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d7ab21b8d6
I'm starting the separate battery info message because no char[32] should be published and logged at high rate and we need a separate battery info message for static information as discussed.
138 lines
5.3 KiB
C++
138 lines
5.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef BATTERY_INFO_HPP
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#define BATTERY_INFO_HPP
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#include <uORB/topics/battery_info.h>
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#include <uORB/topics/battery_status.h>
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class MavlinkStreamBatteryInfo : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryInfo(mavlink); }
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static constexpr const char *get_name_static() { return "BATTERY_INFO"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_INFO; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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return size_per_battery * _battery_status_subs.advertised_count();
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}
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private:
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explicit MavlinkStreamBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
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uORB::SubscriptionMultiArray<battery_info_s, battery_status_s::MAX_INSTANCES> _battery_info_subs{ORB_ID::battery_info};
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uint8_t _serial_number_ids[battery_status_s::MAX_INSTANCES] {};
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char _serial_numbers[battery_status_s::MAX_INSTANCES][32] {}; ///< keep track of serial numbers until all static battery info is split out
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bool send() override
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{
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bool updated = false;
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for (int i = 0; i < _battery_info_subs.size(); ++i) {
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battery_info_s battery_info;
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if (_battery_info_subs[i].update(&battery_info)) {
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_serial_number_ids[i] = battery_info.id;
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memcpy(_serial_numbers[i], battery_info.serial_number, sizeof(_serial_numbers[0]));
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}
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}
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for (auto &battery_sub : _battery_status_subs) {
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battery_status_s battery_status;
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if (battery_sub.update(&battery_status)) {
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mavlink_battery_info_t msg{};
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bool battery_has_serial_number = false;
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// load serial number from battery_info message until all static information fields were moved
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for (int i = 0; i < battery_status_s::MAX_INSTANCES; ++i) {
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if ((_serial_number_ids[i] != 0) && (_serial_number_ids[i] == battery_status.id)) {
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snprintf(msg.serial_number, sizeof(msg.serial_number), "%s", _serial_numbers[i]);
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battery_has_serial_number = true;
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}
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}
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if (!battery_has_serial_number) {
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// Only publish BATTERY_INFO if the battery has a serial number
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continue;
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}
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msg.id = battery_status.id - 1;
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msg.design_capacity = (float)(battery_status.capacity * 1000);
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msg.full_charge_capacity = (float)(battery_status.state_of_health * battery_status.capacity * 1000.f) / 100.f;
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msg.cycle_count = battery_status.cycle_count;
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if (battery_status.manufacture_date) {
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uint16_t day = battery_status.manufacture_date % 32;
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uint16_t month = (battery_status.manufacture_date >> 5) % 16;
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uint16_t year = (80 + (battery_status.manufacture_date >> 9));
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//Formatted as 'ddmmyyyy' (maxed 9 chars)
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snprintf(msg.manufacture_date, sizeof(msg.manufacture_date), "%d%d%d", day, month, year);
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}
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// Not supported by PX4 (not in battery_status uorb topic)
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/*
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msg.name = 0; // char[50]
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msg.weight = 0;
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msg.discharge_minimum_voltage = 0;
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msg.charging_minimum_voltage = 0;
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msg.resting_minimum_voltage = 0;
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msg.charging_maximum_voltage = 0;
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msg.charging_maximum_current = 0;
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msg.discharge_maximum_current = 0;
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msg.discharge_maximum_burst_current = 0;
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msg.cells_in_series = 0;
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msg.nominal_voltage = 0;
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*/
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mavlink_msg_battery_info_send_struct(_mavlink->get_channel(), &msg);
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updated = true;
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}
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}
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return updated;
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}
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};
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#endif // BATTERY_INFO_HPP
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