Merge pull request #2524 from aminballoon/pr-update-Battery-TimeRemain&Function

Update Battery Remaining Time and Battery Function

Author: julianoes

docs/en/cpp/api_reference/classmavsdk_1_1_telemetry.md

@@ -78,6 +78,7 @@ struct [Wind](structmavsdk_1_1_telemetry_1_1_wind.md)
 Type | Description
 --- | ---
 enum [FixType](#classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639de) | GPS fix type.
+enum [BatteryFunction](#classmavsdk_1_1_telemetry_1adf751b819a1a38fc2b02442b5d5dae60) | [Battery](structmavsdk_1_1_telemetry_1_1_battery.md) function type.
 enum [FlightMode](#classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fe) | Flight modes.
 enum [StatusTextType](#classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8) | Status types.
 enum [LandedState](#classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046) | Landed State enumeration.
@@ -1074,6 +1075,20 @@ Value | Description
 <span id="classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639dea1eacb557d24c49af2ec6832c5fc32413"></span> `RtkFloat` | RTK float, 3D position. 
 <span id="classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639dea9effa0afed44833d540fec2c57e67426"></span> `RtkFixed` | RTK Fixed, 3D position. 
 
+### enum BatteryFunction {#classmavsdk_1_1_telemetry_1adf751b819a1a38fc2b02442b5d5dae60}
+
+
+[Battery](structmavsdk_1_1_telemetry_1_1_battery.md) function type.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_1adf751b819a1a38fc2b02442b5d5dae60a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | [Battery](structmavsdk_1_1_telemetry_1_1_battery.md) function is unknown. 
+<span id="classmavsdk_1_1_telemetry_1adf751b819a1a38fc2b02442b5d5dae60ab1c94ca2fbc3e78fc30069c8d0f01680"></span> `All` | [Battery](structmavsdk_1_1_telemetry_1_1_battery.md) supports all flight systems. 
+<span id="classmavsdk_1_1_telemetry_1adf751b819a1a38fc2b02442b5d5dae60ae93e4a139c6304e9f1b4757fc8b7f169"></span> `Propulsion` | [Battery](structmavsdk_1_1_telemetry_1_1_battery.md) for the propulsion system. 
+<span id="classmavsdk_1_1_telemetry_1adf751b819a1a38fc2b02442b5d5dae60a0035c3a4fba659233a189e32e1849421"></span> `Avionics` | Avionics battery. 
+<span id="classmavsdk_1_1_telemetry_1adf751b819a1a38fc2b02442b5d5dae60a00f4e5788aab6d3546bb433842dbbefc"></span> `Payload` | Payload battery. 
+
 ### enum FlightMode {#classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fe}
 
 

docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_battery.md

@@ -22,6 +22,10 @@ float [capacity_consumed_ah](#structmavsdk_1_1_telemetry_1_1_battery_1a3593f72c6
 
 float [remaining_percent](#structmavsdk_1_1_telemetry_1_1_battery_1aec821550739844e0fa3fe18f91e6fda7) { float(NAN)} - Estimated battery remaining (range: 0 to 100)
 
+float [time_remaining_s](#structmavsdk_1_1_telemetry_1_1_battery_1a9dd00470568d20ccda1b502f8ddf4ff1) {float(NAN)} - Estimated battery usage time remaining.
+
+[BatteryFunction](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1adf751b819a1a38fc2b02442b5d5dae60) [battery_function](#structmavsdk_1_1_telemetry_1_1_battery_1a45654c797ef33bb134ac30313b73098c) {} - Function of the battery.
+
 
 ## Field Documentation
 
@@ -85,3 +89,23 @@ float mavsdk::Telemetry::Battery::remaining_percent { float(NAN)}
 
 Estimated battery remaining (range: 0 to 100)
 
+
+### time_remaining_s {#structmavsdk_1_1_telemetry_1_1_battery_1a9dd00470568d20ccda1b502f8ddf4ff1}
+
+```cpp
+float mavsdk::Telemetry::Battery::time_remaining_s {float(NAN)}
+```
+
+
+Estimated battery usage time remaining.
+
+
+### battery_function {#structmavsdk_1_1_telemetry_1_1_battery_1a45654c797ef33bb134ac30313b73098c}
+
+```cpp
+BatteryFunction mavsdk::Telemetry::Battery::battery_function {}
+```
+
+
+Function of the battery.
+

examples/battery/CMakeLists.txt

@@ -5,13 +5,21 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 project(battery)
 
