battery: separate out publishing from updating

to allow smart battery drivers to use the battery class and
filling in additional information in case it makes sense.

boards/bitcraze/crazyflie/syslink/syslink_main.cpp

@@ -406,7 +406,7 @@ Syslink::handle_message(syslink_message_t *msg)
 
 		_battery.setConnected(true);
 		_battery.updateVoltage(vbat);
-		_battery.updateBatteryStatus(t);
+		_battery.updateAndPublishBatteryStatus(t);
 
 		// Update battery charge state
 		if (charging) {

src/drivers/power_monitor/ina226/ina226.cpp

@@ -86,7 +86,7 @@ INA226::INA226(const I2CSPIDriverConfig &config, int battery_index) :
 	_battery.setConnected(false);
 	_battery.updateVoltage(0.f);
 	_battery.updateCurrent(0.f);
-	_battery.updateBatteryStatus(hrt_absolute_time());
+	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 }
 
 INA226::~INA226()
@@ -229,7 +229,7 @@ INA226::collect()
 	_battery.setConnected(success);
 	_battery.updateVoltage(static_cast<float>(_bus_voltage * INA226_VSCALE));
 	_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
-	_battery.updateBatteryStatus(hrt_absolute_time());
+	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 	perf_end(_sample_perf);
 
@@ -295,7 +295,7 @@ INA226::RunImpl()
 		_battery.setConnected(false);
 		_battery.updateVoltage(0.f);
 		_battery.updateCurrent(0.f);
-		_battery.updateBatteryStatus(hrt_absolute_time());
+		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 		if (init() != PX4_OK) {
 			ScheduleDelayed(INA226_INIT_RETRY_INTERVAL_US);

src/drivers/power_monitor/ina228/ina228.cpp

@@ -88,7 +88,7 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
 	_battery.setConnected(false);
 	_battery.updateVoltage(0.f);
 	_battery.updateCurrent(0.f);
-	_battery.updateBatteryStatus(hrt_absolute_time());
+	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 }
 
 INA228::~INA228()
@@ -310,7 +310,7 @@ INA228::collect()
 	_battery.setConnected(success);
 	_battery.updateVoltage(static_cast<float>(_bus_voltage * INA228_VSCALE));
 	_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
-	_battery.updateBatteryStatus(hrt_absolute_time());
+	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 	perf_end(_sample_perf);
 
@@ -376,7 +376,7 @@ INA228::RunImpl()
 		_battery.setConnected(false);
 		_battery.updateVoltage(0.f);
 		_battery.updateCurrent(0.f);
-		_battery.updateBatteryStatus(hrt_absolute_time());
+		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 		if (init() != PX4_OK) {
 			ScheduleDelayed(INA228_INIT_RETRY_INTERVAL_US);

src/drivers/power_monitor/ina238/ina238.cpp

@@ -71,7 +71,7 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
 	_battery.setConnected(false);
 	_battery.updateVoltage(0.f);
 	_battery.updateCurrent(0.f);
-	_battery.updateBatteryStatus(hrt_absolute_time());
+	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 }
 
 INA238::~INA238()
@@ -197,7 +197,7 @@ int INA238::collect()
 	_battery.setConnected(success);
 	_battery.updateVoltage(static_cast<float>(bus_voltage * INA238_VSCALE));
 	_battery.updateCurrent(static_cast<float>(current * _current_lsb));
-	_battery.updateBatteryStatus(hrt_absolute_time());
+	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 	perf_end(_sample_perf);
 
@@ -254,7 +254,7 @@ void INA238::RunImpl()
 		_battery.setConnected(false);
 		_battery.updateVoltage(0.f);
 		_battery.updateCurrent(0.f);
-		_battery.updateBatteryStatus(hrt_absolute_time());
+		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 		if (init() != PX4_OK) {
 			ScheduleDelayed(INA238_INIT_RETRY_INTERVAL_US);

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -74,7 +74,7 @@ VOXLPM::init()
 		_battery.setConnected(false);
 		_battery.updateVoltage(0.f);
 		_battery.updateCurrent(0.f);
-		_battery.updateBatteryStatus(hrt_absolute_time());
+		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 	}
 
