move_base: added voltage measurement

diff --git a/cfg/analyzers.yaml b/cfg/analyzers.yaml
index 24193de9079359c3774f702c59e61d14c7840841..2e6e625454bd1f9950e63501da97b0fd41d15e56 100644 (file)
--- a/cfg/analyzers.yaml
+++ b/cfg/analyzers.yaml
@@ -4,3 +4,12 @@ analyzers:
                 path: Motors
                 startswith: 'Motor'
                 find_and_remove_prefix: motor
+        reset:
+                type: GenericAnalyzer
+                path: Reset
+                startswith: 'Reset'
+                timeout: -1
+        voltage:
+                type: GenericAnalyzer
+                path: Voltage
+                startswith: 'Voltage'

diff --git a/scripts/move_base.py b/scripts/move_base.py
index 0f0bc190fcd7030a6cbdf1b9824a93f309e7e689..127bccacb10a43ea69e56d57d5ca88af9b9405ed 100755 (executable)
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -26,24 +26,48 @@ class MoveBase:
        
        def run(self):
                rate = rospy.Rate(20.0)
+               reset_val = self.get_reset()
+               rospy.loginfo("Reset Status: 0x%x" % reset_val)
                while not rospy.is_shutdown():
+                       #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
                        self.get_tle_err()
-                       #self.get_odom()
+                       self.get_odom()
+                       self.get_voltage()
                        #self.get_dist_forward()
                        #self.get_dist_backward()
                        #self.get_dist_left()
                        #self.get_dist_right()
                        rate.sleep()
 
+       def get_reset(self):
+               reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
+
+               msg = DiagnosticArray()
+               msg.header.stamp = rospy.Time.now()
+               stat = DiagnosticStatus()
+               stat.name = "Reset reason"
+               stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
+               stat.message = "0x%02x" % reset
+
+               stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
+               stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
+               stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
+               stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
+
+               msg.status.append(stat)
+               self.pub_diag.publish(msg)
+               return reset
+
+
        def get_tle_err(self):
-               err = struct.unpack(">B", i2c_read_reg(0x50, 0x94, 1))[0]
+               err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
                
                msg = DiagnosticArray()
                msg.header.stamp = rospy.Time.now()
                stat = DiagnosticStatus()
                stat.name = "Motor: Error Status"
-               stat.level = DiagnosticStatus.OK if not err else DiagnosticStatus.ERROR
-               stat.message = "OK" if not err else "Error"
+               stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
+               stat.message = "0x%02x" % err
 
                stat.values.append(KeyValue("Motor 1", str(bool(err & (1 << 0)))))
                stat.values.append(KeyValue("Motor 2", str(bool(err & (1 << 1)))))
@@ -52,6 +76,19 @@ class MoveBase:
 
                msg.status.append(stat)
                self.pub_diag.publish(msg)
+       
+       def get_voltage(self):
+               volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
+
+               msg = DiagnosticArray()
+               msg.header.stamp = rospy.Time.now()
+               stat = DiagnosticStatus()
+               stat.name = "Voltage"
+               stat.level = DiagnosticStatus.ERROR if volt < 6 else DiagnosticStatus.OK
+               stat.message = "%.2fV" % volt
+
+               msg.status.append(stat)
+               self.pub_diag.publish(msg)
 
 
        def get_odom(self):