Correct rollover protection

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 663a4f17774dbab88772e094c556f047246729a9..6006f9562bef641e510005c84676553ac6c52801 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")
@@ -73,10 +74,12 @@ class MoveBase:
                self.volt_last_warn = rospy.Time.now()
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
-               self.pStripe = LPD8806(1, 0, 12)
+               self.pStripe = LPD8806(1, 0, 16)
                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):
@@ -91,7 +94,7 @@ class MoveBase:
                        #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
                        self.get_motor_err()
                        self.get_odom()
-                       self.get_voltage()
+                       self.get_power()
 
                        if ir_count == 0:
                                self.get_dist_left()
@@ -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):
@@ -128,11 +133,12 @@ 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
 
        def imuReceived(self, msg):
-               if self.rollover_protect and any(self.cur_vel):
+               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
@@ -200,15 +206,16 @@ 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)
@@ -217,7 +224,7 @@ class MoveBase:
                        batmsg = BatteryState()
                        batmsg.header.stamp = rospy.Time.now()
                        batmsg.voltage = volt
-                       batmsg.current = float('nan')
+                       batmsg.current = current
                        batmsg.charge = float('nan')
                        batmsg.capacity = float('nan')
                        batmsg.design_capacity = 5.0
@@ -231,6 +238,8 @@ 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 +374,31 @@ 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()