upowerBattery.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_UPOWERBATTERY_H
#define YARP_UPOWERBATTERY_H
 
#include <yarp/dev/IBattery.h>
#include <yarp/dev/PolyDriver.h>
 
#include <QDBusInterface>
 
class UpowerBattery :
        public yarp::dev::DeviceDriver,
        public yarp::dev::IBattery
{
public:
    UpowerBattery() = default;
    UpowerBattery(const UpowerBattery&) = delete;
    UpowerBattery(UpowerBattery&&) = delete;
    UpowerBattery& operator=(const UpowerBattery&) = delete;
    UpowerBattery& operator=(UpowerBattery&&) = delete;
 
    ~UpowerBattery() override = default;
 
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    yarp::dev::ReturnValue getBatteryVoltage(double& voltage) override;
    yarp::dev::ReturnValue getBatteryCurrent(double& current) override;
    yarp::dev::ReturnValue getBatteryCharge(double& charge) override;
    yarp::dev::ReturnValue getBatteryStatus(Battery_status& status) override;
    yarp::dev::ReturnValue getBatteryInfo(std::string& info) override;
    yarp::dev::ReturnValue getBatteryTemperature(double& temperature) override;
 
private:
    QDBusInterface *m_interface { nullptr };
};
 
#endif