battery_state_broadcaster.hpp

// Copyright (c) 2025, b-robotized Group
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef BATTERY_STATE_BROADCASTER__BATTERY_STATE_BROADCASTER_HPP_
#define BATTERY_STATE_BROADCASTER__BATTERY_STATE_BROADCASTER_HPP_
 
#include <cmath>
#include <cstdint>
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
 
#include "controller_interface/controller_interface.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "realtime_tools/realtime_buffer.hpp"
#include "realtime_tools/realtime_publisher.hpp"
 
#include <battery_state_broadcaster/battery_state_broadcaster_parameters.hpp>
#include "control_msgs/msg/battery_state_array.hpp"
#include "sensor_msgs/msg/battery_state.hpp"
 
namespace battery_state_broadcaster
{
class BatteryStateBroadcaster : public controller_interface::ControllerInterface
{
public:
  BatteryStateBroadcaster();
 
  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
  controller_interface::CallbackReturn on_init() override;
 
  controller_interface::CallbackReturn on_configure(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::CallbackReturn on_activate(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::CallbackReturn on_deactivate(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::return_type update(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
protected:
  struct BatteryInterfaceSums
  {
    float voltage_sum = 0.0f;
    float temperature_sum = 0.0f;
    float current_sum = 0.0f;
    float charge_sum = 0.0f;
    float percentage_sum = 0.0f;
    float capacity_sum = 0.0f;
    float design_capacity_sum = 0.0f;
  };
 
  struct BatteryInterfaceCounts
  {
    int temperature_cnt = 0;
    int current_cnt = 0;
    int percentage_cnt = 0;
  };
 
  battery_state_broadcaster::Params params_;
 
  std::vector<std::string> batteries_;
 
  BatteryInterfaceSums sums_;
  BatteryInterfaceCounts counts_;
 
private:
  std::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::msg::BatteryState>>
    battery_state_realtime_publisher_;
  std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::BatteryStateArray>>
    raw_battery_states_realtime_publisher_;
 
  std::shared_ptr<battery_state_broadcaster::ParamListener> param_listener_;
  std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::BatteryState>> battery_state_publisher_;
  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::BatteryStateArray>>
    raw_battery_states_publisher_;
  sensor_msgs::msg::BatteryState battery_state_msg_;
  control_msgs::msg::BatteryStateArray raw_battery_states_msg_;
};
 
}  // namespace battery_state_broadcaster
 
#endif  // BATTERY_STATE_BROADCASTER__BATTERY_STATE_BROADCASTER_HPP_