X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=6006f9562bef641e510005c84676553ac6c52801;hp=bb6fbb02f0ef832f4c30da7dac25e0d767e60cd7;hb=4b090b45eb6d10571944874b8b23921f96a9db54;hpb=065571396c4327c12198fa8b368f7e17eb633861

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index bb6fbb0..6006f95 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
@@ -13,7 +14,7 @@ from geometry_msgs.msg import Twist
 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
+from sensor_msgs.msg import Imu, Range, BatteryState
 from wild_thumper.msg import LedStripe
 from wild_thumper.cfg import WildThumperConfig
 
@@ -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")
@@ -65,6 +66,7 @@ class MoveBase:
 		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
@@ -72,10 +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):
@@ -90,7 +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()
@@ -116,21 +120,25 @@ 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
 
 	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
@@ -198,23 +206,40 @@ 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 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.capacity = float('nan')
+			batmsg.design_capacity = 5.0
+			batmsg.percentage = float('nan')
+			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
+			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 get_odom(self):
 		speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
@@ -251,6 +276,7 @@ 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
 
@@ -320,7 +346,7 @@ 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:
@@ -329,7 +355,7 @@ 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:
@@ -338,7 +364,7 @@ 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:
@@ -348,7 +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()