wt_node logging fix
[ros_wild_thumper.git] / scripts / wt_node.py
1 #!/usr/bin/env python
2 # -*- coding: iso-8859-15 -*-
3
4 import rospy
5 import tf
6 import struct
7 import prctl
8 import spidev
9 from time import sleep
10 from i2c import i2c, i2c_write_reg, i2c_read_reg
11 from math import *
12 from geometry_msgs.msg import Twist
13 from nav_msgs.msg import Odometry
14 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
15 from dynamic_reconfigure.server import Server
16 from sensor_msgs.msg import Imu, Range
17 from wild_thumper.msg import LedStripe
18 from wild_thumper.cfg import WildThumperConfig
19
20 WHEEL_DIST = 0.248
21
22 class LPD8806:
23         def __init__(self, bus, device, num_leds):
24                 self.spi = spidev.SpiDev()
25                 self.spi.open(bus, device)
26                 self.spi.mode=0b00
27                 self.spi.max_speed_hz=int(2e6)
28                 self.num_leds = num_leds
29                 self.latch()
30                 self.l = [(0, 0, 0)] * num_leds
31                 self.update()
32         
33         def set(self, i, red=0, green=0, blue=0):
34                 if red > 127 or green > 127 or blue > 127 or red < 0 or green < 0 or blue < 0:
35                         raise Exception("Bad RGB Value")
36                 self.l[i] = (red, green, blue)
37
38         def latch(self):
39                 self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
40         
41         def update(self):
42                 l = []
43                 for i in range(self.num_leds):
44                         red, green, blue = self.l[i]
45                         l.append(0x80 | green)
46                         l.append(0x80 | red)
47                         l.append(0x80 | blue)
48                 self.spi.writebytes(l)
49                 self.latch()
50
51 class MoveBase:
52         def __init__(self):
53                 rospy.init_node('wild_thumper')
54                 prctl.set_name("wild_thumper")
55                 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
56                 if enable_odom_tf:
57                         self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
58                 else:
59                         self.tf_broadcaster = None
60                 self.dyn_conf = Server(WildThumperConfig, self.execute_dyn_reconf)
61                 self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
62                 self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
63                 self.pub_range_fwd_left = rospy.Publisher("range_forward_left", Range, queue_size=16)
64                 self.pub_range_fwd_right = rospy.Publisher("range_forward_right", Range, queue_size=16)
65                 self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
66                 self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
67                 self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
68                 self.cmd_vel = None
69                 self.cur_vel = (0, 0)
70                 self.bMotorManual = False
71                 self.set_speed(0, 0)
72                 rospy.loginfo("Init done")
73                 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
74                 self.pStripe = LPD8806(1, 0, 12)
75                 rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
76                 rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
77                 rospy.Subscriber("imu", Imu, self.imuReceived)
78                 self.run()
79         
80         def run(self):
81                 rate = rospy.Rate(20.0)
82                 sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
83                 reset_val = self.get_reset()
84                 rospy.loginfo("Reset Status: 0x%x" % reset_val)
85                 ir_count = 0
86                 sonar_count = 0
87                 while not rospy.is_shutdown():
88                         rospy.logdebug("Loop alive")
89                         #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
90                         self.get_motor_err()
91                         self.get_odom()
92                         self.get_voltage()
93
94                         if ir_count == 0:
95                                 self.get_dist_left()
96                                 ir_count+=1
97                         else:
98                                 self.get_dist_right()
99                                 ir_count+=1
100
101                         if sonar_count == 0:
102                                 self.get_dist_forward_left()
103                                 sonar_count=0
104                         elif sonar_count == 1:
105                                 self.get_dist_backward()
106                                 sonar_count+=1
107                         elif sonar_count == 2:
108                                 self.get_dist_forward_right()
109                                 sonar_count=0
110
111                         if self.cmd_vel != None:
112                                 self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
113                                 self.cur_vel = self.cmd_vel
114                                 self.cmd_vel = None
115                         rate.sleep()
116
117         def execute_dyn_reconf(self, config, level):
118                 self.bClipRangeSensor = config["range_sensor_clip"]
