analyzers: rename voltage to power and add current value

diff --git a/config/analyzers.yaml b/config/analyzers.yaml
index 8215e23175c40c49cc6c355d5bb504179450e41b..ab0ae08925089d26d276da944b889a430ea60616 100644 (file)
--- a/config/analyzers.yaml
+++ b/config/analyzers.yaml
@@ -9,7 +9,7 @@ analyzers:
                 path: Reset
                 startswith: 'Reset'
                 timeout: -1
-        voltage:
+        power:
                 type: diagnostic_aggregator/GenericAnalyzer
-                path: Voltage
-                startswith: 'Voltage'
+                path: Power
+                startswith: 'Power'

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 4a6af7b9f954989b8fa14c38422ce620addd9395..e234058dc66af5fcd6065110f86ebeabe3fe38ff 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -94,7 +94,7 @@ class WTBase:
                        #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()
@@ -206,21 +206,20 @@ 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)
 
-               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()