00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _tibi_dabo_battery_monitor_driver_h_ 00026 #define _tibi_dabo_battery_monitor_driver_h_ 00027 00028 #include <iri_base_driver/iri_base_driver.h> 00029 #include <tibi_dabo_battery_monitor/TibiDaboBatteryMonitorConfig.h> 00030 00031 //include tibi_dabo_battery_monitor_driver main library 00032 #include "segway_battery.h" 00033 00053 class TibiDaboBatteryMonitorDriver : public iri_base_driver::IriBaseDriver 00054 { 00055 private: 00056 // private attributes and methods 00057 CSegway_Battery *battery; 00058 std::string serial_num; 00059 // alarm identifiers 00060 std::string warning_time_to_discharge; 00061 std::string warning_time_to_discharge_event_id; 00062 static int warning_threshold; 00063 // threshold values 00064 std::string alarm_time_to_discharge; 00065 std::string alarm_time_to_discharge_event_id; 00066 static int alarm_threshold; 00067 protected: 00068 static bool warning_condition(TBatteryInfo *info); 00069 static bool alarm_condition(TBatteryInfo *info); 00070 public: 00077 typedef tibi_dabo_battery_monitor::TibiDaboBatteryMonitorConfig Config; 00078 00085 Config config_; 00086 00095 TibiDaboBatteryMonitorDriver(void); 00096 00107 bool openDriver(void); 00108 00119 bool closeDriver(void); 00120 00131 bool startDriver(void); 00132 00143 bool stopDriver(void); 00144 00156 void config_update(Config& new_cfg, uint32_t level=0); 00157 00158 // here define all tibi_dabo_battery_monitor_driver interface methods to retrieve and set 00159 // the driver parameters 00160 bool check_alarm(void); 00161 bool check_warning(void); 00162 void get_battery_info(TBatteryInfo *info); 00163 00170 ~TibiDaboBatteryMonitorDriver(void); 00171 }; 00172 00173 #endif