/// <summary>
/// Check the battery health, and adjust Protection Mode.
/// </summary>
void CheckHealth()
{
bool health = hardware.Health() == "NONE";
bool can_discharge = hardware.CanDischarge();
bool can_charge = hardware.CanCharge();
bool is_drive = hardware.UserDrive;
if (!health) {
// kill everything, if batteries unhealthy
this.Current = this.Off;
} else {
if (can_discharge != this.Current.CanDischarge) {
// FIRST kill discharge if needed.
this.Current = this.Current.DischargeConj;
} else if (can_charge != this.Current.CanCharge) {
// THEN toggle charging, if needed.
this.Current = this.Current.ChargeConj;
} else if (is_drive != this.Current.Drive) {
// FINALLY after discharge & charge are correct, drive.
if (this.Current.DriveConj != null) {
this.Current = this.Current.DriveConj;
} else {
Console.WriteLine("Warning: Cannot activate Drive! Probably because cannot discharge.");
}
}
}
// Send the Mode to the BPS board.
this.hardware.Mode = this.Current.ID;
#if DEBUG
Console.WriteLine("Mode: " + this.Current.ID.ToString());
#endif
}
public BatteryController(Hardware hw)
{
this.hardware = hw;
this.Off = new Mode { ID = 0, CanDischarge = false, Drive = false, CanCharge = false };
this.Discharging = new Mode { ID = 1, CanDischarge = true, Drive = false, CanCharge = false };
this.Drive = new Mode { ID = 2, CanDischarge = true, Drive = true, CanCharge = false };
this.EmptyCharging = new Mode { ID = 4, CanDischarge = false, Drive = false, CanCharge = true };
this.Charging = new Mode { ID = 5, CanDischarge = true, Drive = false, CanCharge = true };
this.DriveCharging = new Mode { ID = 6, CanDischarge = true, Drive = true, CanCharge = true };
this.Off.ChargeConj = this.EmptyCharging;
this.Off.DischargeConj = this.Discharging;
this.Off.DriveConj = null;
this.Discharging.ChargeConj = this.Charging;
this.Discharging.DischargeConj = this.Off;
this.Discharging.DriveConj = this.Drive;
this.Drive.ChargeConj = this.DriveCharging;
this.Drive.DischargeConj = this.Off;
this.Drive.DriveConj = this.Discharging;
this.EmptyCharging.ChargeConj = this.Off;
this.EmptyCharging.DischargeConj = this.Charging;
this.EmptyCharging.DriveConj = null;
this.Charging.ChargeConj = this.Discharging;
this.Charging.DischargeConj = this.EmptyCharging;
this.Charging.DriveConj = this.DriveCharging;
this.DriveCharging.ChargeConj = this.Drive;
this.DriveCharging.DischargeConj = this.EmptyCharging;
this.DriveCharging.DriveConj = this.Charging;
this.Current = this.Off;
}