wt_node: Implement docking check

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 663a4f17774dbab88772e094c556f047246729a9..8589156bcf517d75aabea58ac16f5e33f62d3ec4 100755 (executable)
--- 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()