Class Battery

• Defined in File battery.hpp

Class Documentation

class Battery

Public Functions

inline Battery(std::shared_ptr<LelyDriverBridge> driver, std::mutex &node_mutex, rclcpp::Logger logger)

bool getBatteryState(sensor_msgs::msg::BatteryState &msg)

bool getBatteryStatus(canopen_inventus_interfaces::msg::Status &msg)

bool getVirtualBatteryState(sensor_msgs::msg::BatteryState &msg)

bool getVirtualBatteryStatus(canopen_inventus_interfaces::msg::VirtualBattery &msg)

bool readState()

bool faultHighTemp(uint16_t data)

bool faultLowTemp(uint16_t data)

bool faultOverCurrent(uint16_t data)

bool faultOverVoltage(uint16_t data)

bool faultAny(uint16_t data)

uint8_t modeBatteryStatus(uint16_t data)

bool readSDO(COIndex index)

bool readPDO(COIndex index)

void readAllSDO()

void readAllPDO()

void initializeDataMaps()

void initializeData(COIndex index)

template<typename T>
T getData(COIndex index)

std::string getStringData(COIndex index)

template<typename T>
void setData(COIndex index, T data, bool update_availability = true)

void setStringData(COIndex index, std::string data, bool update_availability = true)

bool isAvailable(COIndex index)

bool isAllSDOAvailable()

bool isAllPDOAvailable()

void clearAvailable(COIndex index)

void clearAllAvailable()

void clearAllSDOAvailable()

void clearAllPDOAvailable()

void setAvailable(COIndex index)

std::string getSerialNumber()

double getScaledDouble(COIndex index, double factor)

double getVoltage(COIndex index)

double getTemperature(COIndex index)

double getCurrent(COIndex index)

double getCapacity(COIndex index)

double getPercentage(COIndex index)

Public Members

COIndex sdo_hardware_version_ = {0x1009, 0x00, CO_DEFTYPE_VISIBLE_STRING}

COIndex sdo_software_version_ = {0x100A, 0x00, CO_DEFTYPE_VISIBLE_STRING}

COIndex sdo_firmware_version_ = {0xD000, 0x20, CO_DEFTYPE_VISIBLE_STRING}

COIndex sdo_state_of_charge_ = {0x6081, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex sdo_operational_mode_ = {0x4801, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex sdo_charge_fault_ = {0x4802, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex sdo_discharge_fault_ = {0x4803, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex sdo_min_cell_temperature_ = {0x4808, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex sdo_max_cell_temperature_ = {0x4809, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex sdo_rem_capacity_ = {0x4900, 0x0F, CO_DEFTYPE_UNSIGNED16}

COIndex sdo_fcc_ = {0x4900, 0x10, CO_DEFTYPE_UNSIGNED16}

COIndex sdo_design_capacity_ = {0x4900, 0x18, CO_DEFTYPE_UNSIGNED16}

COIndex sdo_serial_number_ = {0x4900, 0x1C, CO_DEFTYPE_UNSIGNED16}

COIndex sdo_cell_voltages_[8] = {COIndex({0x4900, 0x32, CO_DEFTYPE_UNSIGNED16}), COIndex({0x4900, 0x33, CO_DEFTYPE_UNSIGNED16}), COIndex({0x4900, 0x34, CO_DEFTYPE_UNSIGNED16}), COIndex({0x4900, 0x35, CO_DEFTYPE_UNSIGNED16}), COIndex({0x4900, 0x36, CO_DEFTYPE_UNSIGNED16}), COIndex({0x4900, 0x37, CO_DEFTYPE_UNSIGNED16}), COIndex({0x4900, 0x38, CO_DEFTYPE_UNSIGNED16}), COIndex({0x4900, 0x39, CO_DEFTYPE_UNSIGNED16})}