119                 self.range_sensor_max = config["range_sensor_max"]
120                 self.odom_covar_xy = config["odom_covar_xy"]
121                 self.odom_covar_angle = config["odom_covar_angle"]
122                 self.rollover_protect = config["rollover_protect"]
123                 self.rollover_protect_limit = config["rollover_protect_limit"]
124                 self.rollover_protect_pwm = config["rollover_protect_pwm"]
125
126                 return config
127
128         def imuReceived(self, msg):
129                 if self.rollover_protect and any(self.cur_vel):
130                         (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
131                         if pitch > self.rollover_protect_limit*pi/180:
132                                 self.bMotorManual = True
133                                 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm))
134                                 rospy.logwarn("Running forward rollver protection")
135                         elif pitch < -self.rollover_protect_limit*pi/180:
136                                 self.bMotorManual = True
137                                 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0))
138                                 rospy.logwarn("Running backward rollver protection")
139                         elif self.bMotorManual:
140                                 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
141                                 self.bMotorManual = False
142                                 self.cmd_vel = (0, 0)
143                                 rospy.logwarn("Rollver protection done")
144
145         def get_reset(self):
146                 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
147
148                 msg = DiagnosticArray()
149                 msg.header.stamp = rospy.Time.now()
150                 stat = DiagnosticStatus()
151                 stat.name = "Reset reason"
152                 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
153                 stat.message = "0x%02x" % reset
154
155                 wdrf = bool(reset & (1 << 3))
156                 if wdrf: rospy.loginfo("Watchdog Reset")
157                 borf = bool(reset & (1 << 2))
158                 if borf: rospy.loginfo("Brown-out Reset Flag")
159                 extrf = bool(reset & (1 << 1))
160                 if extrf: rospy.loginfo("External Reset Flag")
161                 porf = bool(reset & (1 << 0))
162                 if porf: rospy.loginfo("Power-on Reset Flag")
163                 stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
164                 stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
165                 stat.values.append(KeyValue("External Reset Flag", str(extrf)))
166                 stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
167
168                 msg.status.append(stat)
169                 self.pub_diag.publish(msg)
170                 return reset
171
172
173         def get_motor_err(self):
174                 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
175                 
176                 msg = DiagnosticArray()
177                 msg.header.stamp = rospy.Time.now()
178                 stat = DiagnosticStatus()
179                 stat.name = "Motor: Error Status"
180                 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
181                 stat.message = "0x%02x" % err
182
183                 # Diag
184                 stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
185                 stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
186                 stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
187                 stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
188                 # Stall
189                 stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
190                 stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
191                 stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
192                 stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
193
194                 msg.status.append(stat)
195                 self.pub_diag.publish(msg)
196         
197         def get_voltage(self):
198                 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
199
200                 msg = DiagnosticArray()
201                 msg.header.stamp = rospy.Time.now()
202                 stat = DiagnosticStatus()
203                 stat.name = "Voltage"
204                 stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
205                 stat.message = "%.2fV" % volt
206
207                 msg.status.append(stat)
208                 self.pub_diag.publish(msg)
209
210
211         def get_odom(self):
212                 speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
213                 current_time = rospy.Time.now()
214
215                 # since all odometry is 6DOF we'll need a quaternion created from yaw
216                 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
217
218                 # first, we'll publish the transform over tf
219                 if self.tf_broadcaster is not None:
220                         self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
221
222                 # next, we'll publish the odometry message over ROS
