X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=ee0aa41429f932d32b72884703840cca15913a10;hp=8589156bcf517d75aabea58ac16f5e33f62d3ec4;hb=0ce791b21f3bb0557034f144c26a8e6aa86f508c;hpb=a7bf130f7e0ea44d8ba7d02d1fa1310b658a9d87 diff --git a/scripts/wt_node.py b/scripts/wt_node.py index 8589156..ee0aa41 100755 --- a/scripts/wt_node.py +++ b/scripts/wt_node.py @@ -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): @@ -72,29 +44,30 @@ 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() - self.get_voltage() + self.get_power() if ir_count == 0: self.get_dist_left() @@ -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 @@ -206,39 +179,47 @@ class WTBase: 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 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 = float('nan') - batmsg.charge = float('nan') + batmsg.current = current + 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)) @@ -369,11 +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")