Add batteryState to robot

equinor · Dec 12, 2024 · 89bc79c · 89bc79c
1 parent fa625cd
commit 89bc79c
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Showing 5 changed files with 27 additions and 0 deletions.
diff --git a/backend/api/Controllers/Models/RobotResponse.cs b/backend/api/Controllers/Models/RobotResponse.cs
@@ -20,6 +20,8 @@ public class RobotResponse
 
         public float BatteryLevel { get; set; }
 
+        public BatteryState? BatteryState { get; set; }
+
         public float? PressureLevel { get; set; }
 
         public IList<DocumentInfo> Documentation { get; set; }
@@ -61,6 +63,7 @@ public RobotResponse(Robot robot)
             CurrentInstallation = robot.CurrentInstallation;
             CurrentArea = robot.CurrentArea != null ? new AreaResponse(robot.CurrentArea) : null;
             BatteryLevel = robot.BatteryLevel;
+            BatteryState = robot.BatteryState;
             PressureLevel = robot.PressureLevel;
             Documentation = robot.Documentation;
             VideoStreams = robot.VideoStreams;

diff --git a/backend/api/Database/Models/Robot.cs b/backend/api/Database/Models/Robot.cs
@@ -88,6 +88,8 @@ public Robot(CreateRobotQuery createQuery, Installation installation, RobotModel
 
         public float BatteryLevel { get; set; }
 
+        public BatteryState? BatteryState { get; set; }
+
         public float? PressureLevel { get; set; }
 
         public bool IsRobotPressureTooLow()
@@ -192,4 +194,10 @@ public enum RobotCapabilitiesEnum
         docking_procedure,
         return_to_home,
     }
+
+    public enum BatteryState
+    {
+        Normal,
+        Charging,
+    }
 }
diff --git a/backend/api/EventHandlers/MqttEventHandler.cs b/backend/api/EventHandlers/MqttEventHandler.cs
@@ -459,6 +459,10 @@ private async void OnIsarBatteryUpdate(object? sender, MqttReceivedArgs mqttArgs
             _logger.LogDebug("Semaphore acquired for updating battery");
 
             var robot = await BatteryTimeseriesService.AddBatteryEntry(batteryStatus.BatteryLevel, batteryStatus.IsarId);
+            if (robot != null && robot.BatteryState != batteryStatus.BatteryState)
+            {
+                robot = await RobotService.UpdateRobotBatteryState(robot.Id, batteryStatus.BatteryState);
+            }
 
             _updateRobotSemaphore.Release();
             _logger.LogDebug("Semaphore released after updating battery");

diff --git a/backend/api/MQTT/MessageModels/IsarBattery.cs b/backend/api/MQTT/MessageModels/IsarBattery.cs
@@ -1,4 +1,5 @@
 using System.Text.Json.Serialization;
+using Api.Database.Models;
 
 namespace Api.Mqtt.MessageModels
 {
@@ -8,6 +9,9 @@ public class IsarBatteryMessage : MqttMessage
         [JsonPropertyName("battery_level")]
         public float BatteryLevel { get; set; }
 
+        [JsonPropertyName("battery_state")]
+        public BatteryState? BatteryState { get; set; }
+
         [JsonPropertyName("robot_name")]
         public string RobotName { get; set; }
 

diff --git a/backend/api/Services/RobotService.cs b/backend/api/Services/RobotService.cs
@@ -21,6 +21,7 @@ public interface IRobotService
         public Task<Robot> Update(Robot robot);
         public Task<Robot> UpdateRobotStatus(string robotId, RobotStatus status);
         public Task<Robot> UpdateRobotBatteryLevel(string robotId, float batteryLevel);
+        public Task<Robot> UpdateRobotBatteryState(string robotId, BatteryState? batteryState);
         public Task<Robot> UpdateRobotPressureLevel(string robotId, float? pressureLevel);
         public Task<Robot> UpdateRobotPose(string robotId, Pose pose);
         public Task<Robot> UpdateRobotIsarConnected(string robotId, bool isarConnected);
@@ -161,6 +162,13 @@ public async Task<Robot> UpdateRobotBatteryLevel(string robotId, float batteryLe
             return robot;
         }
 
+        public async Task<Robot> UpdateRobotBatteryState(string robotId, BatteryState? batteryState)
+        {
+            var robot = await UpdateRobotProperty(robotId, "BatteryState", batteryState, isLogLevelDebug: true);
+            ThrowIfRobotIsNull(robot, robotId);
+            return robot;
+        }
+
         public async Task<Robot> UpdateRobotPressureLevel(string robotId, float? pressureLevel)
         {
             var robot = await UpdateRobotProperty(robotId, "PressureLevel", pressureLevel);