BatteryWrapper.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef YARP_DEV_BATTERYWRAPPER_H
#define YARP_DEV_BATTERYWRAPPER_H
 
#include <vector>
#include <iostream>
#include <string>
#include <sstream>
#include <cmath>
 
#include <yarp/os/Network.h>
#include <yarp/os/Port.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/Time.h>
#include <yarp/os/Property.h>
 
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Stamp.h>
 
#include <yarp/sig/Vector.h>
 
#include <yarp/dev/IBattery.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IMultipleWrapper.h>
#include <yarp/dev/api.h>
 
#define DEFAULT_THREAD_PERIOD 0.02 //s
 
class BatteryWrapper :
        public yarp::os::PeriodicThread,
        public yarp::dev::DeviceDriver,
        public yarp::dev::IMultipleWrapper,
        public yarp::os::PortReader
{
public:
    BatteryWrapper();
    ~BatteryWrapper();
 
    bool open(yarp::os::Searchable &params) override;
    bool close() override;
 
    bool attachAll(const yarp::dev::PolyDriverList &p) override;
    bool detachAll() override;
 
    bool threadInit() override;
    void threadRelease() override;
    void run() override;
 
private:
 
    //driver stuff
    yarp::dev::PolyDriver m_driver;
    yarp::dev::IBattery *m_ibattery_p;             // the battery read from
 
    //ports stuff
    std::string m_streamingPortName;
    std::string m_rpcPortName;
    std::string m_quitPortName;
    yarp::os::Port m_rpcPort;
    yarp::os::BufferedPort<yarp::os::Bottle> m_streamingPort;
 
    //data
    double m_battery_charge = std::nan("");
    double m_battery_voltage = std::nan("");
    double m_battery_current = std::nan("");
    double m_battery_temperature = std::nan("");
    yarp::dev::IBattery::Battery_status m_battery_status = yarp::dev::IBattery::Battery_status::BATTERY_TIMEOUT;
 
    yarp::os::Stamp m_lastStateStamp;             // the last reading time stamp
    double m_period;
    bool m_ownDevices;
    std::string m_sensorId;
 
    //behavior controls
    bool m_enable_shutdown;
    bool m_enable_log;
 
    //log stuff
    char                m_log_buffer[1024];
    FILE                *m_logFile;
 
    //public methods
    bool read(yarp::os::ConnectionReader& connection) override;
 
private:
    //private methods
    void attach(yarp::dev::IBattery *s);
    void detach();
 
    //internal methods to handle particular statuses of the battery
    bool initialize_YARP(yarp::os::Searchable &config);
    void notify_message(std::string msg);
    void emergency_shutdown(std::string msg);
    void check_battery_status(double battery_charge);
    void stop_robot(std::string quit_port);
};
 
#endif // YARP_DEV_BATTERYWRAPPER_H