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 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
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 *    distribution.
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 *    used to endorse or promote products derived from this software
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file battery.h
 *
 * Library calls for battery functionality.
 *
 * @author Julian Oes <julian@oes.ch>
 */

#pragma once

#include <uORB/topics/battery_status.h>
#include <drivers/drv_hrt.h>
#include <px4_module_params.h>


class Battery : public ModuleParams
{
public:
	Battery();

	/**
	 * Reset all battery stats and report invalid/nothing.
	 */
	void reset(battery_status_s *battery_status);

	/**
	 * Get the battery cell count
	 */
	int cell_count() { return _n_cells.get(); }

	/**
	 * Get the empty voltage per cell
	 */
	float empty_cell_voltage() { return _v_empty.get(); }

	/**
	 * Get the full voltage per cell
	 */
	float full_cell_voltage() { return _v_charged.get(); }

	/**
	 * Update current battery status message.
	 *
	 * @param voltage_v: current voltage in V
	 * @param current_a: current current in A
	 * @param connected: Battery is connected
	 * @param selected_source: This battery is on the brick that the selected source for selected_source
	 * @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
	 * @param throttle_normalized: throttle from 0 to 1
	 */
	void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
				 bool connected, bool selected_source, int priority,
				 float throttle_normalized,
				 bool armed, battery_status_s *status);

private:
	void filterVoltage(float voltage_v);
	void filterThrottle(float throttle);
	void filterCurrent(float current_a);
	void sumDischarged(hrt_abstime timestamp, float current_a);
	void estimateRemaining(float voltage_v, float current_a, float throttle, bool armed);
	void determineWarning(bool connected);
	void computeScale();

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::BAT_V_EMPTY>) _v_empty,
		(ParamFloat<px4::params::BAT_V_CHARGED>) _v_charged,
		(ParamInt<px4::params::BAT_N_CELLS>) _n_cells,
		(ParamFloat<px4::params::BAT_CAPACITY>) _capacity,
		(ParamFloat<px4::params::BAT_V_LOAD_DROP>) _v_load_drop,
		(ParamFloat<px4::params::BAT_R_INTERNAL>) _r_internal,
		(ParamFloat<px4::params::BAT_LOW_THR>) _low_thr,
		(ParamFloat<px4::params::BAT_CRIT_THR>) _crit_thr,
		(ParamFloat<px4::params::BAT_EMERGEN_THR>) _emergency_thr
	)

	bool _battery_initialized = false;
	float _voltage_filtered_v = -1.f;
	float _throttle_filtered = -1.f;
	float _current_filtered_a = -1.f;
	float _discharged_mah = 0.f;
	float _discharged_mah_loop = 0.f;
	float _remaining_voltage = -1.f;		///< normalized battery charge level remaining based on voltage
	float _remaining = -1.f;			///< normalized battery charge level, selected based on config param
	float _scale = 1.f;
	uint8_t _warning;
	hrt_abstime _last_timestamp;
};