-add_executable(battery
-    battery.cpp
+add_executable(publish_battery
+    publish_battery.cpp
+)
+
+add_executable(subscribe_battery
+    subscribe_battery.cpp
 )
 
 find_package(MAVSDK REQUIRED)
 
-target_link_libraries(battery
+target_link_libraries(publish_battery
+    MAVSDK::mavsdk
+)
+
+target_link_libraries(subscribe_battery
     MAVSDK::mavsdk
 )
 

examples/battery/battery.cpp renamed to examples/battery/publish_battery.cpp

@@ -0,0 +1,91 @@
+//
+// Example for subscribe Battery data via MAVSDK
+//
+// Author: PannapatC <Github: Aminballoon>
+
+#include <mavsdk/mavsdk.h>
+#include <mavsdk/plugins/telemetry/telemetry.h>
+#include <iostream>
+#include <chrono>
+#include <thread>
+#include <atomic>
+#include <csignal>
+
+// Global atomic flag to indicate if the program should exit
+std::atomic<bool> should_exit{false};
+
+// Signal handler for Ctrl+C
+void signal_handler(int signal)
+{
+    if (signal == SIGINT) {
+        std::cout << "\nCtrl+C pressed. Exiting..." << std::endl;
+        should_exit.store(true);
+    }
+}
+
+int main(int argc, char** argv)
+{
+    // Check for connection string argument
+    if (argc != 2) {
+        std::cerr << "Usage: " << argv[0] << " <connection_url>" << std::endl;
+        return 1;
+    }
+
+    // Initialize MAVSDK with GroundStation component type
+    mavsdk::Mavsdk mavsdk{mavsdk::Mavsdk::Configuration{mavsdk::ComponentType::GroundStation}};
+
+    // Add connection
+    mavsdk::ConnectionResult connection_result = mavsdk.add_any_connection(argv[1]);
+    if (connection_result != mavsdk::ConnectionResult::Success) {
+        std::cerr << "Connection failed: " << connection_result << std::endl;
+        return 1;
+    }
+
+    // Wait for the system to connect
+    std::cout << "Waiting for system to connect..." << std::endl;
+    while (mavsdk.systems().size() == 0) {
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+    }
+
+    // Get the connected system
+    auto system = mavsdk.systems().at(0);
+    if (!system->is_connected()) {
+        std::cerr << "System not connected" << std::endl;
+        return 1;
+    }
+
+    // Instantiate the Telemetry plugin
+    auto telemetry = mavsdk::Telemetry{system};
+
+    // Callback for battery updates
+    auto battery_callback = [](mavsdk::Telemetry::Battery battery) {
+        std::cout << "Battery ID: " << battery.id << " \n"
+                  << "Battery Temp: " << battery.temperature_degc << " degc\n"
+                  << "Battery Voltage: " << battery.voltage_v << " v\n"
+                  << "Battery Current: " << battery.current_battery_a << " a\n"
+                  << "Battery Capacity Consumed: " << battery.capacity_consumed_ah << " ah\n"
+                  << "Battery Remaining Percent: " << battery.remaining_percent << " %\n"
+                  << "Battery Remaining Time: " << battery.time_remaining_s << " s\n"
+                  << "Battery Function: " << battery.battery_function << "\n"
+                  << std::endl;
+    };
+
+    // Subscribe to battery updates
+    auto battery_handle = telemetry.subscribe_battery(battery_callback);
+
+    // Register the signal handler for Ctrl+C
+    std::signal(SIGINT, signal_handler);
+
+    // Main loop
+    std::cout << "Listening for battery updates. Press Ctrl+C to exit..." << std::endl;
+    while (!should_exit.load()) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    }
+
+    // Unsubscribe from battery updates
+    telemetry.unsubscribe_battery(battery_handle);
+    std::cout << "Unsubscribed from battery updates." << std::endl;
+
+    std::cout << "Exiting program." << std::endl;
+    return 0;
+}

examples/battery/subscribe_battery.cpp

@@ -79,6 +79,25 @@ class Telemetry : public PluginBase {
      */
     friend std::ostream& operator<<(std::ostream& str, Telemetry::FixType const& fix_type);
 
