power_state_estimator.h

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#ifndef POWER_MONITOR_POWER_STATE_ESTIMATOR_H
#define POWER_MONITOR_POWER_STATE_ESTIMATOR_H

#include <stdlib.h>

#include "ros/ros.h"

#include "observation.h"

namespace power_monitor {

struct PowerStateEstimate
{
    ros::Duration time_remaining;
    unsigned int  relative_capacity;
};

class PowerStateEstimator
{
public:
    enum Type { FuelGauge, Advanced };

    PowerStateEstimator();

    virtual std::string               getMethodName() const = 0;
    virtual PowerStateEstimator::Type getMethodType() const = 0;
    virtual PowerStateEstimate        estimate(const ros::Time& t) = 0;

    virtual void recordObservation(const PowerObservation& obs);

    virtual bool canEstimate(const ros::Time& t) const;

protected:
    PowerObservation obs_;
};

class FuelGaugePowerStateEstimator : public PowerStateEstimator
{
public:
    std::string               getMethodName() const;
    PowerStateEstimator::Type getMethodType() const;
    PowerStateEstimate        estimate(const ros::Time& t);
};

class AdvancedPowerStateEstimator : public PowerStateEstimator
{
public:
    struct LogRecord
    {
        uint32_t     sec;
        int8_t       master_state;
        int          charging;
        float        total_power;
        float        min_voltage;
        unsigned int min_relative_state_of_charge;
        float        total_remaining_capacity;
    };

    AdvancedPowerStateEstimator();

    std::string               getMethodName() const;
    PowerStateEstimator::Type getMethodType() const;
    PowerStateEstimate        estimate(const ros::Time& t);

    virtual void recordObservation(const PowerObservation& obs);

private:
    static const std::string DEFAULT_LOG_FILE;

    static void tokenize(const std::string& str, std::vector<std::string>& tokens, const std::string& delimiters=",");

    bool readObservations(std::vector<LogRecord>& log);
    bool saveObservation(const PowerObservation& obs) const;
    bool hasEverDischarged() const;

    std::vector<LogRecord> log_;

    std::string log_filename_;
};

}

#endif /* POWER_MONITOR_POWER_STATE_ESTIMATOR_H */