power_limiter.hpp

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#ifndef FANG_ROBOTICS_MCB_TRAP_CONTROL_CHASSIS_POWER_LIMITER_HPP
#define FANG_ROBOTICS_MCB_TRAP_CONTROL_CHASSIS_POWER_LIMITER_HPP
#include "wrap/units/units_alias.hpp"
#include "tap/communication/serial/ref_serial.hpp"
#include "rail/chassis/ipower_limiter_system.hpp"
 
namespace trap::control::chassis
{
    class PowerLimiter : public rail::chassis::IPowerLimiterSystem
    {
    public:
        using RefSerial = tap::communication::serial::RefSerial;
        struct Config
        {
            Joules startingEnergyBuffer;
            Joules energyBufferLimitThreshold;
            Joules energyBufferCritThreshold;
        };
        PowerLimiter(const RefSerial& m_refereeSystem, const Config& config);
 
        double getPowerLimitRatio() const override;
 
        //NOTE: Even though these are not used, the slight violation of the interface segregation
        //principle is justified as many advanced power limiters use I2C and whatnot which might
        //require manual mangement
        void initialize() override;
        void update() override;
        
    private:
        Joules getEnergyBuffer() const;
 
        const RefSerial& m_refereeSystem;
        const Joules m_startingEnergyBuffer;
        const Joules m_energyBufferLimitThreshold;
        const Joules m_energyBufferCritThreshold;
    };
}
 
#endif