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[Gearbox-commit] SF.net SVN: gearbox: [232] gearbox/trunk/submitted/gbxsmartbatteryacfr
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From: <to...@us...> - 2008-06-30 12:01:05
|
Revision: 232
http://gearbox.svn.sourceforge.net/gearbox/?rev=232&view=rev
Author: tobasco
Date: 2008-06-30 05:01:10 -0700 (Mon, 30 Jun 2008)
Log Message:
-----------
incorporated Geoff's comments
Modified Paths:
--------------
gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.cpp
gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.h
gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbattery.cpp
gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbatteryacfr.dox
gearbox/trunk/submitted/gbxsmartbatteryacfr/test/CMakeLists.txt
gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.cmake.in
gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.readme
Added Paths:
-----------
gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.cpp
gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.h
gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/
gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/CMakeLists.txt
gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/checksumtest.cpp
Removed Paths:
-------------
gearbox/trunk/submitted/gbxsmartbatteryacfr/test/checksumtest.cpp
Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.cpp 2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.cpp 2008-06-30 12:01:10 UTC (rev 232)
@@ -18,227 +18,6 @@
namespace gbxsmartbatteryacfr {
-//
-// Helper functions
-//
-string toString( const vector<bool> &flags )
-{
- stringstream ss;
- for (unsigned int i=0; i<flags.size(); i++)
- {
- ss << flags[i] << " ";
- }
- return ss.str();
-}
-
-string toLogString( const vector<bool> &flags )
-{
- stringstream ss;
- for (unsigned int i=0; i<flags.size(); i++)
- {
- ss << flags[i];
- }
- return ss.str();
-}
-
-
-//
-// OceanServerSystem non-member functions
-//
-
-string toString( const OceanServerSystem &system )
-{
- stringstream ss;
- ss << "Charge: \t" << system.percentCharge << endl;
- ss << "Minutes to empty:\t" << system.minToEmpty << endl;
- ss << "Available batt.: \t" << toString( system.availableBatteries ) << endl;
- ss << "Charging: \t" << toString( system.chargingStates ) << endl;
- ss << "Supplying power: \t" << toString( system.supplyingPowerStates ) << endl;
- ss << "Charge power: \t" << toString( system.chargePowerPresentStates ) << endl;
- ss << "Power no good: \t" << toString( system.powerNoGoodStates ) << endl;
- ss << "Charge inhibited:\t" << toString( system.chargeInhibitedStates ) << endl;
-
- map<int,SmartBattery>::const_iterator it;
- for (it=system.batteries().begin(); it!=system.batteries().end(); it++)
- {
- ss << "Data from battery number: " << it->first << endl;
- ss << toString( it->second ) << endl;
- }
-
- return ss.str();
-}
-
-string toLogString( const OceanServerSystem &system )
-{
- stringstream ss;
- ss << system.percentCharge << " ";
- ss << system.minToEmpty << " ";
- ss << toLogString( system.availableBatteries ) << " ";
- ss << toLogString( system.chargingStates ) << " ";
- ss << toLogString( system.supplyingPowerStates ) << " ";
- ss << toLogString( system.chargePowerPresentStates ) << " ";
- ss << toLogString( system.powerNoGoodStates ) << " ";
- ss << toLogString( system.chargeInhibitedStates ) << endl;
-
- ss << system.batteries().size();
-
- map<int,SmartBattery>::const_iterator it;
- for (it=system.batteries().begin(); it!=system.batteries().end(); it++)
- {
- ss << it->first << " " << toLogString( it->second ) << endl;
- }
-
- return ss.str();
-}
-
-void updateWithNewData( const OceanServerSystem &from,
- OceanServerSystem &to )
-{
- typedef map<int,SmartBattery>::const_iterator BatIt;
-
- to.availableBatteries = from.availableBatteries;
- to.percentCharge = from.percentCharge;
- to.minToEmpty = from.minToEmpty;
- to.messageToSystem = from.messageToSystem;
- to.chargingStates = from.chargingStates;
- to.supplyingPowerStates = from.supplyingPowerStates;
- to.chargePowerPresentStates = from.chargePowerPresentStates;
- to.powerNoGoodStates = from.powerNoGoodStates;
- to.chargeInhibitedStates = from.chargeInhibitedStates;
-
- for (BatIt it=from.batteries().begin(); it!=from.batteries().end(); it++)
- {
- const SmartBattery &fromB = from.battery( it->first );
- SmartBattery &toB = to.battery( it->first );
-
- if ( fromB.has( ManufacturerAccess ) ) toB.setManufacturerAccess ( fromB.manufacturerAccess () );
