wifistrength: flush
[ros_wild_thumper.git] / scripts / wt_node.py
index afef56a431be239d70bc28bb8f31804f6b4eb834..03d61be0b722cc5b7399e8068f29fb45a6c0087a 100755 (executable)
@@ -4,6 +4,7 @@
 import rospy
 import tf
 import struct
+import thread
 import prctl
 import spidev
 from time import sleep
@@ -12,43 +13,16 @@ from math import *
 from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
-from sensor_msgs.msg import Imu, Range
-from wild_thumper.msg import LedStripe
 from dynamic_reconfigure.server import Server
+from sensor_msgs.msg import Imu, Range, BatteryState
 from wild_thumper.cfg import WildThumperConfig
+from std_srvs.srv import SetBool, SetBoolResponse
 
 WHEEL_DIST = 0.248
+BATTERY_CAPACITY_FULL = 2.750 # Ah, NiMH=2.750, LiFePO4=3.100
+UPDATE_RATE = 20.0
 
-class LPD8806:
-       def __init__(self, bus, device, num_leds):
-               self.spi = spidev.SpiDev()
-               self.spi.open(bus, device)
-               self.spi.mode=0b00
-               self.spi.max_speed_hz=int(2e6)
-               self.num_leds = num_leds
-               self.latch()
-               self.l = [(0, 0, 0)] * num_leds
-               self.update()
-       
-       def set(self, i, red=0, green=0, blue=0):
-               if red > 127 or green > 127 or blue >> 127 or red < 0 or green < 0 or blue < 0:
-                       raise Exception("Bad RGB Value")
-               self.l[i] = (red, green, blue)
-
-       def latch(self):
-               self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
-       
-       def update(self):
-               l = []
-               for i in range(self.num_leds):
-                       red, green, blue = self.l[i]
-                       l.append(0x80 | green)
-                       l.append(0x80 | red)
-                       l.append(0x80 | blue)
-               self.spi.writebytes(l)
-               self.latch()
-
-class MoveBase:
+class WTBase:
        def __init__(self):
                rospy.init_node('wild_thumper')
                prctl.set_name("wild_thumper")
@@ -60,58 +34,86 @@ class MoveBase:
                self.dyn_conf = Server(WildThumperConfig, self.execute_dyn_reconf)
                self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
                self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
-               self.pub_range_fwd = rospy.Publisher("range_forward", Range, queue_size=16)
+               self.pub_range_fwd_left = rospy.Publisher("range_forward_left", Range, queue_size=16)
+               self.pub_range_fwd_right = rospy.Publisher("range_forward_right", Range, queue_size=16)
                self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
                self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
                self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
+               self.pub_battery = rospy.Publisher("battery", BatteryState, queue_size=16)
                self.cmd_vel = None
+               self.cur_vel = (0, 0)
                self.bMotorManual = False
                self.set_speed(0, 0)
-               rospy.loginfo("Init done")
+               self.volt_last_warn = rospy.Time.now()
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
-               self.pStripe = LPD8806(1, 0, 12)
                rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
-               rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
                rospy.Subscriber("imu", Imu, self.imuReceived)
+               rospy.Service('~manipulator_enable', SetBool, self.enableManipulator)
+               self.bDocked = False
+               self.bDocked_last = False
+               self.battery_capacity = BATTERY_CAPACITY_FULL*3600 # As
+               rospy.loginfo("Init done")
                self.run()
        
        def run(self):
-               rate = rospy.Rate(20.0)
+               rate = rospy.Rate(UPDATE_RATE)
                sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
                reset_val = self.get_reset()
                rospy.loginfo("Reset Status: 0x%x" % reset_val)
-               i = 0
+               ir_count = 0
+               sonar_count = 0
+               i2c_write_reg(0x50, 0xA4, struct.pack("B", 1)) # enable Watchdog
                while not rospy.is_shutdown():
                        rospy.logdebug("Loop alive")
+                       #print "Watchdog", struct.unpack(">B", i2c_read_reg(0x50, 0xA4, 1))[0]
                        #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
                        self.get_motor_err()
                        self.get_odom()
-                       self.get_voltage()
-                       if i % 2:
-                               self.get_dist_forward()
+                       self.get_power()
+
+                       if ir_count == 0:
                                self.get_dist_left()
+                               ir_count+=1
                        else:
-                               self.get_dist_backward()
                                self.get_dist_right()
-                       i+=1
+                               ir_count=0
+
+                       if sonar_count == 0:
+                               self.get_dist_forward_left()
+                               self.update_dist_backward()
+                               sonar_count+=1
+                       elif sonar_count == 1:
+                               self.get_dist_backward()
+                               self.update_dist_forward_right()
+                               sonar_count+=1
+                       elif sonar_count == 2:
+                               self.get_dist_forward_right()
+                               self.update_dist_forward_left()
+                               sonar_count=0
+
                        if self.cmd_vel != None:
                                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):
                self.bClipRangeSensor = config["range_sensor_clip"]
                self.range_sensor_max = config["range_sensor_max"]
+               self.range_sensor_fov = config["range_sensor_fov"]
                self.odom_covar_xy = config["odom_covar_xy"]
                self.odom_covar_angle = config["odom_covar_angle"]
                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
 
        def imuReceived(self, msg):
-               if self.rollover_protect:
+               if self.rollover_protect and (any(self.cur_vel) or self.bMotorManual):
                        (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
                        if pitch > self.rollover_protect_limit*pi/180:
                                self.bMotorManual = True
@@ -124,6 +126,7 @@ class MoveBase:
                        elif self.bMotorManual:
                                i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
                                self.bMotorManual = False
+                               self.cmd_vel = (0, 0)
                                rospy.logwarn("Rollver protection done")
 
        def get_reset(self):
@@ -178,19 +181,47 @@ class MoveBase:
                msg.status.append(stat)
                self.pub_diag.publish(msg)
        
