added diagnostic msg

[ros_wild_thumper.git] / scripts / move_base.py

diff --git a/scripts/move_base.py b/scripts/move_base.py
index ae15b380ddd1cb3afc1ae05ad1f162b22fb9377a..0f0bc190fcd7030a6cbdf1b9824a93f309e7e689 100755 (executable)
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -8,6 +8,7 @@ from i2c import *
 from math import *
 from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 
 WHEEL_DIST = 0.248
 
@@ -17,6 +18,7 @@ class MoveBase:
                rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
                self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
                self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
+               self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
                self.set_speed(0, 0)
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
@@ -25,6 +27,7 @@ class MoveBase:
        def run(self):
                rate = rospy.Rate(20.0)
                while not rospy.is_shutdown():
+                       self.get_tle_err()
                        #self.get_odom()
                        #self.get_dist_forward()
                        #self.get_dist_backward()
@@ -32,6 +35,25 @@ class MoveBase:
                        #self.get_dist_right()
                        rate.sleep()
 
+       def get_tle_err(self):
+               err = struct.unpack(">B", i2c_read_reg(0x50, 0x94, 1))[0]
+               
+               msg = DiagnosticArray()
+               msg.header.stamp = rospy.Time.now()
+               stat = DiagnosticStatus()
+               stat.name = "Motor: Error Status"
+               stat.level = DiagnosticStatus.OK if not err else DiagnosticStatus.ERROR
+               stat.message = "OK" if not err else "Error"
+
+               stat.values.append(KeyValue("Motor 1", str(bool(err & (1 << 0)))))
+               stat.values.append(KeyValue("Motor 2", str(bool(err & (1 << 1)))))
+               stat.values.append(KeyValue("Motor 3", str(bool(err & (1 << 2)))))
+               stat.values.append(KeyValue("Motor 4", str(bool(err & (1 << 3)))))
+
+               msg.status.append(stat)
+               self.pub_diag.publish(msg)
+
+
        def get_odom(self):
                posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12))
                speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8))