BattFuelGauge.h

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#pragma once
 
#include <string>
#include "wpi/sendable/Sendable.h"
#include "wpi/sendable/SendableHelper.h"
#include "wpi/sendable/SendableBuilder.h"
#include "BattFuelGaugeApi.h"
 
namespace pwf {
class BattFuelGaugeImpl;

class BattFuelGauge : public wpi::Sendable, public wpi::SendableHelper<BattFuelGauge> {
 
public:
    enum ChargeState {
        kInit           = 0,

        kDischarge      = 1,

        kConstICharge   = 2,

        kConstVCharge   = 3,

        kTrickleCharge  = 4,

        kIdle           = 5,

        kMeasureOCV     = 6
    };
 

    enum BattMfg {
        kDuracell       = 0,
        kEnergizer      = 1,
        kInterstate     = 2,
        kMightyMax      = 3,
        kMKPowered      = 4,
        kPowerSonic     = 5,
        kNumMfgs        = 6
    };
 
 
    explicit BattFuelGauge(uint8_t sensorID);
    virtual ~BattFuelGauge();
 
    // Delete Copy constructor and assignment operator
    BattFuelGauge(const BattFuelGauge&) =delete;
    BattFuelGauge& operator=(const BattFuelGauge&) =delete;
 
    // Use default Move constructor and assignment operator
    BattFuelGauge(BattFuelGauge&&) =default;
    BattFuelGauge& operator=(BattFuelGauge&&) =default;
 
    void InitSendable(wpi::SendableBuilder& builder) override;

    void IdentifySensor();

    uint32_t GetFirmwareVersion() const;

    uint32_t GetSerialNumber() const;


    void SaveLog(std::string filename = "");
 
 
    // -------------------------------------------------------------------------
    // Core real-time / state values
    // -------------------------------------------------------------------------

    ChargeState GetBatteryState() const;

    float GetCurrent() const;

    float GetVoltage() const;

    float GetDodAh() const;

    float GetDodWh() const;

    float GetRemainingChargePct() const;

    float GetEffectiveCapacityAh() const;
 
    // -------------------------------------------------------------------------
    // Battery age, capacity & cycle information
    // -------------------------------------------------------------------------

    float GetBatteryAgeDays() const;

    float GetCapacityAh() const;

    float GetRatedCapacityAh() const;

    int GetNumCycles() const;
 
    // -------------------------------------------------------------------------
    // Identification
    // -------------------------------------------------------------------------

    std::string GetNickname() const;

    BattMfg GetManufacturer() const;
 
    
    void SetNickname(std::string newNickname) const;

    void SetManufacturer(BattMfg newMfg) const;
 
 
    // -------------------------------------------------------------------------
    // Last full charge cycle statistics
    // -------------------------------------------------------------------------

    float GetCycleRmsDischargeCurrent() const;

    float GetCycleMaxCurrent() const;

    float GetCycleMinCurrent() const;

    float GetCycleMinVoltage() const;

    float GetCycleMaxVoltage() const;

    float GetCycleMinDodAh() const;

    float GetCycleMaxDodAh() const;

    float GetCycleMinDodWh() const;

    float GetCycleMaxDodWh() const;

    float GetCycleChargeTime() const;

    float GetCycleDischargeTime() const;

    float GetCycleStartingVoltage() const;
 
    // -------------------------------------------------------------------------
    // Last robot match statistics
    // -------------------------------------------------------------------------

    float GetMatchRmsDischargeCurrent() const;

    float GetMatchMaxCurrent() const;

    float GetMatchMinCurrent() const;

    float GetMatchMinVoltage() const;

    float GetMatchMaxVoltage() const;

    float GetMatchMinDodAh() const;

    float GetMatchMaxDodAh() const;

    float GetMatchChargeTime() const;

    float GetMatchDischargeTime() const;

    float GetMatchStartingVoltage() const;

    float GetMatchStartingEnergy() const;

    float GetMatchEndingEnergy() const;

    float GetMatchStartingCharge() const;

    float GetMatchEndingCharge() const;

    float GetMatchDuration() const;

    bool IsConnected() const;
 
private:
   BattFuelGauge_t *m_handle;
};
 
}