Send power to nacelle

Author: BobSaidHi

lib/LoadComms/LoadComms.cpp

@@ -207,9 +207,11 @@ void LoadComms::onDataRecv_(const esp_now_recv_info_t *recv_info,
 }
 
 bool LoadComms::sendLoadboxData(int16_t d_mVPS, int16_t current_mA,
-                                int16_t dIPS, ESTOP_TYPE_NET safety) {
+                                int16_t dIPS, uint16_t powerIfWholeNum_mW,
+                                ESTOP_TYPE_NET safety) {
     // if (now - lastSendTime_ >= LOAD_COMMS_SEND_PERIOD_MS) {
-    makeLoadboxPacket(outgoingPacket_, d_mVPS, current_mA, dIPS, safety);
+    makeLoadboxPacket(outgoingPacket_, d_mVPS, current_mA, dIPS,
+                      powerIfWholeNum_mW, safety);
     esp_err_t result =
         esp_now_send(NACELLE_MAC, reinterpret_cast<uint8_t *>(&outgoingPacket_),
                      sizeof(outgoingPacket_));

lib/LoadComms/LoadComms.hpp

@@ -68,7 +68,7 @@ class LoadComms {
      * @param safety Safety value to send.
      */
     bool sendLoadboxData(int16_t d_mVPS, int16_t current_mA, int16_t dIPS,
-                         ESTOP_TYPE_NET safety);
+                         uint16_t powerIfWholeNum_mW, ESTOP_TYPE_NET safety);
 
     /**
      * @brief Process communication - call in main loop.

src/main.cpp

@@ -570,9 +570,15 @@ vTaskSendData([[maybe_unused]] void *pvParameters) { // NOSONAR
             RUN::TASK_INTERVALS::FAIL_BACKOFF_BASE_FACTOR;
 
         uint32_t delay_ms = 0;
+        // Prepare power reading
+        int_fast32_t power_mW = INA260::power_mW;
+        if (power_mW < 0) {
+            power_mW = 0; // Don't send negative power readings
+        }
+        // Send
         if (loadComms.sendLoadboxData(
                 INA260::dVoltage_mVPS, INA260::current_mA,
-                INA260::dCurrent_mAPS,
+                INA260::dCurrent_mAPS, static_cast<uint16_t>(power_mW),
                 static_cast<ESTOP_TYPE_NET>(load.getSafetyFlag()))) {
             backoffFactor = RUN::TASK_INTERVALS::FAIL_BACKOFF_BASE_FACTOR;
             delay_ms = RUN::TASK_INTERVALS::TI_SEND_ms;