observation.h

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#ifndef POWER_MONITOR_OBSERVATION_H
#define POWER_MONITOR_OBSERVATION_H

#include <stdlib.h>

#include "ros/ros.h"

#include "pr2_msgs/PowerBoardState.h"

namespace power_monitor {

class BatteryObservation;

class PowerObservation
{
public:
    PowerObservation();
    PowerObservation(const ros::Time& stamp, int8_t master_state, const std::vector<BatteryObservation>& batteries);

    const ros::Time&                       getStamp() const;
    int8_t                                 getMasterState() const;
    const std::vector<BatteryObservation>& getBatteries() const;

    unsigned int  getAcCount() const;
    float         getTotalPower() const;
    float         getMinVoltage() const;
    unsigned int  getMinRelativeStateOfCharge() const;
    float         getTotalRemainingCapacity() const;
    ros::Duration getMinTimeToEmpty(const ros::Time& t) const;
    ros::Duration getMaxTimeToFull(const ros::Time& t) const;

private:
    ros::Time                       stamp_;
    int8_t                          master_state_;
    std::vector<BatteryObservation> batteries_;
};

class BatteryObservation
{
public:
    BatteryObservation(const ros::Time& stamp, bool ac_present, float voltage, float current,
                       unsigned int relative_state_of_charge, float remaining_capacity, const ros::Duration& time_to_empty, const ros::Duration& time_to_full);

    const ros::Time& getStamp() const;

    bool                 isAcPresent() const;
    float                getVoltage() const;
    float                getCurrent() const;
    unsigned int         getRelativeStateOfCharge() const;
    float                getRemainingCapacity() const;
    const ros::Duration& getTimeToEmpty() const;
    const ros::Duration& getTimeToFull() const;

    float getPower() const;

private:
    ros::Time     stamp_;
    bool          ac_present_;
    float         voltage_;                   // V
    float         current_;                   // A (-ve if discharging)
    unsigned int  relative_state_of_charge_;  // % [0-100]
    float         remaining_capacity_;        // Ah
    ros::Duration time_to_empty_;
    ros::Duration time_to_full_;
};

}

#endif /* POWER_MONITOR_OBSERVATION_H */