- if ( fromB.has( RemainingCapacityAlarm ) ) toB.setRemainingCapacityAlarm ( fromB.remainingCapacityAlarm () );
- if ( fromB.has( RemainingTimeAlarm ) ) toB.setRemainingTimeAlarm ( fromB.remainingTimeAlarm () );
- if ( fromB.has( BatteryMode ) ) toB.setBatteryMode ( fromB.batteryMode () );
- if ( fromB.has( AtRate ) ) toB.setAtRate ( fromB.atRate () );
- if ( fromB.has( AtRateTimeToFull ) ) toB.setAtRateTimeToFull ( fromB.atRateTimeToFull () );
- if ( fromB.has( AtRateTimeToEmpty ) ) toB.setAtRateTimeToEmpty ( fromB.atRateTimeToEmpty () );
- if ( fromB.has( AtRateOk ) ) toB.setAtRateOk ( fromB.atRateOk () );
- if ( fromB.has( Temperature ) ) toB.setTemperature ( fromB.temperature () );
- if ( fromB.has( Voltage ) ) toB.setVoltage ( fromB.voltage () );
- if ( fromB.has( Current ) ) toB.setCurrent ( fromB.current () );
- if ( fromB.has( AverageCurrent ) ) toB.setAverageCurrent ( fromB.averageCurrent () );
- if ( fromB.has( MaxError ) ) toB.setMaxError ( fromB.maxError () );
- if ( fromB.has( RelativeStateOfCharge ) ) toB.setRelativeStateOfCharge ( fromB.relativeStateOfCharge () );
- if ( fromB.has( AbsoluteStateOfCharge ) ) toB.setAbsoluteStateOfCharge ( fromB.absoluteStateOfCharge () );
- if ( fromB.has( RemainingCapacity ) ) toB.setRemainingCapacity ( fromB.remainingCapacity () );
- if ( fromB.has( FullChargeCapacity ) ) toB.setFullChargeCapacity ( fromB.fullChargeCapacity () );
- if ( fromB.has( RunTimeToEmpty ) ) toB.setRunTimeToEmpty ( fromB.runTimeToEmpty () );
- if ( fromB.has( AverageTimeToEmpty ) ) toB.setAverageTimeToEmpty ( fromB.averageTimeToEmpty () );
- if ( fromB.has( AverageTimeToFull ) ) toB.setAverageTimeToFull ( fromB.averageTimeToFull () );
- if ( fromB.has( ChargingCurrent ) ) toB.setChargingCurrent ( fromB.chargingCurrent () );
- if ( fromB.has( ChargingVoltage ) ) toB.setChargingVoltage ( fromB.chargingVoltage () );
- if ( fromB.has( BatteryStatus ) ) toB.setBatteryStatus ( fromB.batteryStatus () );
- if ( fromB.has( CycleCount ) ) toB.setCycleCount ( fromB.cycleCount () );
- if ( fromB.has( DesignCapacity ) ) toB.setDesignCapacity ( fromB.designCapacity () );
- if ( fromB.has( DesignVoltage ) ) toB.setDesignVoltage ( fromB.designVoltage () );
- if ( fromB.has( SpecificationInfo ) ) toB.setSpecificationInfo ( fromB.specificationInfo () );
- if ( fromB.has( ManufactureDate ) ) toB.setManufactureDate ( fromB.manufactureDate () );
- if ( fromB.has( SerialNumber ) ) toB.setSerialNumber ( fromB.serialNumber () );
- if ( fromB.has( ManufacturerName ) ) toB.setManufacturerName ( fromB.manufacturerName () );
- if ( fromB.has( DeviceName ) ) toB.setDeviceName ( fromB.deviceName () );
- if ( fromB.has( DeviceChemistry ) ) toB.setDeviceChemistry ( fromB.deviceChemistry () );
- if ( fromB.has( ManufacturerData ) ) toB.setManufacturerData ( fromB.manufacturerData () );
- }
-
- // check if reaping needs to be done, if not return
- if ( from.batteries().size() == to.batteries().size() )
- return;
-
- // store battery ids from batteries which need to be reaped in a vector
- vector<int> reapingIds;
-
- // go through all 'to' batteries and check if they are also in 'from'
- for (BatIt it=to.batteries().begin(); it!=to.batteries().end(); it++)
- {
- const int batId = it->first;
-
- BatIt itFrom = from.batteries().find( batId );
- if ( itFrom == from.batteries().end() ) {
- // battery is in 'to' but not in 'from' -> needs to be reaped
- reapingIds.push_back( batId );
- }
- }
-
- // reap batteries
- for (unsigned int i=0; i<reapingIds.size(); i++) {
- to.eraseBattery( reapingIds[i] );
- }
-
-}
-
-
-//
-// OceanServerSystem member functions
-//
-
-OceanServerSystem::OceanServerSystem()
- : percentCharge(0),
- minToEmpty(0),
- messageToSystem("")
-{
- // fixed number of slots for oceanserver system
- const int NUM_BATTERY_SLOTS = 8;
- availableBatteries.resize(NUM_BATTERY_SLOTS);
- chargingStates.resize(NUM_BATTERY_SLOTS);
- supplyingPowerStates.resize(NUM_BATTERY_SLOTS);
- chargePowerPresentStates.resize(NUM_BATTERY_SLOTS);
- powerNoGoodStates.resize(NUM_BATTERY_SLOTS);
- chargeInhibitedStates.resize(NUM_BATTERY_SLOTS);
-}
-
-// read access to all batteries
-const map<int,SmartBattery>&
-OceanServerSystem::batteries() const
-{
- return batteries_;
-}
-
-// write access to single battery
-SmartBattery&
-OceanServerSystem::battery( unsigned int batteryNumber )
-{
- map<int,SmartBattery>::iterator it = batteries_.find(batteryNumber);
