From a7bf130f7e0ea44d8ba7d02d1fa1310b658a9d87 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 22 Oct 2017 08:26:28 +0200
Subject: [PATCH] wt_node: Implement docking check

---
 config/robot_localization.yaml |  2 ++
 config/wt_node.cfg             |  1 +
 scripts/wt_node.py             | 36 ++++++++++++++++++++++++++++++++--
 3 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/config/robot_localization.yaml b/config/robot_localization.yaml
index 193db56..82d5fff 100644
--- a/config/robot_localization.yaml
+++ b/config/robot_localization.yaml
@@ -64,6 +64,7 @@ imu0_queue_size: 10
 #  message types lack certain variables. For example, a TwistWithCovarianceStamped message has no pose information, so
 #  the first six values would be meaningless in that case. Each vector defaults to all false if unspecified, effectively
 #  making this parameter required for each sensor.
+# odom
 # x/y not included because of redundancy with velocities
 # vyaw not included in odom because too inaccurate
 odom0_config: [false, false, false,
@@ -71,6 +72,7 @@ odom0_config: [false, false, false,
                true,  true,  true,
                false, false, true,
                false, false, false]
+# gps
 odom1_config: [true,  true,  false,
                false, false, false,
                false, false, false,
diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index fe8798c..08d089f 100755
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -12,5 +12,6 @@ gen.add("odom_covar_angle",	double_t,	0, "Odometry covariance: rotation", 1.00,
 gen.add("rollover_protect",	bool_t,		0, "Enable motor rollover protection on pitch", True)
 gen.add("rollover_protect_limit",double_t,	0, "Pitch rollover protection limit (degree)", 45, 0, 90)
 gen.add("rollover_protect_pwm",	double_t,	0, "Pitch rollover protection speed (pwm)", 255, 0, 255)
+gen.add("stay_docked",	bool_t,		0, "Try to stay dock again after an undocking event", True)
 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))
diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 663a4f1..8589156 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -4,6 +4,7 @@
 import rospy
 import tf
 import struct
+import thread
 import prctl
 import spidev
 from time import sleep
@@ -48,7 +49,7 @@ class LPD8806:
 		self.spi.writebytes(l)
 		self.latch()
 
-class MoveBase:
+class WTBase:
 	def __init__(self):
 		rospy.init_node('wild_thumper')
 		prctl.set_name("wild_thumper")
@@ -77,6 +78,8 @@ class MoveBase:
 		rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
 		rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
 		rospy.Subscriber("imu", Imu, self.imuReceived)
+		self.bDocked = False
+		self.bDocked_last = False
 		self.run()
 	
 	def run(self):
@@ -117,6 +120,8 @@ class MoveBase:
 				self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
 				self.cur_vel = self.cmd_vel
 				self.cmd_vel = None
+
+			self.check_docked()
 			rate.sleep()
 
 	def execute_dyn_reconf(self, config, level):
@@ -128,6 +133,7 @@ class MoveBase:
 		self.rollover_protect = config["rollover_protect"]
 		self.rollover_protect_limit = config["rollover_protect_limit"]
 		self.rollover_protect_pwm = config["rollover_protect_pwm"]
+		self.bStayDocked = config["stay_docked"]
 
 		return config
 
@@ -231,6 +237,8 @@ class MoveBase:
 			rospy.logerr("Voltage critical: %.2fV" % (volt))
 			self.volt_last_warn = rospy.Time.now()
 
+		self.bDocked = volt > 10
+
 
 	def get_odom(self):
 		speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
@@ -365,7 +373,31 @@ class MoveBase:
 		for led in msg.leds:
 			self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
 			self.pStripe.update()
+
+	def check_docked(self):
+		if self.bDocked and not self.bDocked_last:
+			rospy.loginfo("Docking event")
+		elif not self.bDocked and self.bDocked_last:
+			if not self.bStayDocked or self.cur_vel != (0, 0):
+				rospy.loginfo("Undocking event")
+			else:
+				rospy.loginfo("Undocking event..redocking")
+				thread.start_new_thread(self.redock, ())
+
+		self.bDocked_last = self.bDocked
+
+	def redock(self):
+		self.cmd_vel = (-0.1, 0)
+		for i in range(100):
+			if self.bDocked:
+				break
+			sleep(0.01)
+		self.cmd_vel = (0, 0)
+		if self.bDocked:
+			rospy.loginfo("Redocking done")
+		else:
+			rospy.logerr("Redocking failed")
 		
 
 if __name__ == "__main__":
-	MoveBase()
+	WTBase()
-- 
2.39.5