teo_battery_monitor_driver.cpp

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#include "teo_battery_monitor_driver.h"
#include "exceptions.h"

TeoBatteryMonitorDriver::TeoBatteryMonitorDriver(void)
{
  //setDriverId(driver string id);
  this->battery=NULL;
  this->serial_num="";
}

bool TeoBatteryMonitorDriver::openDriver(void)
{
  //setDriverId(driver string id);
  if(this->serial_num!="")
  {
    try{
      ROS_INFO("opening");
      this->battery=new CSegway_Battery(this->serial_num);
      // add the default alarms
      this->low_capacity="low_capacity_alarm";
      this->low_capacity_event_id=this->battery->create_alarm(low_capacity,this->low_capacity_condition);
      return true;
    }catch(CException &e){
      ROS_INFO("[teo_battery_monitor] - %s",e.what().c_str());
      return false;
    }
  }
  else
    return false;
}

bool TeoBatteryMonitorDriver::closeDriver(void)
{
  if(this->battery!=NULL)
  {
    delete this->battery;
    this->battery=NULL;
  }

  return true;
}

bool TeoBatteryMonitorDriver::startDriver(void)
{
  return true;
}

bool TeoBatteryMonitorDriver::stopDriver(void)
{
  return true;
}

void TeoBatteryMonitorDriver::config_update(Config& new_cfg, uint32_t level)
{
  this->lock();
  
  // depending on current state
  // update driver with new_cfg data
  switch(this->getState())
  {
    case TeoBatteryMonitorDriver::CLOSED:
      this->serial_num=new_cfg.serial_num;
      break;

    case TeoBatteryMonitorDriver::OPENED:
      break;

    case TeoBatteryMonitorDriver::RUNNING:
      break;
  }

  // save the current configuration
  this->config_=new_cfg;

  this->unlock();
}

bool TeoBatteryMonitorDriver::check_alarms(void)
{
  CEventServer *event_server=CEventServer::instance();

  if(event_server->event_is_set(this->low_capacity_event_id))
    return true;
  else
    return false;
}

void TeoBatteryMonitorDriver::get_battery_info(TBatteryInfo *info)
{
  this->battery->get_battery_info(info);  
}

bool TeoBatteryMonitorDriver::low_capacity_condition(TBatteryInfo *info)
{
  if(info->rem_capacity<1000)
    return true;
  else
    return false;
}

TeoBatteryMonitorDriver::~TeoBatteryMonitorDriver(void)
{
}