- if ( it==batteries_.end() )
- {
- // we don't have it, so instantiate a new one
- SmartBattery b;
- batteries_[batteryNumber] = b;
- return batteries_[batteryNumber];
- }
-
- return it->second;
-}
-
-// read access to single battery
-const SmartBattery&
-OceanServerSystem::battery( unsigned int batteryNumber ) const
-{
- map<int,SmartBattery>::const_iterator it = batteries_.find(batteryNumber);
- if ( it==batteries_.end() )
- {
- stringstream ss;
- ss << "Trying to read from non-existent battery " << batteryNumber;
- throw ParsingException( ERROR_INFO, ss.str().c_str() );
- }
- return it->second;
-}
-
-void
-OceanServerSystem::eraseBattery( unsigned int batteryNumber )
-{
- batteries_.erase( batteries_.find( batteryNumber ) );
-}
-
-//
-// OceanServerParser member functions
-//
-
OceanServerParser::OceanServerParser( gbxutilacfr::Tracer &tracer )
: tracer_(tracer)
{
@@ -488,25 +267,29 @@
//
// Debugging output
//
- stringstream ss;
- ss << "OceanServerParser: Received the following input: " << endl;
- for (unsigned int i=0; i<stringList.size(); i++)
+ const int debugLevel = 10;
+ if (tracer_.verbosity( gbxutilacfr::Tracer::DebugTrace, gbxutilacfr::Tracer::ToAny ) >= debugLevel)
{
- const string &str = stringList[i];
- ss << i << ": " << str;
-
- // output in hex
- ss << i << " hex: ";
- for (unsigned k=0; k<str.size(); k++)
+ stringstream ss;
+ ss << "OceanServerParser: Received the following input: " << endl;
+ for (unsigned int i=0; i<stringList.size(); i++)
{
- unsigned int charValue = (unsigned int)str[k];
- ss << str[k] << ": " << std::hex << charValue << " ";
+ const string &str = stringList[i];
+ ss << i << ": " << str;
+
+ // output in hex
+ ss << i << " hex: ";
+ for (unsigned k=0; k<str.size(); k++)
+ {
+ unsigned int charValue = (unsigned int)str[k];
+ ss << str[k] << ": " << std::hex << charValue << " ";
+ }
+ ss << std::dec;
+
}
- ss << std::dec;
-
+ ss << endl;
+ tracer_.debug( ss.str(), debugLevel );
}
- ss << endl;
- tracer_.debug( ss.str(), 10 );
//
// Parsing
Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.h
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.h 2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.h 2008-06-30 12:01:10 UTC (rev 232)
@@ -13,69 +13,11 @@
#include <map>
#include <gbxutilacfr/tracer.h>
-#include <gbxsmartbatteryacfr/smartbattery.h>
+#include <gbxsmartbatteryacfr/oceanserversystem.h>
namespace gbxsmartbatteryacfr
{
-
-//!
-//! Class representing the OceanServer battery system data
-//! Contains average values of the whole system and values from individual batteries
-//!
-//! @author Tobias Kaupp
-//!
-class OceanServerSystem
-{
- public:
-
- OceanServerSystem();
- ~OceanServerSystem() {};
-
- //! Read access to all batteries
- const std::map<int,SmartBattery>& batteries() const;
-
- //! Easy write access to single battery, instantiates a new one if it doesn't exist
- SmartBattery& battery( unsigned int batteryNumber );
-
- //! Easy read access to single battery, battery must exist
- const SmartBattery& battery( unsigned int batteryNumber ) const;
-
- //! Erase a battery
- void eraseBattery( unsigned int batteryNumber );
-
- //! Average battery values
- int percentCharge;
- int minToEmpty;
- std::string messageToSystem;
-
- //! Battery module states
- //! Each vector is always of size 8 because oceanserver system has 8 slots
- std::vector<bool> availableBatteries;
- std::vector<bool> chargingStates;
- std::vector<bool> supplyingPowerStates;
- std::vector<bool> chargePowerPresentStates;
- std::vector<bool> powerNoGoodStates;
- std::vector<bool> chargeInhibitedStates;
-
- private:
-
- // key: slot number, data: a single smart battery module
- std::map<int,SmartBattery> batteries_;
-};
-
-//! Puts OceanServerSystem data into a human-readable string
-std::string toString( const OceanServerSystem &system );
-
-//! Puts OceanServerSystem data into a machine-readable ASCII string
-std::string toLogString( const OceanServerSystem &system );
-//! Updates all fields in 'to' with data from 'from'. Also reapes batteries in 'to' if they are not in 'from'.
-//! Has persistence capabilities: if fields in 'from' are not set and corresponding fields in 'to' are set, the ones in 'to' are kept.
-//! Use case: a class stores 'to' as a member variable, receives the latest records into 'from', calls this function to update 'to'.
-//! The reaping capability makes sure that battery modules which are no longer connected don't persist.
