battery.cpp

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#include "battery.hpp"

#include <drivers/drv_hrt.h>

const char *const UavcanBatteryBridge::NAME = "battery";

UavcanBatteryBridge::UavcanBatteryBridge(uavcan::INode &node) :
    UavcanCDevSensorBridgeBase("uavcan_battery", "/dev/uavcan/battery", "/dev/battery", ORB_ID(battery_status)),
    _sub_battery(node)
{
}

int
UavcanBatteryBridge::init()
{
    int res = device::CDev::init();

    if (res < 0) {
        return res;
    }

    res = _sub_battery.start(BatteryInfoCbBinder(this, &UavcanBatteryBridge::battery_sub_cb));

    if (res < 0) {
        PX4_ERR("failed to start uavcan sub: %d", res);
        return res;
    }

    return 0;
}

void
UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg)
{
    battery_status_s battery{};

    battery.timestamp = hrt_absolute_time();
    battery.voltage_v = msg.voltage;
    battery.voltage_filtered_v = battery.voltage_v;
    battery.current_a = msg.current;
    battery.current_filtered_a = battery.current_a;
    // battery.average_current_a = msg.;
    // battery.discharged_mah = msg.;

    // between 0 and 1
    if (msg.full_charge_capacity_wh > 0) {
        battery.remaining = msg.remaining_capacity_wh / msg.full_charge_capacity_wh;

    } else {
        battery.remaining = 0;

    }

    // battery.scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
    battery.temperature = msg.temperature;
    // battery.cell_count = msg.;
    // battery.voltage_cell_v[4] = msg.;
    // battery.max_cell_voltage_delta = msg.;
    battery.capacity = msg.full_charge_capacity_wh;
    // battery.cycle_count = msg.;
    // battery.run_time_to_empty = msg.;
    // battery.average_time_to_empty = msg.;
    battery.serial_number = msg.model_instance_id;
    battery.connected = true;
    battery.system_source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
    // battery.priority = msg.;
    // battery.is_powering_off = msg.;
    // battery.warning = msg.;

    publish(msg.getSrcNodeID().get(), &battery);
}