wt_node: battery capacity
[ros_wild_thumper.git] / scripts / wt_node.py
index e234058dc66af5fcd6065110f86ebeabe3fe38ff..ee0aa41429f932d32b72884703840cca15913a10 100755 (executable)
@@ -15,39 +15,11 @@ from nav_msgs.msg import Odometry
 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.msg import LedStripe
 from wild_thumper.cfg import WildThumperConfig
 
 WHEEL_DIST = 0.248
-
-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()
+BATTERY_CAPACITY_FULL = 2.750 # Ah, NiMH=2.750, LiFePO4=3.100
+UPDATE_RATE = 20.0
 
 class WTBase:
        def __init__(self):
@@ -72,25 +44,26 @@ 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
-               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)
                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()
@@ -138,7 +111,7 @@ class WTBase:
                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
@@ -220,26 +193,33 @@ 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
-
+       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))
@@ -370,11 +350,6 @@ class WTBase:
                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")