-void updateWithNewData( const OceanServerSystem &from,
- OceanServerSystem &to );
-
//!
//! Class to parse the hex data the oceanserver battery controller spits out
//!
Added: gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.cpp (rev 0)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.cpp 2008-06-30 12:01:10 UTC (rev 232)
@@ -0,0 +1,239 @@
+/*
+ * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
+ * http://gearbox.sf.net/
+ * Copyright (c) 2004-2008 Tobias Kaupp
+ *
+ * This distribution is licensed to you under the terms described in
+ * the LICENSE file included in this distribution.
+ *
+ */
+
+#include <sstream>
+#include <cstring>
+#include <gbxsmartbatteryacfr/exceptions.h>
+
+#include "oceanserversystem.h"
+
+using namespace std;
+
+namespace gbxsmartbatteryacfr {
+
+//
+// Helper functions
+//
+
+string toString( const vector<bool> &flags )
+{
+ stringstream ss;
+ for (unsigned int i=0; i<flags.size(); i++)
+ {
+ ss << flags[i] << " ";
+ }
+ return ss.str();
+}
+
+string toLogString( const vector<bool> &flags )
+{
+ stringstream ss;
+ for (unsigned int i=0; i<flags.size(); i++)
+ {
+ ss << flags[i];
+ }
+ return ss.str();
+}
+
+
+//
+// Non-member functions
+//
+
+string toString( const OceanServerSystem &system )
+{
+ stringstream ss;
+ ss << "Charge: \t" << system.percentCharge << endl;
+ ss << "Minutes to empty:\t" << system.minToEmpty << endl;
+ ss << "Available batt.: \t" << toString( system.availableBatteries ) << endl;
+ ss << "Charging: \t" << toString( system.chargingStates ) << endl;
+ ss << "Supplying power: \t" << toString( system.supplyingPowerStates ) << endl;
+ ss << "Charge power: \t" << toString( system.chargePowerPresentStates ) << endl;
+ ss << "Power no good: \t" << toString( system.powerNoGoodStates ) << endl;
+ ss << "Charge inhibited:\t" << toString( system.chargeInhibitedStates ) << endl;
+
+ map<int,SmartBattery>::const_iterator it;
+ for (it=system.batteries().begin(); it!=system.batteries().end(); it++)
+ {
+ ss << "Data from battery number: " << it->first << endl;
+ ss << toString( it->second ) << endl;
+ }
+
+ return ss.str();
+}
+
+string toLogString( const OceanServerSystem &system )
+{
+ stringstream ss;
+ ss << system.percentCharge << " ";
+ ss << system.minToEmpty << " ";
+ ss << toLogString( system.availableBatteries ) << " ";
+ ss << toLogString( system.chargingStates ) << " ";
+ ss << toLogString( system.supplyingPowerStates ) << " ";
+ ss << toLogString( system.chargePowerPresentStates ) << " ";
+ ss << toLogString( system.powerNoGoodStates ) << " ";
+ ss << toLogString( system.chargeInhibitedStates ) << endl;
+
+ ss << system.batteries().size();
+
+ map<int,SmartBattery>::const_iterator it;
+ for (it=system.batteries().begin(); it!=system.batteries().end(); it++)
+ {
+ ss << it->first << " " << toLogString( it->second ) << endl;
+ }
+
+ return ss.str();
+}
+
+void updateWithNewData( const OceanServerSystem &from,
+ OceanServerSystem &to )
+{
+ typedef map<int,SmartBattery>::const_iterator BatIt;
+
+ to.availableBatteries = from.availableBatteries;
+ to.percentCharge = from.percentCharge;
+ to.minToEmpty = from.minToEmpty;
+ to.messageToSystem = from.messageToSystem;
+ to.chargingStates = from.chargingStates;
+ to.supplyingPowerStates = from.supplyingPowerStates;
+ to.chargePowerPresentStates = from.chargePowerPresentStates;
+ to.powerNoGoodStates = from.powerNoGoodStates;
+ to.chargeInhibitedStates = from.chargeInhibitedStates;
+
+ for (BatIt it=from.batteries().begin(); it!=from.batteries().end(); it++)
+ {
+ const SmartBattery &fromB = from.battery( it->first );
+ SmartBattery &toB = to.battery( it->first );
+
+ if ( fromB.has( ManufacturerAccess ) ) toB.setManufacturerAccess ( fromB.manufacturerAccess () );
+ if ( fromB.has( RemainingCapacityAlarm ) ) toB.setRemainingCapacityAlarm ( fromB.remainingCapacityAlarm () );
+ if ( fromB.has( RemainingTimeAlarm ) ) toB.setRemainingTimeAlarm ( fromB.remainingTimeAlarm () );
+ if ( fromB.has( BatteryMode ) ) toB.setBatteryMode ( fromB.batteryMode () );
+ if ( fromB.has( AtRate ) ) toB.setAtRate ( fromB.atRate () );
+ if ( fromB.has( AtRateTimeToFull ) ) toB.setAtRateTimeToFull ( fromB.atRateTimeToFull () );
+ if ( fromB.has( AtRateTimeToEmpty ) ) toB.setAtRateTimeToEmpty ( fromB.atRateTimeToEmpty () );
+ if ( fromB.has( AtRateOk ) ) toB.setAtRateOk ( fromB.atRateOk () );
+ if ( fromB.has( Temperature ) ) toB.setTemperature ( fromB.temperature () );
+ if ( fromB.has( Voltage ) ) toB.setVoltage ( fromB.voltage () );
+ if ( fromB.has( Current ) ) toB.setCurrent ( fromB.current () );
+ if ( fromB.has( AverageCurrent ) ) toB.setAverageCurrent ( fromB.averageCurrent () );
+ if ( fromB.has( MaxError ) ) toB.setMaxError ( fromB.maxError () );
