BatterySim.hpp

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// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <map>
#include <mutex>
#include <unordered_map>
#include <wpi/units/current.hpp>
#include <wpi/units/impedance.hpp>
#include <wpi/units/voltage.hpp>
 
namespace yams::motorcontrollers::simulation {
 
class BatterySim {
 public:
  static wpi::units::volt_t BatteryVoltage;
  static wpi::units::ohm_t BatteryResistance;
 
  static wpi::units::volt_t CalculateVoltage(const void* id, wpi::units::ampere_t current);
 
  static void ReplaceSOCInterpolation(const std::map<double, double>& socToVoltage);
 
  static void ReplaceCapacityDerating(const std::map<double, double>& currentToCapacityFraction);
 
  static void EnableDischarge(double batteryCapacityAmpHours, wpi::units::volt_t nominalVoltage,
                              wpi::units::ohm_t nominalResistance);
 
  static void DisableDischarge();
 
  static void ResetDischarge();
 
  static double GetStateOfCharge();
 
  static void RemoveCurrent(const void* id);
 
  static void Reset();
 
  static bool HasCurrent(const void* id);
 
 private:
  static void UpdateDischarge(double totalCurrentAmps);
  static double StateOfCharge();
  static double InterpolateOpenCircuitVoltage(double stateOfCharge);
  static double Interpolate(const std::map<double, double>& table, double key);
 
  static std::mutex m_mutex;
  static std::unordered_map<const void*, double> m_currents;
  static bool m_dischargeEnabled;
  static double m_batteryCapacityAmpHours;
  static double m_ampHoursUsed;
  static double m_lastTimestampSeconds;
  static std::map<double, double> m_socToVoltage;
  static std::map<double, double> m_currentToCapacityFraction;
};
 
}  // namespace yams::motorcontrollers::simulation