223                 odom = Odometry()
224                 odom.header.stamp = current_time
225                 odom.header.frame_id = "odom"
226
227                 # set the position
228                 odom.pose.pose.position.x = posx
229                 odom.pose.pose.position.y = posy
230                 odom.pose.pose.position.z = 0.0
231                 odom.pose.pose.orientation.x = odom_quat[0]
232                 odom.pose.pose.orientation.y = odom_quat[1]
233                 odom.pose.pose.orientation.z = odom_quat[2]
234                 odom.pose.pose.orientation.w = odom_quat[3]
235                 odom.pose.covariance[0] = self.odom_covar_xy # x
236                 odom.pose.covariance[7] = self.odom_covar_xy # y
237                 odom.pose.covariance[14] = 99999 # z
238                 odom.pose.covariance[21] = 99999 # rotation about X axis
239                 odom.pose.covariance[28] = 99999 # rotation about Y axis
240                 odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
241
242                 # set the velocity
243                 odom.child_frame_id = "base_footprint"
244                 odom.twist.twist.linear.x = speed_trans
245                 odom.twist.twist.linear.y = 0.0
246                 odom.twist.twist.angular.z = speed_rot
247                 odom.twist.covariance = odom.pose.covariance
248
249                 # publish the message
250                 self.pub_odom.publish(odom)
251
252         
253         def set_speed(self, trans, rot):
254                 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
255
256         def cmdVelReceived(self, msg):
257                 if not self.bMotorManual:
258                         rospy.logdebug("Set new cmd_vel: %.2f %.2f", msg.linear.x, msg.angular.z)
259                         self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
260                         rospy.logdebug("Set new cmd_vel done")
261
262         # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
263         def get_dist_ir(self, num):
264                 dev = i2c(0x52)
265                 s = struct.pack("B", num)
266                 dev.write(s)
267                 dev.close()
268
269                 sleep(2e-6)
270
271                 dev = i2c(0x52)
272                 s = dev.read(2)
273                 dev.close()
274
275                 val = struct.unpack(">H", s)[0]
276                 return val
277         
278         def start_dist_srf(self, num):
279                 dev = i2c(0x52)
280                 s = struct.pack("B", num)
281                 dev.write(s)
282                 dev.close()
283
284         def read_dist_srf(self, num):
285                 return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
286
287         def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
288                 if self.bClipRangeSensor and dist > max_range:
289                         dist = max_range
290                 msg = Range()
291                 msg.header.stamp = rospy.Time.now()
292                 msg.header.frame_id = frame_id
293                 msg.radiation_type = typ
294                 msg.field_of_view = fov_deg*pi/180
295                 msg.min_range = min_range
296                 msg.max_range = max_range
297                 msg.range = dist
298                 pub.publish(msg)
299
300         def get_dist_left(self):
301                 if self.pub_range_left.get_num_connections() > 0:
302                         dist = self.get_dist_ir(0x1)
303                         if dist > -67:
304                                 self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
305
306         def get_dist_right(self):
307                 if self.pub_range_right.get_num_connections() > 0:
308                         dist = self.get_dist_ir(0x3)
309                         if dist > 69:
310                                 self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
311
312         def get_dist_forward_left(self):
313                 if self.pub_range_fwd_left.get_num_connections() > 0:
314                         dist = self.read_dist_srf(0x15)
315                         self.send_range(self.pub_range_fwd, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
316                         self.start_dist_srf(0x5) # get next value
317
318         def get_dist_backward(self):
319                 if self.pub_range_bwd.get_num_connections() > 0:
320                         dist = self.read_dist_srf(0x17)
321                         self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
322                         self.start_dist_srf(0x7) # get next value
323
324         def get_dist_forward_right(self):
325                 if self.pub_range_fwd_right.get_num_connections() > 0:
326                         dist = self.read_dist_srf(0x19)
327                         self.send_range(self.pub_range_fwd, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
328                         self.start_dist_srf(0x9) # get next value
329         
330         def led_stripe_received(self, msg):
331                 for led in msg.leds:
332                         self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
333                         self.pStripe.update()
334                 
335
336 if __name__ == "__main__":
337         MoveBase()