+ if ( fromB.has( RelativeStateOfCharge ) ) toB.setRelativeStateOfCharge ( fromB.relativeStateOfCharge () );
+ if ( fromB.has( AbsoluteStateOfCharge ) ) toB.setAbsoluteStateOfCharge ( fromB.absoluteStateOfCharge () );
+ if ( fromB.has( RemainingCapacity ) ) toB.setRemainingCapacity ( fromB.remainingCapacity () );
+ if ( fromB.has( FullChargeCapacity ) ) toB.setFullChargeCapacity ( fromB.fullChargeCapacity () );
+ if ( fromB.has( RunTimeToEmpty ) ) toB.setRunTimeToEmpty ( fromB.runTimeToEmpty () );
+ if ( fromB.has( AverageTimeToEmpty ) ) toB.setAverageTimeToEmpty ( fromB.averageTimeToEmpty () );
+ if ( fromB.has( AverageTimeToFull ) ) toB.setAverageTimeToFull ( fromB.averageTimeToFull () );
+ if ( fromB.has( ChargingCurrent ) ) toB.setChargingCurrent ( fromB.chargingCurrent () );
+ if ( fromB.has( ChargingVoltage ) ) toB.setChargingVoltage ( fromB.chargingVoltage () );
+ if ( fromB.has( BatteryStatus ) ) toB.setBatteryStatus ( fromB.batteryStatus () );
+ if ( fromB.has( CycleCount ) ) toB.setCycleCount ( fromB.cycleCount () );
+ if ( fromB.has( DesignCapacity ) ) toB.setDesignCapacity ( fromB.designCapacity () );
+ if ( fromB.has( DesignVoltage ) ) toB.setDesignVoltage ( fromB.designVoltage () );
+ if ( fromB.has( SpecificationInfo ) ) toB.setSpecificationInfo ( fromB.specificationInfo () );
+ if ( fromB.has( ManufactureDate ) ) toB.setManufactureDate ( fromB.manufactureDate () );
+ if ( fromB.has( SerialNumber ) ) toB.setSerialNumber ( fromB.serialNumber () );
+ if ( fromB.has( ManufacturerName ) ) toB.setManufacturerName ( fromB.manufacturerName () );
+ if ( fromB.has( DeviceName ) ) toB.setDeviceName ( fromB.deviceName () );
+ if ( fromB.has( DeviceChemistry ) ) toB.setDeviceChemistry ( fromB.deviceChemistry () );
+ if ( fromB.has( ManufacturerData ) ) toB.setManufacturerData ( fromB.manufacturerData () );
+ }
+
+ // check if reaping needs to be done, if not return
+ if ( from.batteries().size() == to.batteries().size() )
+ return;
+
+ // store battery ids from batteries which need to be reaped in a vector
+ vector<int> reapingIds;
+
+ // go through all 'to' batteries and check if they are also in 'from'
+ for (BatIt it=to.batteries().begin(); it!=to.batteries().end(); it++)
+ {
+ const int batId = it->first;
+
+ BatIt itFrom = from.batteries().find( batId );
+ if ( itFrom == from.batteries().end() ) {
+ // battery is in 'to' but not in 'from' -> needs to be reaped
+ reapingIds.push_back( batId );
+ }
+ }
+
+ // reap batteries
+ for (unsigned int i=0; i<reapingIds.size(); i++) {
+ to.eraseBattery( reapingIds[i] );
+ }
+
+}
+
+
+//
+// Member functions
+//
+
+OceanServerSystem::OceanServerSystem()
+ : percentCharge(0),
+ minToEmpty(0),
+ messageToSystem("")
+{
+ // fixed number of slots for oceanserver system
+ const int NUM_BATTERY_SLOTS = 8;
+ availableBatteries.resize(NUM_BATTERY_SLOTS);
+ chargingStates.resize(NUM_BATTERY_SLOTS);
+ supplyingPowerStates.resize(NUM_BATTERY_SLOTS);
+ chargePowerPresentStates.resize(NUM_BATTERY_SLOTS);
+ powerNoGoodStates.resize(NUM_BATTERY_SLOTS);
+ chargeInhibitedStates.resize(NUM_BATTERY_SLOTS);
+}
+
+// read access to all batteries
+const map<int,SmartBattery>&
+OceanServerSystem::batteries() const
+{
+ return batteries_;
+}
+
+// write access to single battery
+SmartBattery&
+OceanServerSystem::battery( unsigned int batteryNumber )
+{
+ map<int,SmartBattery>::iterator it = batteries_.find(batteryNumber);
+ if ( it==batteries_.end() )
+ {
+ // we don't have it, so instantiate a new one
+ SmartBattery b;
+ batteries_[batteryNumber] = b;
+ return batteries_[batteryNumber];
+ }
+
+ return it->second;
+}
+
+// read access to single battery
+const SmartBattery&
+OceanServerSystem::battery( unsigned int batteryNumber ) const
+{
+ map<int,SmartBattery>::const_iterator it = batteries_.find(batteryNumber);
+ if ( it==batteries_.end() )
+ {
+ stringstream ss;
+ ss << "Trying to read from non-existent battery " << batteryNumber;
+ throw ParsingException( ERROR_INFO, ss.str().c_str() );
+ }
+ return it->second;
+}
+
+void
+OceanServerSystem::eraseBattery( unsigned int batteryNumber )
+{
+ batteries_.erase( batteries_.find( batteryNumber ) );
+}
+
+} //namespace
\ No newline at end of file
Added: gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.h
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.h (rev 0)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.h 2008-06-30 12:01:10 UTC (rev 232)
@@ -0,0 +1,80 @@
+/*
+ * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
+ * http://gearbox.sf.net/
+ * Copyright (c) 2004-2008 Tobias Kaupp
+ *
+ * This distribution is licensed to you under the terms described in
+ * the LICENSE file included in this distribution.