COIndex sdo_battery_voltage_ = {0x6060, 0x00, CO_DEFTYPE_UNSIGNED32}

COIndex sdo_current_ = {0x4804, 0x00, CO_DEFTYPE_INTEGER16}

COIndex sdo_temperature_ = {0x6010, 0x00, CO_DEFTYPE_INTEGER16}

COIndex sdo_static_list_[6] = {sdo_hardware_version_, sdo_software_version_, sdo_firmware_version_, sdo_fcc_, sdo_design_capacity_, sdo_serial_number_}

COIndex sdo_dynamic_list_[18] = {sdo_state_of_charge_, sdo_operational_mode_, sdo_charge_fault_, sdo_discharge_fault_, sdo_min_cell_temperature_, sdo_max_cell_temperature_, sdo_rem_capacity_, sdo_battery_voltage_, sdo_current_, sdo_temperature_, sdo_cell_voltages_[0], sdo_cell_voltages_[1], sdo_cell_voltages_[2], sdo_cell_voltages_[3], sdo_cell_voltages_[4], sdo_cell_voltages_[5], sdo_cell_voltages_[6], sdo_cell_voltages_[7],}

COIndex pdo_number_of_batteries_ = {0x4850, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex pdo_soc_ = {0x4851, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex pdo_charge_cut_off_current_ = {0x4858, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex pdo_fully_charged_ = {0x4859, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex pdo_soh_ = {0x485E, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex pdo_number_of_batteries_fault_ = {0x485F, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex pdo_number_of_active_batteries_ = {0x4860, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex pdo_operational_mode_ = {0x4861, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex pdo_soc_all_ = {0x4869, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex pdo_master_node_id_ = {0x486C, 0x00, CO_DEFTYPE_UNSIGNED8}

COIndex pdo_current_stored_ = {0x4852, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_remaining_run_time_ = {0x4853, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_remaining_charge_time_ = {0x4854, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_pack_voltage_ = {0x4855, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_discharge_current_limit_ = {0x4857, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_discharge_cut_off_voltage_ = {0x485B, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_charge_current_limit_ = {0x485C, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_max_allowed_charge_voltage_ = {0x485D, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_charge_fault_ = {0x4862, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_discharge_fault_ = {0x4863, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_regen_current_limit_ = {0x4864, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_min_cell_voltage_ = {0x4865, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_max_cell_voltage_ = {0x4866, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_cell_balance_status_all_ = {0x4867, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_pack_voltage_all_ = {0x4868, 0x00, CO_DEFTYPE_UNSIGNED16}

COIndex pdo_current_ = {0x4856, 0x00, CO_DEFTYPE_INTEGER16}

COIndex pdo_temperature_ = {0x485A, 0x00, CO_DEFTYPE_INTEGER16}

COIndex pdo_temperature_all_ = {0x486A, 0x00, CO_DEFTYPE_INTEGER16}

COIndex pdo_list_[28] = {pdo_number_of_batteries_, pdo_soc_, pdo_charge_cut_off_current_, pdo_fully_charged_, pdo_soh_, pdo_number_of_batteries_fault_, pdo_number_of_active_batteries_, pdo_operational_mode_, pdo_soc_all_, pdo_master_node_id_, pdo_current_stored_, pdo_remaining_run_time_, pdo_remaining_charge_time_, pdo_pack_voltage_, pdo_discharge_current_limit_, pdo_discharge_cut_off_voltage_, pdo_charge_current_limit_, pdo_max_allowed_charge_voltage_, pdo_charge_fault_, pdo_discharge_fault_, pdo_regen_current_limit_, pdo_min_cell_voltage_, pdo_max_cell_voltage_, pdo_cell_balance_status_all_, pdo_pack_voltage_all_, pdo_current_, pdo_temperature_, pdo_temperature_all_}

std::map<uint32_t, std::string> string_data_map_

std::map<uint32_t, uint8_t> uint8_data_map_

std::map<uint32_t, uint16_t> uint16_data_map_

std::map<uint32_t, uint32_t> uint32_data_map_

std::map<uint32_t, int16_t> int16_data_map_

std::map<uint32_t, bool> available_data_map_