gz/common/Battery.hh

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/*
 * Copyright (C) 2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_COMMON_BATTERY_HH_
#define GZ_COMMON_BATTERY_HH_
 
#include <cstdint>
#include <functional>
#include <map>
#include <memory>
#include <string>
 
#include <gz/common/Export.hh>
 
#include <gz/utils/ImplPtr.hh>
 
namespace gz
{
  namespace common
  {
    class GZ_COMMON_VISIBLE Battery
    {
      public: typedef std::map<uint32_t, double> PowerLoad_M;
 
      public: explicit Battery();
 
      public: Battery(const std::string &_name, const double _voltage);
 
      public: Battery(const Battery &_battery);
 
      public: Battery &operator=(const Battery &_battery);
 
      public: Battery(Battery &&_battery);
 
      public: Battery &operator=(Battery &&_battery);
 
      public: virtual ~Battery() = default;
 
      public: bool operator==(const Battery &_battery) const;
 
      public: bool operator!=(const Battery &_battery) const;
 
      public: virtual void Init();
 
      public: virtual void ResetVoltage();
 
      public: double InitVoltage() const;
 
      public: virtual void SetInitVoltage(const double _voltage);
 
      public: std::string Name() const;
 
      public: void SetName(const std::string &_name) const;
 
      public: uint32_t AddConsumer();
 
      public: bool RemoveConsumer(const uint32_t _consumerId);
 
      public: bool SetPowerLoad(const uint32_t _consumerId,
                                const double _powerLoad);
 
      public: bool PowerLoad(const uint32_t _consumerId,
                             double &_powerLoad) const;
 
      public: const PowerLoad_M &PowerLoads() const;
 
      public: double Voltage() const;
 
      public: void SetUpdateFunc(
                  std::function<double (Battery *)> _updateFunc);
 
      public: void ResetUpdateFunc();
 
      public: void Update();
 
      protected: void InitConsumers();
 
      private: double UpdateDefault(Battery *_battery);
 
      GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
    };
 
    typedef std::shared_ptr<Battery> BatteryPtr;
  }
}
#endif