BatteryState.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
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 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
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 */

#ifndef _MIRA_BATTERYSTATE_H_
#define _MIRA_BATTERYSTATE_H_

#include <utils/Stamped.h>

namespace mira { namespace robot {


class BatteryState
{
public:

    BatteryState() :
        voltage(0.0f), current(0.0f), lifePercent(255), lifeTime(-1),
        charging(false), powerSupplyPresent(false)
    {}

    BatteryState(float iVoltage, float iCurrent,
                 uint8 iPercent, int16 iTime, bool iCharging,
                 bool iPowerSupplyPresent) :
        voltage(iVoltage), current(iCurrent),
        lifePercent(iPercent), lifeTime(iTime),
        charging(iCharging),
        powerSupplyPresent(iPowerSupplyPresent)
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        int v = r.version(2, this);

        r.member("Voltage", voltage, "The voltage in [V]");
        r.member("Current", current, "The current in [A]");
        r.member("LifePercent", lifePercent,
                 "The battery life percent [0..100] or 255 if unknown");
        r.member("LifeTime", lifeTime,
                 "The battery life time in minutes or -1 if unknown");
        r.member("Charging", charging, "Is the battery being charged");

        // new in version 2
        if (v == 2) {
            r.member("CellVoltage", cellVoltage, "The voltage of the single cells in [V]");
            r.member("PowerSupplyPresent", powerSupplyPresent,
                     "Is the robot powered by an external power supply");
        } else
            powerSupplyPresent = charging;
    }


public:
    float voltage;

    float current;

    uint8 lifePercent;

    int16 lifeTime;

    bool charging;

    bool powerSupplyPresent;

    std::vector<float> cellVoltage;
};


}}

#endif