updated pyshared

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index dfa69b0c6e2a2d097c57d78cc23b2a7343527764..03d61be0b722cc5b7399e8068f29fb45a6c0087a 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -16,8 +16,11 @@ from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 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 WTBase:
        def __init__(self):
@@ -42,23 +45,27 @@ class WTBase:
                self.bMotorManual = False
                self.set_speed(0, 0)
                self.volt_last_warn = rospy.Time.now()
-               rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
                rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
                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)
                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()
@@ -188,26 +195,33 @@ class WTBase:
                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 = float('nan')
+                       batmsg.charge = self.battery_capacity/3600.0
                        batmsg.capacity = float('nan')
-                       batmsg.design_capacity = 5.0
-                       batmsg.percentage = 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)
 
-               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
-
+       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))
@@ -361,7 +375,11 @@ class WTBase:
                        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__":
        WTBase()