140 lines
4.8 KiB
C++
140 lines
4.8 KiB
C++
/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_BATTERY_HH_
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#define _GAZEBO_BATTERY_HH_
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#include <map>
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#include <string>
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#include <functional>
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#include <memory>
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#include "sdf/sdf.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace common
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{
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// Forward declare private data class.
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class BatteryPrivate;
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/// \addtogroup gazebo_common
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/// \{
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/// \brief A battery abstraction
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///
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/// The default battery model is ideal: It just takes the initial voltage
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/// value as its constant voltage value. This behavior can be changed by
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/// specifying a custom update function.
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///
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/// The battery handles a list of consumers. It updates itself after each
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/// simulation iteration. The update function takes the power loads for each
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/// consumer and current voltage value as inputs and returns a new voltage
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/// value.
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class GZ_COMMON_VISIBLE Battery :
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public std::enable_shared_from_this<Battery>
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{
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/// \brief Typedef the powerload map.
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/// \sa SetUpdateFunc
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public: typedef std::map<uint32_t, double> PowerLoad_M;
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/// \brief Constructor
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public: explicit Battery();
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/// \brief Destructor.
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public: virtual ~Battery();
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/// \brief Load the battery.
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/// \param[in] _sdf Shared point to an sdf element.
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public: virtual void Load(sdf::ElementPtr _sdf);
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/// \brief Initialize.
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public: virtual void Init();
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/// \brief Update the parameters using new sdf values.
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/// \param[in] _sdf SDF values to update from.
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public: virtual void UpdateParameters(const sdf::ElementPtr _sdf);
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/// \brief Return the name of the battery.
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/// \return The name of the battery.
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public: std::string Name() const;
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/// \brief Create a unique consumer.
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/// \return Unique consumer identifier.
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public: uint32_t AddConsumer();
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/// \brief Remove a consumer.
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/// \param[in] _consumerId Unique consumer identifier.
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/// \return True if the consumer was removed. False if the consumer id
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/// was not found.
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public: bool RemoveConsumer(const uint32_t _consumerId);
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/// \brief Set consumer power load in watts.
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/// \param[in] _consumerId Unique consumer identifier.
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/// \param[in] _powerLoad Power load in watts.
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/// \return True if setting the power load consumption was successful.
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public: bool SetPowerLoad(const uint32_t _consumerId,
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const double _powerLoad);
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/// \brief Get consumer power load in watts.
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/// \param[in] _consumerId Unique consumer identifier.
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/// \param[out] _powerLoad Power load consumption in watts.
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/// \return True if getting the power load consumption was successful.
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public: bool PowerLoad(const uint32_t _consumerId,
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double &_powerLoad) const;
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/// \brief Get list of power loads in watts.
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/// \return List of power loads in watts.
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public: const PowerLoad_M &PowerLoads() const;
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/// \brief Get the real voltage in volts.
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/// \return Voltage.
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public: double Voltage() const;
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/// \brief Setup function to update voltage.
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/// \param[in] _updateFunc The update function callback that is used
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/// to modify the battery's voltage. The parameter to the update
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/// function callback is a reference to an instance of
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/// Battery::UpdateData. The update function must return the new
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/// battery voltage as a double.
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/// \sa UpdateData
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public: void SetUpdateFunc(
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std::function<double (const BatteryPtr &)> _updateFunc);
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/// \brief Update the battery. This will in turn trigger the function
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/// set using the SetUpdateFunc function.
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/// \sa SetUpdateFunc.
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public: void Update();
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/// \brief Initialize the list of consumers.
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protected: void InitConsumers();
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/// \brief Update voltage using an ideal battery model.
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/// \param[in] _battery Pointer to the battery.
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/// \return New battery voltage.
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private: double UpdateDefault(const BatteryPtr &_battery);
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/// \internal
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/// \brief Private data pointer.
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private: BatteryPrivate *dataPtr;
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};
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/// \}
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}
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}
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#endif
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