 	/* do I2C init, it will probe the bus for two possible configurations, LTC2946 or INA231 */
@@ -345,7 +345,7 @@ VOXLPM::measure()
 				_battery.setConnected(true);
 				_battery.updateVoltage(_voltage);
 				_battery.updateCurrent(_amperage);
-				_battery.updateBatteryStatus(tnow);
+				_battery.updateAndPublishBatteryStatus(tnow);
 			}
 
 		// fallthrough
@@ -371,7 +371,7 @@ VOXLPM::measure()
 				_battery.setConnected(true);
 				_battery.updateVoltage(0.f);
 				_battery.updateCurrent(0.f);
-				_battery.updateBatteryStatus(tnow);
+				_battery.updateAndPublishBatteryStatus(tnow);
 			}
 			break;
 

src/lib/battery/battery.cpp

@@ -130,7 +130,10 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 	} else {
 		_connected = false;
 	}
+}
 
+battery_status_s Battery::getBatteryStatus()
+{
 	battery_status_s battery_status{};
 	battery_status.voltage_v = _voltage_v;
 	battery_status.voltage_filtered_v = _voltage_filter_v.getState();
@@ -149,13 +152,23 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 	battery_status.capacity = _params.capacity > 0.f ? static_cast<uint16_t>(_params.capacity) : 0;
 	battery_status.id = static_cast<uint8_t>(_index);
 	battery_status.warning = _warning;
-
-	if (_source == _params.source) {
 	battery_status.timestamp = hrt_absolute_time();
+	return battery_status;
+}
+
+void Battery::publishBatteryStatus(const battery_status_s &battery_status)
+{
+	if (_source == _params.source) {
 		_battery_status_pub.publish(battery_status);
 	}
 }
 
+void Battery::updateAndPublishBatteryStatus(const hrt_abstime &timestamp)
+{
+	updateBatteryStatus(timestamp);
+	publishBatteryStatus(getBatteryStatus());
+}
+
 void Battery::sumDischarged(const hrt_abstime &timestamp, float current_a)
 {
 	// Not a valid measurement

src/lib/battery/battery.h

@@ -97,6 +97,16 @@ public:
 	 */
 	void updateBatteryStatus(const hrt_abstime &timestamp);
 
+	battery_status_s getBatteryStatus();
+	void publishBatteryStatus(const battery_status_s &battery_status);
+
+	/**
+	 * Convenience function for combined update and publication
+	 * @see updateBatteryStatus()
+	 * @see publishBatteryStatus()
+	 */
+	void updateAndPublishBatteryStatus(const hrt_abstime &timestamp);
+
 protected:
 	struct {
 		param_t v_empty;

src/modules/battery_status/analog_battery.cpp

@@ -83,7 +83,7 @@ AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw,
 	Battery::setConnected(connected);
 	Battery::updateVoltage(voltage_v);
 	Battery::updateCurrent(current_a);
-	Battery::updateBatteryStatus(timestamp);
+	Battery::updateAndPublishBatteryStatus(timestamp);
 }
 
 bool AnalogBattery::is_valid()

src/modules/esc_battery/EscBattery.cpp

@@ -102,7 +102,7 @@ EscBattery::Run()
 		_battery.setConnected(true);
 		_battery.updateVoltage(average_voltage_v);
 		_battery.updateCurrent(total_current_a);
-		_battery.updateBatteryStatus(esc_status.timestamp);
+		_battery.updateAndPublishBatteryStatus(esc_status.timestamp);
 	}
 }
 

src/modules/simulator/battery_simulator/BatterySimulator.cpp

@@ -102,7 +102,7 @@ void BatterySimulator::Run()
 	_battery.setConnected(true);
 	_battery.updateVoltage(vbatt);
 	_battery.updateCurrent(ibatt);
-	_battery.updateBatteryStatus(now_us);
+	_battery.updateAndPublishBatteryStatus(now_us);
 
 	perf_end(_loop_perf);
 }