Class BatteryPublisher

Defined in File battery_publisher.hpp

Inheritance Relationships

Derived Types

public husarion_ugv_battery::DualBatteryPublisher (Class DualBatteryPublisher)
public husarion_ugv_battery::SingleBatteryPublisher (Class SingleBatteryPublisher)

Class Documentation

class BatteryPublisher

Subclassed by husarion_ugv_battery::DualBatteryPublisher, husarion_ugv_battery::SingleBatteryPublisher

Public Functions

BatteryPublisher(const rclcpp::Node::SharedPtr &node, const std::shared_ptr<diagnostic_updater::Updater> &diagnostic_updater, const double battery_timeout)

inline ~BatteryPublisher()

void Publish()

Protected Functions

virtual void Update() = 0

virtual void Reset() = 0

virtual void PublishBatteryState() = 0

virtual void PublishChargingStatus() = 0

virtual void LogErrors() = 0

virtual void DiagnoseErrors(diagnostic_updater::DiagnosticStatusWrapper &status) = 0

virtual void DiagnoseStatus(diagnostic_updater::DiagnosticStatusWrapper &status) = 0

bool TimeoutReached()

void BatteryStatusLogger(const BatteryStateMsg &battery_state)

bool ChargerConnected() const

std::string MapPowerSupplyStatusToString(uint8_t power_supply_status) const

rclcpp::Logger GetLogger()

rclcpp::Clock::SharedPtr GetClock()

Protected Attributes

rclcpp::Node::WeakPtr node_

std::shared_ptr<diagnostic_updater::Updater> diagnostic_updater_