+ *
+ */
+
+#ifndef GBX_OCEANSERVER_SYSTEM_H
+#define GBX_OCEANSERVER_SYSTEM_H
+
+#include <map>
+#include <gbxsmartbatteryacfr/smartbattery.h>
+
+namespace gbxsmartbatteryacfr
+{
+
+//!
+//! Class representing the OceanServer battery system data
+//! Contains average values of the whole system and values from individual batteries
+//!
+//! @author Tobias Kaupp
+//!
+class OceanServerSystem
+{
+ public:
+
+ OceanServerSystem();
+ ~OceanServerSystem() {};
+
+ //! Read access to all batteries
+ const std::map<int,SmartBattery>& batteries() const;
+
+ //! Easy write access to single battery, instantiates a new one if it doesn't exist
+ SmartBattery& battery( unsigned int batteryNumber );
+
+ //! Easy read access to single battery, battery must exist
+ const SmartBattery& battery( unsigned int batteryNumber ) const;
+
+ //! Erase a battery
+ void eraseBattery( unsigned int batteryNumber );
+
+ //! Average battery values
+ int percentCharge;
+ int minToEmpty;
+ std::string messageToSystem;
+
+ //! Battery module states
+ //! Each vector is always of size 8 because oceanserver system has 8 slots
+ std::vector<bool> availableBatteries;
+ std::vector<bool> chargingStates;
+ std::vector<bool> supplyingPowerStates;
+ std::vector<bool> chargePowerPresentStates;
+ std::vector<bool> powerNoGoodStates;
+ std::vector<bool> chargeInhibitedStates;
+
+ private:
+
+ // key: slot number, data: a single smart battery module
+ std::map<int,SmartBattery> batteries_;
+};
+
+//! Puts OceanServerSystem data into a human-readable string
+std::string toString( const OceanServerSystem &system );
+
+//! Puts OceanServerSystem data into a machine-readable ASCII string
+std::string toLogString( const OceanServerSystem &system );
+
+//! Updates all fields in 'to' with data from 'from'. Also reapes batteries in 'to' if they are not in 'from'.
+//! Has persistence capabilities: if fields in 'from' are not set and corresponding fields in 'to' are set, the ones in 'to' are kept.
+//! Use case: a class stores 'to' as a member variable, receives the latest records into 'from', calls this function to update 'to'.
+//! The reaping capability makes sure that battery modules which are no longer connected don't persist.
+void updateWithNewData( const OceanServerSystem &from,
+ OceanServerSystem &to );
+
+} // namespace
+
+#endif
Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbattery.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbattery.cpp 2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbattery.cpp 2008-06-30 12:01:10 UTC (rev 232)
@@ -10,6 +10,7 @@
#include <iostream>
#include <sstream>
+#include <gbxsmartbatteryacfr/exceptions.h>
#include "smartbattery.h"
@@ -52,8 +53,12 @@
else if (fieldStr=="21") return DeviceName;
else if (fieldStr=="22") return DeviceChemistry;
else if (fieldStr=="23") return ManufacturerData;
- else cout << "ERROR: Unknown field: " << fieldStr << endl;
-
+ else
+ {
+ stringstream ss;
+ ss << "Unknown field: " << fieldStr;
+ throw ParsingException( ERROR_INFO, ss.str().c_str() );
+ }
return NUM_SMARTBATTERY_FIELDS;
}
Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbatteryacfr.dox
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbatteryacfr.dox 2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbatteryacfr.dox 2008-06-30 12:01:10 UTC (rev 232)
@@ -24,8 +24,8 @@
@endverbatim
@par Examples
-- See 'test/simpletest.cpp' for a simple example of how to use the library.
-- See 'test/fancytest.cpp' for a more advanced example.