-       def get_voltage(self):
+       def get_power(self):
                volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
+               current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0
 
                msg = DiagnosticArray()
                msg.header.stamp = rospy.Time.now()
                stat = DiagnosticStatus()
-               stat.name = "Voltage"
-               stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
-               stat.message = "%.2fV" % volt
+               stat.name = "Power"
+               stat.level = DiagnosticStatus.ERROR if volt < 7 or current > 5 else DiagnosticStatus.OK
+               stat.message = "%.2fV, %.2fA" % (volt, current)
 
                msg.status.append(stat)
                self.pub_diag.publish(msg)
 
+               if volt < 7 and (rospy.Time.now() - self.volt_last_warn).to_sec() > 10:
+                       rospy.logerr("Voltage critical: %.2fV" % (volt))
+                       self.volt_last_warn = rospy.Time.now()
+
+               self.bDocked = volt > 10.1
+               self.update_capacity(volt, current)
+
+               if self.pub_battery.get_num_connections() > 0:
+                       batmsg = BatteryState()
+                       batmsg.header.stamp = rospy.Time.now()
+                       batmsg.voltage = volt
+                       batmsg.current = current
+                       batmsg.charge = self.battery_capacity/3600.0
+                       batmsg.capacity = float('nan')
+                       batmsg.design_capacity = BATTERY_CAPACITY_FULL
+                       batmsg.percentage = batmsg.charge/batmsg.design_capacity
+                       batmsg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
+                       batmsg.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN
+                       batmsg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_NIMH
+                       batmsg.present = True
+                       self.pub_battery.publish(batmsg)
+
+       def update_capacity(self, volt, current):
+               if self.bDocked:
+                       self.battery_capacity = BATTERY_CAPACITY_FULL*3600
+               else:
+                       self.battery_capacity -= current/UPDATE_RATE
 
        def get_odom(self):
                speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
@@ -218,15 +249,16 @@ class MoveBase:
                odom.pose.pose.orientation.w = odom_quat[3]
                odom.pose.covariance[0] = self.odom_covar_xy # x
                odom.pose.covariance[7] = self.odom_covar_xy # y
-               odom.pose.covariance[14] = 99999 # z
-               odom.pose.covariance[21] = 99999 # rotation about X axis
-               odom.pose.covariance[28] = 99999 # rotation about Y axis
+               odom.pose.covariance[14] = self.odom_covar_xy # z
+               odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
+               odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
                odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 
                # set the velocity
                odom.child_frame_id = "base_footprint"
                odom.twist.twist.linear.x = speed_trans
                odom.twist.twist.linear.y = 0.0
+               odom.twist.twist.linear.z = 0.0
                odom.twist.twist.angular.z = speed_rot
                odom.twist.covariance = odom.pose.covariance
 
@@ -239,7 +271,7 @@ class MoveBase:
 
        def cmdVelReceived(self, msg):
                if not self.bMotorManual:
-                       rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
+                       rospy.logdebug("Set new cmd_vel: %.2f %.2f", msg.linear.x, msg.angular.z)
                        self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
                        rospy.logdebug("Set new cmd_vel done")
 
@@ -293,23 +325,61 @@ class MoveBase:
                        if dist > 69:
                                self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
 
-       def get_dist_forward(self):
-               if self.pub_range_fwd.get_num_connections() > 0:
+       def get_dist_forward_left(self):
+               if self.pub_range_fwd_left.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x15)
-                       self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
-                       self.start_dist_srf(0x5) # get next value
+                       self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
+
+       def update_dist_forward_left(self):
+               if self.pub_range_fwd_left.get_num_connections() > 0:
+                       self.start_dist_srf(0x5)
 
        def get_dist_backward(self):
                if self.pub_range_bwd.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x17)
-                       self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
-                       self.start_dist_srf(0x7) # get next value
+                       self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
+
+       def update_dist_backward(self):
+               if self.pub_range_bwd.get_num_connections() > 0:
+                       self.start_dist_srf(0x7)
+
+       def get_dist_forward_right(self):
+               if self.pub_range_fwd_right.get_num_connections() > 0:
+                       dist = self.read_dist_srf(0x19)
+                       self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
+
+       def update_dist_forward_right(self):
+               if self.pub_range_fwd_right.get_num_connections() > 0:
+                       self.start_dist_srf(0xb)
        
-       def led_stripe_received(self, msg):
-               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")
+
+       def enableManipulator(self, msg):
+               rospy.loginfo("Set Manipulator: %d", msg.data)
+               i2c_write_reg(0x52, 0x0f, chr(msg.data))
+               return SetBoolResponse(True, "")
 
 if __name__ == "__main__":
-       MoveBase()
+       WTBase()