+    /**
+     * @brief Battery function type.
+     */
+    enum class BatteryFunction {
+        Unknown, /**< @brief Battery function is unknown. */
+        All, /**< @brief Battery supports all flight systems. */
+        Propulsion, /**< @brief Battery for the propulsion system. */
+        Avionics, /**< @brief Avionics battery. */
+        Payload, /**< @brief Payload battery. */
+    };
+
+    /**
+     * @brief Stream operator to print information about a `Telemetry::BatteryFunction`.
+     *
+     * @return A reference to the stream.
+     */
+    friend std::ostream&
+    operator<<(std::ostream& str, Telemetry::BatteryFunction const& battery_function);
+
     /**
      * @brief Flight modes.
      *
@@ -383,6 +402,8 @@ class Telemetry : public PluginBase {
                             consumption estimate */
         float remaining_percent{
             float(NAN)}; /**< @brief Estimated battery remaining (range: 0 to 100) */
+        float time_remaining_s{float(NAN)}; /**< @brief Estimated battery usage time remaining */
+        BatteryFunction battery_function{}; /**< @brief Function of the battery */
     };
 
     /**

proto

@@ -982,7 +982,10 @@ bool operator==(const Telemetry::Battery& lhs, const Telemetry::Battery& rhs)
            ((std::isnan(rhs.capacity_consumed_ah) && std::isnan(lhs.capacity_consumed_ah)) ||
             rhs.capacity_consumed_ah == lhs.capacity_consumed_ah) &&
            ((std::isnan(rhs.remaining_percent) && std::isnan(lhs.remaining_percent)) ||
-            rhs.remaining_percent == lhs.remaining_percent);
+            rhs.remaining_percent == lhs.remaining_percent) &&
+           ((std::isnan(rhs.time_remaining_s) && std::isnan(lhs.time_remaining_s)) ||
+            rhs.time_remaining_s == lhs.time_remaining_s) &&
+           (rhs.battery_function == lhs.battery_function);
 }
 
 std::ostream& operator<<(std::ostream& str, Telemetry::Battery const& battery)
@@ -995,6 +998,8 @@ std::ostream& operator<<(std::ostream& str, Telemetry::Battery const& battery)
     str << "    current_battery_a: " << battery.current_battery_a << '\n';
     str << "    capacity_consumed_ah: " << battery.capacity_consumed_ah << '\n';
     str << "    remaining_percent: " << battery.remaining_percent << '\n';
+    str << "    time_remaining_s: " << battery.time_remaining_s << '\n';
+    str << "    battery_function: " << battery.battery_function << '\n';
     str << '}';
     return str;
 }
@@ -1588,6 +1593,24 @@ std::ostream& operator<<(std::ostream& str, Telemetry::FixType const& fix_type)
     }
 }
 
+std::ostream& operator<<(std::ostream& str, Telemetry::BatteryFunction const& battery_function)
+{
+    switch (battery_function) {
+        case Telemetry::BatteryFunction::Unknown:
+            return str << "Unknown";
+        case Telemetry::BatteryFunction::All:
+            return str << "All";
+        case Telemetry::BatteryFunction::Propulsion:
+            return str << "Propulsion";
+        case Telemetry::BatteryFunction::Avionics:
+            return str << "Avionics";
+        case Telemetry::BatteryFunction::Payload:
+            return str << "Payload";
+        default:
+            return str << "Unknown";
+    }
+}
+
 std::ostream& operator<<(std::ostream& str, Telemetry::FlightMode const& flight_mode)
 {
     switch (flight_mode) {

src/mavsdk/plugins/telemetry/include/plugins/telemetry/telemetry.h

@@ -1155,7 +1155,30 @@ void TelemetryImpl::process_battery_status(const mavlink_message_t& message)
     new_battery.capacity_consumed_ah = (bat_status.current_consumed == -1) ?
                                            static_cast<float>(NAN) :
                                            bat_status.current_consumed * 1e-3f; // mAh to Ah
+    new_battery.time_remaining_s =
+        (bat_status.time_remaining == 0 ? static_cast<float>(NAN) : bat_status.time_remaining);
 
+    Telemetry::BatteryFunction battery_function;
+    switch (bat_status.battery_function) {
+        case MAV_BATTERY_FUNCTION_ALL:
+            battery_function = Telemetry::BatteryFunction::All;
+            break;
+        case MAV_BATTERY_FUNCTION_PROPULSION:
+            battery_function = Telemetry::BatteryFunction::Propulsion;
+            break;
+        case MAV_BATTERY_FUNCTION_AVIONICS:
+            battery_function = Telemetry::BatteryFunction::Avionics;
+            break;
+        case MAV_BATTERY_FUNCTION_PAYLOAD:
+            battery_function = Telemetry::BatteryFunction::Payload;
+            break;
+        case MAV_BATTERY_FUNCTION_UNKNOWN:
+        // Fallthrough
+        default:
+            battery_function = Telemetry::BatteryFunction::Unknown;
+            break;
+    }
+    new_battery.battery_function = battery_function;
     set_battery(new_battery);
 
     {