feat: Health

source/ArmarXGui/applications/ArmarXGui/Widgets/BatteryWidget.cpp

@@ -186,46 +186,68 @@ namespace armarx
         }
         else
         {
-            QString charging_text =
-                state == dto::BatteryState::charging ? "Charging." : "Discharging.";
-            QString errors_text =
-                lastStatus.hasError
-                    ? "<br><b><font color='red'>Battery error occured! Check the logs.</font></b>"
-                    : "";
-
-            QString powerText =
-                state == dto::BatteryState::charging ? "Charging power" : "Provided power";
-
-            bool showPrognosis =
-                state == dto::BatteryState::charging or state == dto::BatteryState::discharging;
-            QString prognosis = "";
-            if (showPrognosis)
+            QString status;
+            switch (state)
             {
-                QString fullOrEmpty = state == dto::BatteryState::charging ? "Full" : "Empty";
-                prognosis = QString("&nbsp;- %1 in: &asymp; %2 h <br>")
-                                .arg(fullOrEmpty)
-                                .arg(lastStatus.remainingTime_h, 0, 'f', 1);
+                case dto::BatteryState::charging:
+                    status = "charging";
+                    break;
+                case dto::BatteryState::discharging:
+                    status = "discharging";
+                    break;
+                case dto::BatteryState::full:
+                    status = "full";
+                    break;
+                case dto::BatteryState::notCharging:
+                    status = "not charging";
+                    break;
+                case dto::BatteryState::unavailable:
+                    status = "unavailable";
+                    break;
             }
 
-            QString percentage_text = QString("&nbsp;- Charge: %1<br>"
-                                              "&nbsp;- Energy: %2 Wh / %3 Wh<br>"
-                                              "&nbsp;- %4: %5 W (%6 A, %7 V)<br>"
-                                              "%8"
-                                              "&nbsp;- Temperature: %9 °C")
-                                          .arg(txtPercentage)
-                                          .arg(lastStatus.energy_Wh, 0, 'f', 1)
-                                          .arg(lastStatus.fullChargeEnergy_Wh, 0, 'f', 1)
-                                          .arg(powerText)
-                                          .arg(std::abs(lastStatus.power_W), 0, 'f', 1)
-                                          .arg(std::abs(lastStatus.current_A), 0, 'f', 1)
-                                          .arg(lastStatus.voltage_V, 0, 'f', 1)
-                                          .arg(prognosis)
+            QString detailedReport;
+            {
+                QString charge = QString("&nbsp;- Charge: %1<br>").arg(txtPercentage);
+
+                QString energy = QString("&nbsp;- Energy: %2 Wh / %3 Wh<br>")
+                                     .arg(lastStatus.energy_Wh, 0, 'f', 1)
+                                     .arg(lastStatus.fullChargeEnergy_Wh, 0, 'f', 1);
+
+                QString power = QString("&nbsp;- %1: %2 W (%3 A, %4 V)<br>")
+                                    .arg(state == dto::BatteryState::charging ? "Charging power"
+                                                                              : "Provided power")
+                                    .arg(std::abs(lastStatus.power_W), 0, 'f', 1)
+                                    .arg(std::abs(lastStatus.current_A), 0, 'f', 1)
+                                    .arg(lastStatus.voltage_V, 0, 'f', 1);
+
+                bool showPrognosis =
+                    state == dto::BatteryState::charging or state == dto::BatteryState::discharging;
+                QString prognosis = "";
+                if (showPrognosis)
+                {
+                    QString fullOrEmpty = state == dto::BatteryState::charging ? "Full" : "Empty";
+                    prognosis = QString("&nbsp;- %1 in: &asymp; %2 h <br>")
+                                    .arg(fullOrEmpty)
+                                    .arg(lastStatus.remainingTime_h, 0, 'f', 1);
+                }
+
+                QString temperature = QString("&nbsp;- Temperature: %6 °C<br>")
                                           .arg(lastStatus.temperature_degC, 0, 'f', 1);
 
-            text = QString("Battery status: %1<br>%2%3")
-                       .arg(charging_text)
-                       .arg(percentage_text)
-                       .arg(errors_text);
+                QString health = QString("&nbsp;- Health: %7%")
+                                     .arg(lastStatus.fullEnergyFromDesignEnergy_pct, 0, 'f', 1);
+
+                detailedReport = QString("%1%2%3%4%5%6")
+                                     .arg(charge, energy, power, prognosis, temperature, health);
+            }
+
+            QString errorsText =
+                lastStatus.hasError
+                    ? "<br><b><font color='red'>Battery error occured! Check the logs.</font></b>"
+                    : "";
+
+            text = QString("Battery %1.<br>%2%3").arg(status).arg(detailedReport).arg(errorsText);
         }
 
         getWidget()->setToolTip(text);

source/ArmarXGui/applications/ArmarXGui/Widgets/BatteryWidget.h

@@ -82,6 +82,7 @@ namespace armarx
                                                .fullChargeEnergy_Wh = -1,
                                                .energy_Wh = -1,
                                                .energyFromFullCharge_pct = 0,
+                                               .fullEnergyFromDesignEnergy_pct = 0,
                                                .temperature_degC = -1,
                                                .ratedVoltage_V = -1,
                                                .voltage_V = -1,