+- See 'test/simpletest.cpp' for a simple example of how to use the library. The test reads a few records from the oceanserver system and prints the results on the screen.
+- See 'test/fancytest.cpp' for a more advanced example. The test uses a class to read a few records from the oceanserver system and stores an internal (full) record which only gets updated with new data.
@par Style
See http://orca-robotics.sourceforge.net/orca/orca_doc_style.html
Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/CMakeLists.txt
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/CMakeLists.txt 2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/CMakeLists.txt 2008-06-30 12:01:10 UTC (rev 232)
@@ -1,13 +1,15 @@
INCLUDE( ${GBX_CMAKE_DIR}/UseBasicRules.cmake )
-GBX_ADD_EXECUTABLE( gbxsmartbatterychecksumtest checksumtest.cpp )
-GBX_ADD_TEST( GbxSmartBatteryChecksumTest gbxsmartbatterychecksumtest )
-
GBX_ADD_EXECUTABLE( gbxsmartbatterysimpletest simpletest.cpp )
TARGET_LINK_LIBRARIES( gbxsmartbatterysimpletest GbxSmartBatteryAcfr )
GBX_ADD_EXECUTABLE( gbxsmartbatteryfancytest fancytest.cpp )
TARGET_LINK_LIBRARIES( gbxsmartbatteryfancytest GbxSmartBatteryAcfr )
-GBX_ADD_EXAMPLE( gbxsmartbatteryacfr example.cmake.in example.cmake checksumtest.cpp simpletest.cpp fancytest.cpp example.readme )
+GBX_ADD_EXAMPLE( gbxsmartbatteryacfr example.cmake.in example.cmake simpletest.cpp fancytest.cpp example.readme )
+IF( GBX_BUILD_TESTS )
+ ADD_SUBDIRECTORY( darttest )
+ENDIF( GBX_BUILD_TESTS )
+
+
Deleted: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/checksumtest.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/checksumtest.cpp 2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/checksumtest.cpp 2008-06-30 12:01:10 UTC (rev 232)
@@ -1,94 +0,0 @@
-#include <iostream>
-#include <sstream>
-
-using namespace std;
-
-template < typename T >
-inline T highbit(T& t)
-{
- return t = (((T)(-1)) >> 1) + 1;
-}
-
-template < typename T >
-std::ostream& bin(T& value, std::ostream &o)
-{
- for ( T bit = highbit(bit); bit; bit >>= 1 )
- {
- o << ( ( value & bit ) ? '1' : '0' );
- }
- return o;
-}
-
-// Simple checksum test using XOR
-int main( int argc, char **argv )
-{
- int opt;
- std::string input = "B18,0A,0000";
- std::string resultHex = "3A";
-
- // Get some options from the command line
- while ((opt = getopt(argc, argv, "i:r:")) != -1)
- {
- switch ( opt )
- {
- case 'i':
- input = optarg;
- break;
- case 'r':
- resultHex = optarg;
- break;
- default:
- cout << "Usage: " << argv[0] << " [-i input] [-r resultInHex]" << endl
- << "-i input\tInput string. E.g. B18,0A,0000" << endl
- << "-r resultInHex\tResult in hex. E.g. 3A "<< endl;
- return 1;
- }
- }
-
- cout << endl << "Checksum is computed using XOR" << endl;
- cout << endl << "Input string is:\t\t " << input << endl;
- cout << "Expected checksum result is:\t " << resultHex << endl << endl;
-
- unsigned int checksum = 0;
-
- cout << "Table: " << endl
- << "char\tdec\thex\tbin" << endl
- << "----------------------------------" << endl;
-
- for (unsigned int i=0; i<input.size(); i++)
- {
- unsigned int charValue = (unsigned int)input[i];
- cout << input[i] << "\t"
- << std::dec << charValue << "\t"
- << std::hex << charValue << "\t";
- bin(charValue, cout);
- cout << endl;
- //checksum computation
- checksum ^= charValue;
- }
-
- cout << endl;
- cout << "Computed checksum (dec,hex,bin): " << std::dec << checksum << ", " << std::hex << checksum << ", ";
- bin(checksum, cout); cout << endl << endl;
-
- stringstream ss;
- ss << std::hex << checksum;
-
- string checksumStr = ss.str();
- for (unsigned int i=0; i<checksumStr.size(); i++)
- checksumStr[i] = toupper( checksumStr[i] );
-
- cout << "Expected checksum result is:\t" << resultHex << endl;
- cout << "Computed checksum result is:\t" << checksumStr << endl << endl;
-
- int passTest = checksumStr.compare( resultHex );
- if (passTest!=0) {
- cout << "Test not passed" << endl;
- return 1;
- }
- cout << "Test passed" << endl;
-
- return 0;
-}
-
-
Added: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/CMakeLists.txt
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/CMakeLists.txt (rev 0)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/CMakeLists.txt 2008-06-30 12:01:10 UTC (rev 232)
