Class DualBatteryPublisher

Defined in File dual_battery_publisher.hpp

Inheritance Relationships

Base Type

public husarion_ugv_battery::BatteryPublisher (Class BatteryPublisher)

Class Documentation

class DualBatteryPublisher : public husarion_ugv_battery::BatteryPublisher 

Public Functions

DualBatteryPublisher(const rclcpp::Node::SharedPtr &node, const std::shared_ptr<diagnostic_updater::Updater> &diagnostic_updater, const double battery_timeout, const std::shared_ptr<Battery> &battery_1, const std::shared_ptr<Battery> &battery_2)

inline ~DualBatteryPublisher()

Protected Functions

virtual void Update() override

virtual void Reset() override

virtual void PublishBatteryState() override

virtual void PublishChargingStatus() override

virtual void LogErrors() override

virtual void DiagnoseErrors(diagnostic_updater::DiagnosticStatusWrapper &status) override

virtual void DiagnoseStatus(diagnostic_updater::DiagnosticStatusWrapper &status) override

BatteryStateMsg MergeBatteryMsgs(const BatteryStateMsg &battery_msg_1, const BatteryStateMsg &battery_msg_2)

std::uint8_t MergeBatteryPowerSupplyStatus(const BatteryStateMsg &battery_msg_1, const BatteryStateMsg &battery_msg_2) const

void MergeBatteryPowerSupplyHealth(BatteryStateMsg &battery_msg, const BatteryStateMsg &battery_msg_1, const BatteryStateMsg &battery_msg_2)

ChargingStatusMsg MergeChargingStatusMsgs(const ChargingStatusMsg &charging_status_msg_1, const ChargingStatusMsg &charging_status_msg_2)