Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Generator_config.h"
       4             : 
       5             : #if HAL_GENERATOR_ENABLED
       6             : 
       7             : #include <AP_Param/AP_Param.h>
       8             : #include <AP_BattMonitor/AP_BattMonitor.h>
       9             : 
      10             : class AP_Generator_Backend;
      11             : class AP_Generator_Cortex;
      12             : class AP_Generator_IE_650_800;
      13             : class AP_Generator_IE_2400;
      14             : class AP_Generator_RichenPower;
      15             : 
      16             : class AP_Generator
      17             : {
      18             :     friend class AP_Generator_Cortex;
      19             :     friend class AP_Generator_Backend;
      20             :     friend class AP_Generator_IE_650_800;
      21             :     friend class AP_Generator_IE_2400;
      22             :     friend class AP_Generator_RichenPower;
      23             :     friend class AP_Generator_Loweheiser;
      24             : 
      25             : public:
      26             :     // Constructor
      27             :     AP_Generator();
      28             : 
      29             :     // Do not allow copies
      30             :     CLASS_NO_COPY(AP_Generator);
      31             : 
      32             :     static AP_Generator* get_singleton();
      33             : 
      34             :     void init(void);
      35             :     void update(void);
      36             : 
      37             :     bool pre_arm_check(char *failmsg, uint8_t failmsg_len) const;
      38             : 
      39             :     AP_BattMonitor::Failsafe update_failsafes(void);
      40             : 
      41             :     // Helpers to retrieve measurements
      42       11507 :     float get_voltage(void) const { return _voltage; }
      43       11507 :     float get_current(void) const { return _current; }
      44             :     // get_fuel_remaining returns fuel remaining as a scale 0-1
      45        6971 :     float get_fuel_remaining(void) const { return _fuel_remaining; }
      46             :     float get_fuel_remaining_l(void) const { return _fuel_remaining_l; }
      47       18889 :     float get_batt_consumed(void) const { return _consumed_mah; }
      48           0 :     uint16_t get_rpm(void) const { return _rpm; }
      49             : 
      50             :     // Helpers to see if backend has a measurement
      51       52456 :     bool has_current() const { return _has_current; }
      52       33075 :     bool has_consumed_energy() const { return _has_consumed_energy; }
      53       38613 :     bool has_fuel_remaining() const { return _has_fuel_remaining; }
      54             :     bool has_fuel_remaining_l() const { return _has_fuel_remaining_l; }
      55             : 
      56             :     // method to reset the amount of energy remaining in a generator.
      57             :     // This typically means someone has refueled the vehicle without
      58             :     // powering it off, and is indicating that the fuel tank is full.
      59             :     bool reset_consumed_energy();
      60             : 
      61             :     // healthy() returns true if the generator is not present, or it is
      62             :     // present, providing telemetry and not indicating any errors.
      63       34907 :     bool healthy(void) const { return _healthy; }
      64             : 
      65             :     // Generator controls must return true if present in generator type
      66             :     bool stop(void);
      67             :     bool idle(void);
      68             :     bool run(void);
      69             : 
      70             :     void send_generator_status(const class GCS_MAVLINK &channel);
      71             : 
      72             : #if AP_GENERATOR_LOWEHEISER_ENABLED
      73             :     // a getter to explicitly get a Loweheiser backend if it exists.
      74             :     // Used to pass mavlink messages directly to it until we need that
      75             :     // on the generator interface itself, and for the
      76             :     // AP_EFI_Loweheiser object to get the generator backend.
      77             :     class AP_Generator_Loweheiser *get_loweheiser();
      78             : #endif
      79             : 
      80             :     // Parameter block
      81             :     static const struct AP_Param::GroupInfo var_info[];
      82             :     static const struct AP_Param::GroupInfo *backend_var_info;
      83             : 
      84             :     // bits which can be set in _options to modify generator behaviour:
      85             :     enum class Option {
      86             :         INHIBIT_MAINTENANCE_WARNINGS = 0,
      87             :     };
      88             : 
      89         917 :     bool option_set(Option opt) const {
      90         917 :         return (_options & 1U<<uint32_t(opt)) != 0;
      91             :     }
      92             : 
      93             : private:
      94             : 
      95             :     // Pointer to chosen driver
      96             :     AP_Generator_Backend* _driver_ptr;
      97             : 
      98             :     // Parameters
      99             :     AP_Int8 _type; // Select which generator to use
     100             :     AP_Int32 _options; // Select which generator to use
     101             : 
     102             :     enum class Type {
     103             :         GEN_DISABLED = 0,
     104             : #if AP_GENERATOR_IE_650_800_ENABLED
     105             :         IE_650_800 = 1,
     106             : #endif
     107             : #if AP_GENERATOR_IE_2400_ENABLED
     108             :         IE_2400 = 2,
     109             : #endif
     110             : #if AP_GENERATOR_RICHENPOWER_ENABLED
     111             :         RICHENPOWER = 3,
     112             : #endif
     113             : #if AP_GENERATOR_LOWEHEISER_ENABLED
     114             :         LOWEHEISER = 4,
     115             : #endif  // AP_GENERATOR_LOWEHEISER_ENABLED
     116             : #if AP_GENERATOR_CORTEX_ENABLED
     117             :         CORTEX = 5,
     118             : #endif  // AP_GENERATOR_CORTEX_ENABLED
     119             :     };
     120             : 
     121             :     // Helper to get param and cast to GenType
     122             :     Type type(void) const;
     123             : 
     124             :     // Front end variables
     125             :     float _voltage;
     126             :     float _current;
     127             :     float _fuel_remaining;  // 0-1
     128             :     float _fuel_remaining_l;
     129             :     bool _has_fuel_remaining;
     130             :     bool _has_fuel_remaining_l;
     131             :     float _consumed_mah;
     132             :     uint16_t _rpm;
     133             :     bool _healthy;
     134             :     bool _has_current;
     135             :     bool _has_consumed_energy;
     136             : 
     137             :     static AP_Generator *_singleton;
     138             : 
     139             : };
     140             : 
     141             : namespace AP {
     142             :     AP_Generator *generator();
     143             : };
     144             : #endif