@@ -0,0 +1,4 @@
+INCLUDE( ${GBX_CMAKE_DIR}/UseBasicRules.cmake )
+
+GBX_ADD_EXECUTABLE( gbxsmartbatterychecksumtest checksumtest.cpp )
+GBX_ADD_TEST( GbxSmartBatteryChecksumTest gbxsmartbatterychecksumtest )
\ No newline at end of file
Added: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/checksumtest.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/checksumtest.cpp (rev 0)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/checksumtest.cpp 2008-06-30 12:01:10 UTC (rev 232)
@@ -0,0 +1,94 @@
+#include <iostream>
+#include <sstream>
+
+using namespace std;
+
+template < typename T >
+inline T highbit(T& t)
+{
+ return t = (((T)(-1)) >> 1) + 1;
+}
+
+template < typename T >
+std::ostream& bin(T& value, std::ostream &o)
+{
+ for ( T bit = highbit(bit); bit; bit >>= 1 )
+ {
+ o << ( ( value & bit ) ? '1' : '0' );
+ }
+ return o;
+}
+
+// Simple checksum test using XOR
+int main( int argc, char **argv )
+{
+ int opt;
+ std::string input = "B18,0A,0000";
+ std::string resultHex = "3A";
+
+ // Get some options from the command line
+ while ((opt = getopt(argc, argv, "i:r:")) != -1)
+ {
+ switch ( opt )
+ {
+ case 'i':
+ input = optarg;
+ break;
+ case 'r':
+ resultHex = optarg;
+ break;
+ default:
+ cout << "Usage: " << argv[0] << " [-i input] [-r resultInHex]" << endl
+ << "-i input\tInput string. E.g. B18,0A,0000" << endl
+ << "-r resultInHex\tResult in hex. E.g. 3A "<< endl;
+ return 1;
+ }
+ }
+
+ cout << endl << "Checksum is computed using XOR" << endl;
+ cout << endl << "Input string is:\t\t " << input << endl;
+ cout << "Expected checksum result is:\t " << resultHex << endl << endl;
+
+ unsigned int checksum = 0;
+
+ cout << "Table: " << endl
+ << "char\tdec\thex\tbin" << endl
+ << "----------------------------------" << endl;
+
+ for (unsigned int i=0; i<input.size(); i++)
+ {
+ unsigned int charValue = (unsigned int)input[i];
+ cout << input[i] << "\t"
+ << std::dec << charValue << "\t"
+ << std::hex << charValue << "\t";
+ bin(charValue, cout);
+ cout << endl;
+ //checksum computation
+ checksum ^= charValue;
+ }
+
+ cout << endl;
+ cout << "Computed checksum (dec,hex,bin): " << std::dec << checksum << ", " << std::hex << checksum << ", ";
+ bin(checksum, cout); cout << endl << endl;
+
+ stringstream ss;
+ ss << std::hex << checksum;
+
+ string checksumStr = ss.str();
+ for (unsigned int i=0; i<checksumStr.size(); i++)
+ checksumStr[i] = toupper( checksumStr[i] );
+
+ cout << "Expected checksum result is:\t" << resultHex << endl;
+ cout << "Computed checksum result is:\t" << checksumStr << endl << endl;
+
+ int passTest = checksumStr.compare( resultHex );
+ if (passTest!=0) {
+ cout << "Test not passed" << endl;
+ return 1;
+ }
+ cout << "Test passed" << endl;
+
+ return 0;
+}
+
+
Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.cmake.in
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.cmake.in 2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.cmake.in 2008-06-30 12:01:10 UTC (rev 232)
@@ -1,13 +1,6 @@
PROJECT( gbxsmartbatteryacfr_example )
INCLUDE_DIRECTORIES( @CMAKE_INSTALL_PREFIX@/include/gearbox )
-
-ADD_EXECUTABLE( gbxsmartbatteryacfrchecksum checksumtest.cpp )
-TARGET_LINK_LIBRARIES( gbxsmartbatteryacfrchecksum GbxSmartBatteryAcfr )
-SET_TARGET_PROPERTIES( gbxsmartbatteryacfrchecksum PROPERTIES
- LINK_FLAGS "-L@CMAKE_INSTALL_PREFIX@/lib/gearbox"
- INSTALL_RPATH "${INSTALL_RPATH};@CMAKE_INSTALL_PREFIX@/lib/gearbox"
- BUILD_WITH_INSTALL_RPATH TRUE )
ADD_EXECUTABLE( gbxsmartbatteryacfrsimple simpletest.cpp )
TARGET_LINK_LIBRARIES( gbxsmartbatteryacfrsimple GbxSmartBatteryAcfr )
Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.readme
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.readme 2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.readme 2008-06-30 12:01:10 UTC (rev 232)
@@ -9,4 +9,10 @@
$ cd ~
$ mkdir gbxsmartbatteryacfr_example
$ cd gbxsmartbatteryacfr_example
-$ ccmake /usr/local/share/gearbox/gbxsmartbatteryacfr
+$ ccmake /usr/local/share/gearbox/gbxsmartbatteryacfr
+(press 'c' and 'g')
+$ make
+$ ./gbxsmartbatteryacfrsimple
+$ ./gbxsmartbatteryacfrfancy
+
+See the library documentation (smartbatteryacfr.dox) for a description of the tests.
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