tibi_dabo_battery_monitor_driver.cpp

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#include "tibi_dabo_battery_monitor_driver.h"
#include "exceptions.h"

int TibiDaboBatteryMonitorDriver::warning_threshold=15;
int TibiDaboBatteryMonitorDriver::alarm_threshold=5;

TibiDaboBatteryMonitorDriver::TibiDaboBatteryMonitorDriver(void)
{
  //setDriverId(driver string id);
  this->battery=NULL;
  this->serial_num="";
  this->warning_time_to_discharge="time_to_discharge_warning";
  this->alarm_time_to_discharge="time_to_discharge_alarm";
}

bool TibiDaboBatteryMonitorDriver::openDriver(void)
{
  //setDriverId(driver string id);
  if(this->serial_num!="")
  {
    try{
      this->battery=new CSegway_Battery(this->serial_num);
      // add the default alarms
      this->warning_time_to_discharge_event_id=this->battery->create_alarm(warning_time_to_discharge,this->warning_condition);
      this->alarm_time_to_discharge_event_id=this->battery->create_alarm(alarm_time_to_discharge,this->alarm_condition);
      return true;
    }catch(CException &e){
      ROS_INFO("[tibi_dabo_battery_monitor] - %s",e.what().c_str());
      return false;
    }
  }
  else
    return false;
}

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

  return true;
}

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

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

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

    case TibiDaboBatteryMonitorDriver::OPENED:
      break;

    case TibiDaboBatteryMonitorDriver::RUNNING:
      this->warning_threshold=new_cfg.warning_threshold;
      this->alarm_threshold=new_cfg.alarm_threshold;
      break;
  }

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

  this->unlock();
}

bool TibiDaboBatteryMonitorDriver::check_alarm(void)
{
  CEventServer *event_server=CEventServer::instance();

  if(event_server->event_is_set(this->alarm_time_to_discharge_event_id))
  {
    event_server->reset_event(this->alarm_time_to_discharge_event_id);
    return true;
  }
  else
    return false;
}

bool TibiDaboBatteryMonitorDriver::check_warning(void)
{
  CEventServer *event_server=CEventServer::instance();

  if(event_server->event_is_set(this->warning_time_to_discharge_event_id))
  {
    event_server->reset_event(this->warning_time_to_discharge_event_id);
    return true;
  }
  else
    return false;
}

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

bool TibiDaboBatteryMonitorDriver::warning_condition(TBatteryInfo *info)
{
  if(info->time_to_discharged<TibiDaboBatteryMonitorDriver::warning_threshold)
    return true;
  else
    return false;
}

bool TibiDaboBatteryMonitorDriver::alarm_condition(TBatteryInfo *info)
{
  if(info->time_to_discharged<TibiDaboBatteryMonitorDriver::alarm_threshold)
    return true;
  else
    return false;
}

TibiDaboBatteryMonitorDriver::~TibiDaboBatteryMonitorDriver(void)
{
}