dji_battery.hpp

#ifndef ADVANCED_SENSING_DJI_BATTERY_H
#define ADVANCED_SENSING_DJI_BATTERY_H

#include "dji_type.hpp"
namespace DJI
{
namespace OSDK
{

#pragma pack(1)

typedef struct DJIWholeBatteryState {
    uint32_t reserve1 :15;
    uint32_t isFakeSingleBatteryMode:1;
    uint32_t isSingleBatteryMode:1;
    uint32_t reserve2:4;
    uint32_t batteryNotReady:1;  
    uint32_t voltageNotSafety:1; 
    uint32_t reserve3:3;
    uint32_t veryLowVoltageAlarm:1;
    uint32_t LowVoltageAlarm:1;
    uint32_t reserve4:2;
    uint32_t seriousLowCapacityAlarm:1;
    uint32_t LowCapacityAlarm:1;
} DJIWholeBatteryState;

typedef struct BatteryWholeInfo {
    uint16_t remainFlyTime;
    uint16_t goHomeNeedTime;            
    uint16_t landNeedTime;              
    uint16_t goHomeNeedCapacity;        
    uint16_t landNeedCapacity;          
    float    safeFlyRadius;             
    float    capacityConsumeSpeed;      
    DJIWholeBatteryState batteryState;
    uint8_t  goHomeCountDownState;      
    uint8_t  gohomeCountDownvalue;      
    uint16_t voltage;                   
    uint8_t  batteryCapacityPercentage; 
    uint8_t  lowBatteryAlarmThreshold:7;
    uint8_t  lowBatteryAlarmEnable   :1;
    uint8_t  seriousLowBatteryAlarmThreshold:7;
    uint8_t  seriousLowBatteryAlarmEnable   :1;
    uint8_t  reserve;
} BatteryWholeInfo;


typedef enum DJISmartBatterySelfCheck {
    DJI_BATTERY_SELF_CHECK_NORAML        = 0,
    DJI_BATTERY_SELF_CHECK_NTC_ABNORAML  = 1,
    DJI_BATTERY_SELF_CHECK_MOS_ABNROMAL  = 2,
    DJI_BATTERY_SELF_CHECK_R_ABNORMAL    = 3,
    DJI_BATTERY_SELF_CHECK_CELL_DAMAGE   = 4,
    DJI_BATTERY_SELF_CHECK_CAL_EXP       = 5,
    DJI_BATTERY_SELF_CHECK_GAUGEPARM_EXP = 6,
    DJI_BATTERY_SELF_CHECK_RES           = 7,
} DJISmartBatterySelfCheck;

typedef enum DJIBatteryClosedReasonImpl {
    DJI_BETTERY_CLOSED_NORMAL = 0,
    DJI_BETTERY_CLOSED_FORCED = 1,
    DJI_BETTERY_CLOSED_SCD    = 2,    
    DJI_BETTERY_CLOSED_OLD    = 3,    
    DJI_BETTERY_CLOSED_OCD    = 4,    
    DJI_BETTERY_CLOSED_UVD    = 5,    
    DJI_BETTERY_CLOSED_OTD    = 6,    
    DJI_BETTERY_CLOSED_SCC    = 16,   
    DJI_BETTERY_CLOSED_OCC    = 17,   
    DJI_BETTERY_CLOSED_OVC    = 18,   
    DJI_BETTERY_CLOSED_OVCER  = 19,   
    DJI_BETTERY_CLOSED_LTC    = 20,   
    DJI_BETTERY_CLOSED_HTC    = 21,   
} DJIBatteryClosedReasonImpl;

typedef enum {
    DJI_SOH_NORMAL  = 0,
    DJI_SOH_ALERT   = 1,
    DJI_SOH_SAFE    = 2,
    DJI_SOH_RESERVE = 3,
} DJISmartBatterySohState;

typedef enum DJISmartBatteryHeatState {
    DJI_NO_HEAT   = 0,
    DJI_IN_HEAT   = 1,
    DJI_KEEP_WARM = 2,
} DJISmartBatteryHeatState;

typedef enum DJISmartBatterySocWarning {
    DJI_SOC_NORMAL        = 0,
    DJI_SOC_ABNORMAL_HIGH = 1,
    DJI_SOC_JUMP_DOWN     = 2,
    DJI_SOC_JUMP_UP       = 3,
    DJI_SOC_INVALID       = 4,
    DJI_reserved1         = 5,
    DJI_reserved2         = 6,
    DJI_reserved3         = 7,
} DJISmartBatterySocWarning;

typedef struct DJISmartBatteryState {
    uint32_t reserved  :12;
    uint32_t cellBreak :5;            
    uint32_t selfCheckError :3;       
    uint32_t reserved1 :7;
    uint32_t batteryClosedReason :5;   
    uint8_t  reserved2 :6;/*[0]CHG state；[1]DSG state；[2]ORING state*/
    uint8_t  batSOHState :2;                
    uint8_t  maxCycleLimit:6;          
    uint8_t  reserved3    :2;
    uint16_t lessBattery  :1;
    uint16_t batteryCommunicationAbnormal:1;
    uint16_t reserved4 :3;
    uint16_t hasCellBreak :1;
    uint16_t reserved5 :4;
    uint16_t isBatteryEmbed :1;        
    uint16_t heatState :2;             
    uint16_t socState  :3;             
} DJISmartBatteryState;

typedef struct SmartBatteryDynamicInfo {
    uint8_t  reserve;
    uint8_t  batteryIndex;
    int32_t  currentVoltage;          
    int32_t  currentElectric;         
    uint32_t fullCapacity;            
    uint32_t remainedCapacity;        
    int16_t  batteryTemperature;      
    uint8_t  cellCount;
    uint8_t  batteryCapacityPercent;  
    DJISmartBatteryState batteryState;
    uint8_t  reserve1;
    uint8_t  reserve2;
    uint8_t  SOP;                     
} SmartBatteryDynamicInfo;

#pragma pack()

class Vehicle;
class DJIBatteryImpl;

class DJIBattery
{
public:
    enum class RequestSmartBatteryIndex
    {
        FIRST_SMART_BATTERY  = 1,
        SECOND_SMART_BATTERY = 2,
    };

public:
    DJIBattery(Vehicle *vehicle = 0);
    ~DJIBattery();

    Vehicle* vehicle;
    DJIBatteryImpl* djiBatteryImpl;

public:
    bool subscribeBatteryWholeInfo(bool enable);

    bool getBatteryWholeInfo(BatteryWholeInfo& batteryWholeInfo);

    bool getSingleBatteryDynamicInfo(const DJIBattery::RequestSmartBatteryIndex batteryIndex, SmartBatteryDynamicInfo& batteryDynamicInfo);
};

}
}
#endif //ADVANCED_SENSING_DJI_BATTERY_H