X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=4a6af7b9f954989b8fa14c38422ce620addd9395;hp=5fc2e2d53155630563bf342d12769c9d3861de27;hb=cba57a46f758cff1cb49df0b337eac82ab4453f3;hpb=8818294be6d3833647713c6db2412e742c4d34fe

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 5fc2e2d..4a6af7b 100755
--- 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):
@@ -117,16 +120,20 @@ 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):
 		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
 
@@ -212,11 +219,13 @@ class MoveBase:
 		msg.status.append(stat)
 		self.pub_diag.publish(msg)
 
+		current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0
+
 		if self.pub_battery.get_num_connections() > 0:
 			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
@@ -230,6 +239,8 @@ 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))
@@ -266,6 +277,7 @@ class MoveBase:
 		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
 
@@ -335,7 +347,7 @@ class MoveBase:
 	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_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+			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:
@@ -344,7 +356,7 @@ class MoveBase:
 	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.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:
@@ -353,7 +365,7 @@ class MoveBase:
 	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, 30)
+			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:
@@ -363,7 +375,31 @@ 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()