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BatteryCheckControl.h

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//-*-c++-*-
#ifndef INCLUDED_BatteryCheckControl_h_
#define INCLUDED_BatteryCheckControl_h_

#include "ControlBase.h"
#include "Shared/WorldState.h"
#include "Motion/MMAccessor.h"
#include "Motion/LedMC.h"
#include "NullControl.h"
#include "Events/EventRouter.h"

//! when activated, this will print a battery report to stdout and light up LEDs to specify power level
/*! The LEDs use the LedEngine::displayPercent() function, with minor/major style.  This means
 *  the left column (viewing the dog head on) will show the overall power level, and the
 *  right column will show the level within the tick lit up in the left column.  The more geeky
 *  among you may prefer to think of this as a two digit base 5 display.
 *
 *  This gives you pretty precise visual feedback as to remaining power (perhaps more than
 *  you really need, but it's as much a demo as a useful tool)
 *
 *  This is implemented as a Control instead of a Behavior on the assumption you
 *  wouldn't want to leave this running while you were doing other things (ie not
 *  in e-stop). But it definitely blurs the line between the two.
 */
class BatteryCheckControl : public ControlBase, public EventListener {
public:

  //!Constructor
  BatteryCheckControl() : ControlBase("Battery Check","Reports % power remaining, and gives details on console") {}

  //!Destructor
  virtual ~BatteryCheckControl() {}

  //!Prints a report to stdio and lights up the face to show battery level
  /*! keeps running until deactivated - will listen for power events and continue to update display */
  virtual ControlBase * activate(MotionManager::MC_ID display, Socket * gui) {
    sout->printf("Press the \"back\" button to leave battery display\n");
    erouter->addListener(this,EventBase::powerEGID);
    return ControlBase::activate(display,gui);
  }
  //! stops listening for power events and sets display to invalid
  virtual void pause() {
    erouter->forgetListener(this);
    display_id=MotionManager::invalid_MC_ID;
  }
  //! calls report()
  virtual void refresh() {
    report();
    if(gui_comm!=NULL && wireless->isConnected(gui_comm->sock)) {
      char tmp[20];
      sprintf(tmp,"%d",(unsigned int)(state->sensors[PowerRemainOffset]*100));
      //    pushSlot(new NullControl(std::string("Power remain: ")+tmp+std::string("%"),"See console output for details"));
      std::string s("refresh\n");
      s+=getName()+"\n1\n0\n0\nPower remain: ";
      s+=tmp;
      s+="%\nSee console output for details\n";
      s+="status\nPower remaining: ";
      s+=tmp;
      s+="%\n";
      gui_comm->write((const byte*)s.c_str(),s.size());
    }
  }
  //! stops listening for power events and sets display to invalid
  virtual void deactivate() {
    erouter->forgetListener(this);
    display_id=MotionManager::invalid_MC_ID;
  }
  //! calls refresh() to redisplay with new information if it's not a vibration event
  virtual void processEvent(const EventBase& event) {
    if(event.getSourceID()!=PowerSourceID::VibrationSID)
      refresh();
  }
  virtual ControlBase * doSelect() {
    return this;
  }
  //! redisplay text to sout and refresh LED values
  void report() {
    sout->printf("BATTERY REPORT:\n");
    sout->printf("\tPower Remain:\t%d%%\n",(int)(state->sensors[PowerRemainOffset]*100));
    sout->printf("\tCapacity:\t%d\n",state->sensors[PowerCapacityOffset]);
    sout->printf("\tVoltage:\t%g\n",state->sensors[PowerVoltageOffset]);
    sout->printf("\tCurrent:\t%d\n",state->sensors[PowerCurrentOffset]);
    sout->printf("\tTemperature:\t%g\n",state->sensors[PowerThermoOffset]);
    sout->printf("\tFlags:\t");
    if(state->powerFlags[PowerSourceID::BatteryConnectSID])
      sout->printf("BatteryConnect ");
    if(state->powerFlags[PowerSourceID::DischargingSID])
      sout->printf("Discharging ");
    if(state->powerFlags[PowerSourceID::ChargingSID])
      sout->printf("Charging ");
    if(state->powerFlags[PowerSourceID::ExternalPowerSID])
      sout->printf("ExternalPower ");
    if(state->powerFlags[PowerSourceID::PowerGoodSID])
      sout->printf("PowerGood ");
    if(state->powerFlags[PowerSourceID::LowPowerWarnSID])
      sout->printf("LowPowerWarn ");
    if(state->powerFlags[PowerSourceID::BatteryEmptySID])
      sout->printf("BatteryEmpty ");
    sout->printf("\n");
    if(display_id!=MotionManager::invalid_MC_ID) {
      MMAccessor<LedMC> disp(display_id);
      disp->displayPercent(state->sensors[PowerRemainOffset],LedEngine::major,LedEngine::major);
    }
  }

};

/*! @file
 * @brief Defines BatteryCheckControl, which will spew a power report to stdout upon activation
 * @author ejt (Creator)
 *
 * $Author: ejt $
 * $Name: tekkotsu-1_5 $
 * $Revision: 1.7 $
 * $State: Rel $
 * $Date: 2003/07/26 01:48:03 $
 */

#endif

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