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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp
Views: 1798
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#include "AP_BattMonitor_config.h"

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#if AP_BATTERY_SCRIPTING_ENABLED

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#include "AP_BattMonitor_Scripting.h"

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#define AP_BATT_MONITOR_SCRIPTING_TIMEOUT_US 5000000

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bool AP_BattMonitor_Scripting::capacity_remaining_pct(uint8_t &percentage) const

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{

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    if (internal_state.capacity_remaining_pct != UINT8_MAX) {

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        percentage = internal_state.capacity_remaining_pct;

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        return true;

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    }

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    // Fall back to default implementation

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    return AP_BattMonitor_Backend::capacity_remaining_pct(percentage);

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}

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bool AP_BattMonitor_Scripting::get_cycle_count(uint16_t &cycles) const

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{

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    if (internal_state.cycle_count == UINT16_MAX) {

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        return false;

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    }

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    cycles = internal_state.cycle_count;

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    return true;

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}

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// Called by frontend to update the state. Called at 10Hz

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void AP_BattMonitor_Scripting::read()

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{

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    WITH_SEMAPHORE(sem);

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    // Check for timeout, to prevent a faulty script from appearing healthy

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    if (last_update_us == 0 || AP_HAL::micros() - last_update_us > AP_BATT_MONITOR_SCRIPTING_TIMEOUT_US) {

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        _state.healthy = false;

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        return;

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    }

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    if (_state.last_time_micros == last_update_us) {

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        // No new data

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        return;

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    }

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    /*

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      the script can fill in voltages up to 32 cells, for mavlink reporting

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      the extra cell voltages get distributed over the max of 14 for mavlink

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     */

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    for (uint8_t i = 0; i < MIN(AP_BATT_MONITOR_CELLS_MAX,internal_state.cell_count); i++) {

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        _state.cell_voltages.cells[i] = internal_state.cell_voltages[i];

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    }

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    _state.voltage = internal_state.voltage;

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    if (!isnan(internal_state.current_amps)) {

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        _state.current_amps = internal_state.current_amps;

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    }

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    if (!isnan(internal_state.consumed_mah)) {

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        _state.consumed_mah = internal_state.consumed_mah;

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    }

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    // Overide integrated consumed energy with script value if it has been set

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    if (!isnan(internal_state.consumed_wh)) {

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        _state.consumed_wh = internal_state.consumed_wh;

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    }

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    if (!isnan(internal_state.temperature)) {

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        _state.temperature = internal_state.temperature;

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    }

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    _state.healthy = internal_state.healthy;

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    // Update the timestamp (has to be done after the consumed_mah calculation)

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    _state.last_time_micros = last_update_us;

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}

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bool AP_BattMonitor_Scripting::handle_scripting(const BattMonitorScript_State &battmon_state)

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{

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    WITH_SEMAPHORE(sem);

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    internal_state = battmon_state;

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    const uint32_t now_us = AP_HAL::micros();

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    uint32_t dt_us = now_us - last_update_us;

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    if (last_update_us != 0 && !isnan(internal_state.current_amps) && isnan(internal_state.consumed_mah)) {

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        AP_BattMonitor_Backend::update_consumed(_state, dt_us);

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    }

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    last_update_us = now_us;

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    return true;

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}

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#endif // AP_BATTERY_SCRIPTING_ENABLED

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