Added configurable alarms to notify when something is wrong with the battery.

src/examples/segway_battery_test.cpp

@@ -4,11 +4,24 @@
 
 std::string battery_dev="A600eByq";
 
+bool condition1(TBatteryInfo *info)
+{
+  if(info->rem_capacity<28600)
+    return true;
+  else
+    return false;
+}
+
 int main(int argc, char *argv[])
 {
+  CEventServer *event_server=CEventServer::instance();
+  std::string cond1_event_id,cond1_name;
   CSegway_Battery battery(battery_dev);
+  bool end=false;
 
-  while(1)
+  cond1_name="condition1";
+  cond1_event_id=battery.create_alarm(cond1_name,condition1);
+  while(!end)
   {
     try{
       std::cout << "Battery voltage: " << battery.get_current_voltage() << " V" << std::endl;
@@ -18,7 +31,10 @@ int main(int argc, char *argv[])
       std::cout << "Remaining capacity: " << battery.get_remaining_capacity() << " mAh" << std::endl;
       std::cout << "Time to fully charged: " << battery.get_time_to_charged() << " min" << std::endl;
       std::cout << "Time to fully discharged: " << battery.get_time_to_discharged() << " min" << std::endl;
-      sleep(1);
+      if(event_server->event_is_set(cond1_event_id))
+        end=true;
+      else
+        sleep(1);
     }catch(CException &e){
       std::cout << e.what() << std::endl;
     }

src/segway_battery.cpp

@@ -96,6 +96,7 @@ void *CSegway_Battery::battery_monitor_thread(void *param)
 void CSegway_Battery::parse_packet(unsigned char *data, int len)
 {
   int i=0;
+  unsigned int j=0;
   static int pos=-2;
   float vt=0.0,res=0.0,k=0.0;
   static unsigned char packet_data[31];
@@ -154,6 +155,15 @@ void CSegway_Battery::parse_packet(unsigned char *data, int len)
         this->info.time_to_charged=packet_data[27]+packet_data[28]*256;
         // convert time to discharged
         this->info.time_to_discharged=packet_data[29]+packet_data[30]*256;
+        // check all alarms
+        for(j=0;j<this->alarms.size();j++)
+        {
+          if(this->alarms[j].condition_function(&this->info))
+          {
+            if(!this->event_server->event_is_set(this->alarms[j].event_id))
+              this->event_server->set_event(this->alarms[j].event_id);
+          }
+        }
       }
     }
   }
@@ -233,9 +243,57 @@ bool CSegway_Battery::over_voltage_protection(void)
   else
     return false;
 }
+
+// alarm handling
+std::string CSegway_Battery::create_alarm(std::string &name,bool (*function)(TBatteryInfo *info))
+{
+  TAlarm new_alarm;
+  unsigned int i=0;
+
+  for(i=0;i<this->alarms.size();i++)
+  {
+    if(this->alarms[i].id==name)
+    {
+      // handle exceptions
+      throw CException(_HERE_,"An other alarm with the same name already exists.");
+    }
+  }
+  if(function==NULL)
+  {
+    // handle exceptions
+    throw CException(_HERE_,"Invalid condition function.");
+  }
+  // initialize the new alarm
+  new_alarm.id=name;
+  new_alarm.event_id=name+"_event_id";
+  this->event_server->create_event(new_alarm.event_id);
+  new_alarm.condition_function=function;
+  this->alarms.push_back(new_alarm);
+
+  return new_alarm.event_id;
+}
+
+void CSegway_Battery::delete_alarm(std::string &name)
+{
+  unsigned int i=0;
+
+  for(i=0;i<this->alarms.size();i++)
+  {
+    if(this->alarms[i].id==name)
+    {
+      this->event_server->delete_event(this->alarms[i].event_id);
+      this->alarms.erase(this->alarms.begin()+i);
+      return;
+    }
+  }
+  // handle exceptions
+  throw CException(_HERE_,"No alarm exists with the given name.");
+}
  
 CSegway_Battery::~CSegway_Battery()
 {
+  unsigned int i=0;
+
   if(this->finish_thread_event_id!="")
   {
     // signal the thread to terminate
@@ -251,6 +309,15 @@ CSegway_Battery::~CSegway_Battery()
     this->event_server->delete_event(this->finish_thread_event_id);
     this->finish_thread_event_id="";
   }
+  // clear all alarms
+  for(i=0;i<this->alarms.size();i++)
+  {
+    this->event_server->delete_event(this->alarms[i].event_id);
+    this->alarms[i].event_id="";
+    this->alarms[i].id="";
+    this->alarms[i].condition_function=NULL;
+  }
+  this->alarms.clear();
   // close the serial port
   if(this->serial!=NULL)
   {

src/segway_battery.h

@@ -25,6 +25,12 @@ typedef struct
   double time_to_discharged;
 }TBatteryInfo;
 
+typedef struct{
+  std::string id;
+  std::string event_id;
+  bool (*condition_function)(TBatteryInfo *info);
+}TAlarm;
+
 class CSegway_Battery
 {
   private:
@@ -39,11 +45,14 @@ class CSegway_Battery
     // battery information
     TBatteryInfo info;
     CMutex info_access;
+    // alarms
+    std::vector<TAlarm> alarms;
   protected:
     static void *battery_monitor_thread(void *param);
     void parse_packet(unsigned char *data, int len);
   public:
     CSegway_Battery(std::string &serial_dev);
+    // basic battery info
     double get_current_voltage(void);
     double get_current_temperature(void);
     double get_input_current(void);
@@ -56,6 +65,9 @@ class CSegway_Battery
     bool is_load_enabled(void);
     bool under_voltage_protection(void);
     bool over_voltage_protection(void);
+    // alarm handling
+    std::string create_alarm(std::string &name,bool (*function)(TBatteryInfo *info));
+    void delete_alarm(std::string &name);
     ~CSegway_Battery();
 };