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/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file power.cpp

 * @brief Contains code to monitor and regulate power systems

 *

 * Implementation of power monitor and control

 *

 * @author Colony Project, CMU Robotics Club

 * @author Jeff Cooper

 * @defgroup power Power

 * @brief Functions for monitoring and regulating the power systems

 *

 * @{

 **/

#include "ros/ros.h"

#include "power.h"

#include <cstdlib>

/* Power system state variables

 * updated by the AVR, used to respond to

 * power queries and send messages

 *

 */

/** @todo Fix types: static */

/** @TODO figure out if we can get things like the current draw from the AVR. */

/** @TODO More generally, figure out how we get info from the AVR (avrbridge

 * node?) */

uint32_t voltage; /**< the current voltage */

uint32_t percentage; /**< current percentage of power remaining */

uint32_t draw; /**< the current draw in mW */

/** @TODO: figure out if these have to be uint8_t's to play nice with ROS */

bool externalpower; /**< are we on external power? */

bool warning; /**< is the battery reporting a warning state? */

bool critical; /**< is the battery reporting a critical state? */

/**

 * @brief Outputs current power state information

 *

 * Serves the service query_power by responding to service requests with the

 * state of the power system

 * @param req The request. There are no fields

 * @param res The response. The fields will be filled with values.

 */

bool power_query(::messages::query_power::Request &req,

                 ::messages::query_power::Response &res)

{

    res.voltage = voltage;

    res.percentage = percentage;

    res.draw = draw;

    res.externalpower = externalpower;

    res.warning = warning;

    res.critical = critical;

    ROS_DEBUG("Power speeds queried");

    return true;

}

/** @TODO: implement a function to send a message about the power state when

 * it's critical. can't do much with this until I have some way of reading the

 * power state from the AVR, I don't believe. */

/**

 * @brief Power driver. This is a ROS node that monitors and regulates the power

 * systems

 *

 * This is the main function for the power node. It is run when the node

 * starts. It advertises the query_power service.

 * 

 * @param argc The number of command line arguments (should be 1)

 * @param argv The array of command line arguments

 **/

int main(int argc, char **argv)

{

    /* Initialize in ROS the motors driver node */

    ros::init(argc, argv, "power_driver");

    /* Advertise that this serves the query_motors service */

    ros::NodeHandle n;

    ros::ServiceServer service = n.advertiseService("query_power",

                                                    power_query);

    /* Initialize hardware for motors */

    // Hardware init functions here

    ROS_INFO("Ready to set motors.");

    ros::spin();

    return 0;

}

/** @} **/