too big");

	Battery battery1 = {BATTERY_INDEX_1, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
	Battery battery2 = {BATTERY_INDEX_2, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
	Battery battery3 = {BATTERY_INDEX_3, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};

	Battery *_battery[battery_status_s::MAX_INSTANCES] = { &battery1, &battery2, &battery3};
};