power_monitor.h

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#ifndef POWER_MONITOR_POWER_MONITOR_H
#define POWER_MONITOR_POWER_MONITOR_H

#include <stdlib.h>
#include <boost/thread/mutex.hpp>

#include "ros/ros.h"
#include "dynamic_reconfigure/server.h"

#include "pr2_msgs/BatteryServer2.h"
#include "pr2_msgs/PowerBoardState.h"
#include "pr2_msgs/PowerState.h"

#include "power_monitor/PowerMonitorConfig.h"

#include "power_state_estimator.h"

namespace power_monitor {

class PowerMonitor
{
public:
    PowerMonitor();

    bool setActiveEstimator(PowerStateEstimator::Type estimator_type);

    void batteryServerUpdate(const boost::shared_ptr<const pr2_msgs::BatteryServer2>& battery_server);
    void powerNodeUpdate(const boost::shared_ptr<const pr2_msgs::PowerBoardState>& power_board_state);
    void configCallback(power_monitor::PowerMonitorConfig& config, uint32_t level);

private:
    void addEstimator(PowerStateEstimator* estimator);

    PowerObservation extractObservation();

    void onPublishTimer(const ros::TimerEvent& e);

    void publishPowerState();

    std::string masterStateToString(int8_t master_state) const;

    ros::Time getLastBatteryUpdate() const;

private:
    dynamic_reconfigure::Server<power_monitor::PowerMonitorConfig> config_server_;

    boost::mutex update_mutex_;
    boost::mutex publish_mutex_;

    int8_t master_state_;
    std::map<int, boost::shared_ptr<const pr2_msgs::BatteryServer2> > battery_servers_;

    std::map<std::string,               PowerStateEstimator::Type>               estimator_types_;
    std::map<PowerStateEstimator::Type, boost::shared_ptr<PowerStateEstimator> > estimators_;

    boost::shared_ptr<PowerStateEstimator> active_estimator_;

    ros::Timer      power_state_pub_timer_;
    ros::Publisher  power_state_pub_;
    ros::Subscriber battery_server_sub_;
    ros::Subscriber power_node_sub_;

    PowerObservation observation_;

    double battery_update_timeout_;
};

}

#endif /* POWER_MONITOR_POWER_MONITOR_H */