feat: added battery extraction

Signed-off-by: Omkar Sarkar <omkarsarkar24@gmail.com>

Author: OmkarSarkar204

ardupilot_methodic_configurator/log_analysis/backend_log_extraction.py

@@ -57,6 +57,25 @@ def close_log(mlog: mavutil.mavfile) -> None:
         mlog.close()
 
 
+class BatteryData:  # pylint: disable=too-many-instance-attributes,too-few-public-methods
+    """Stores battery telemetry data extracted from BAT log messages."""
+
+    # BCL will be added later during the Phy Validation
+
+    def __init__(self) -> None:
+        self.time_us: list[int] = []
+        self.volt: list[float] = []
+        self.volt_r: list[float] = []
+        self.curr: list[float] = []
+        self.curr_tot: list[float] = []
+        self.enrg_tot: list[float] = []
+        self.temp: list[float] = []
+        self.res: list[float] = []
+        self.rem_pct: list[int] = []
+        self.health: list[int] = []
+        self.state_health: list[int] = []
+
+
 class LogData:  # pylint: disable=too-few-public-methods
     """Contains all data extracted from an ArduPilot .bin log."""
 
@@ -66,6 +85,8 @@ def __init__(self) -> None:
         self.current_params: dict[str, float] = {}
         self.firmware_info: tuple[str, int, int, int] | None = None
         self.frame_type: int | None = None
+        # There could be multiple batteries in the vehicle, so create a separate dict for them.
+        self.batteries: dict[int, BatteryData] = {}
 
 
 class LogReader:  # pylint: disable=too-few-public-methods
@@ -108,6 +129,11 @@ def extract_log(self) -> LogData:
                 # Fallback to MSG if version is not available.
                 elif msg_type == "MSG":
                     firmware_from_msg = process_msg_version_fallback(msg, firmware_from_msg)
+
+                # Extract the BAT messages and store them in BatteryData
+                elif msg_type == "BAT":
+                    process_bat(msg, log_data)
+
             if firmware_from_ver is not None:
                 log_data.firmware_info = firmware_from_ver
             else:
@@ -121,6 +147,34 @@ def extract_log(self) -> LogData:
         return log_data
 
 
+def process_bat(msg: mavutil.mavfile, log_data: LogData) -> None:
+    """
+    Extract battery telemetry from a BAT DataFlash log entry.
+
+    Args:
+        msg: A BAT log entry parsed from an ArduPilot .bin file.
+        log_data: The LogData instance to write battery data into.
+
+    """
+    # If there are multiple battery instances store them separately
+    inst = int(msg.Inst)
+    if inst not in log_data.batteries:
+        log_data.batteries[inst] = BatteryData()
+    battery = log_data.batteries[inst]
+
+    battery.time_us.append(int(msg.TimeUS))
+    battery.volt.append(float(msg.Volt))
+    battery.volt_r.append(float(msg.VoltR))
+    battery.curr.append(float(msg.Curr))
+    battery.curr_tot.append(float(msg.CurrTot))
+    battery.enrg_tot.append(float(msg.EnrgTot))
+    battery.temp.append(float(msg.Temp))
+    battery.res.append(float(msg.Res))
+    battery.rem_pct.append(int(msg.RemPct))
+    battery.health.append(int(msg.H))
+    battery.state_health.append(int(msg.SH))
+
+
 def process_param(msg: mavutil.mavfile, log_data: LogData) -> None:
     """
     Validate and store a single PARM message into log_data's parameter dicts.