def _broadcast_arlo_status(self, msg):
'''
Description - broadcasts the ArlobotNode status
:param msg:
:return: None
'''
arlo_status = arloStatus()
arlo_status.safeToProceed = msg.safe_to_proceed
arlo_status.safeToRecede = msg.safe_to_recede
arlo_status.Escaping = msg.escaping
arlo_status.abd_speedLimit = msg.max_forward_speed
arlo_status.abdR_speedLimit = msg.max_reverse_speed
arlo_status.Heading = self.lastHeading
arlo_status.gyroHeading = self.alternate_heading
arlo_status.minDistanceSensor = msg.min_distance_sensor
arlo_status.leftMotorVoltage = msg.left_motor_voltage
arlo_status.rightMotorVoltage = msg.right_motor_voltage
arlo_status.leftMotorCurrent = msg.left_motor_current
arlo_status.rightMotorCurrent = msg.left_motor_current
arlo_status.cliffDetected = msg.cliff_detected
arlo_status.floorObstacleDetected = msg.floor_obstacle_detected
# Who need to use ArloStatus?
self._arlo_status_publisher.publish(arlo_status)
def _broadcast_arlo_status(self, line_parts):
arlo_status = arloStatus()
# Order from ROS Interface for ArloBot.c
# dprint(term, "s\t%d\t%d\t%d\t%d\t%d\n", safeToProceed, safeToRecede, Escaping, abd_speedLimit, abdR_speedLimit);
if int(line_parts[1]) == 1:
arlo_status.safeToProceed = True
else:
arlo_status.safeToProceed = False
if int(line_parts[2]) == 1:
arlo_status.safeToRecede = True
else:
arlo_status.safeToRecede = False
if int(line_parts[3]) == 1:
arlo_status.Escaping = True
else:
arlo_status.Escaping = False
arlo_status.abd_speedLimit = int(line_parts[4])
arlo_status.abdR_speedLimit = int(line_parts[5])
arlo_status.Heading = self.lastHeading
arlo_status.gyroHeading = self.alternate_heading
arlo_status.minDistanceSensor = int(line_parts[6])
left_motor_voltage = (15 / 4.69) * float(line_parts[7])
right_motor_voltage = (15 / 4.69) * float(line_parts[8])
arlo_status.robotBatteryLevel = 12.0
if left_motor_voltage < 1:
arlo_status.leftMotorPower = False
else:
arlo_status.leftMotorPower = True
arlo_status.robotBatteryLevel = left_motor_voltage
self._leftMotorPower = arlo_status.leftMotorPower
if right_motor_voltage < 1:
arlo_status.rightMotorPower = False
else:
arlo_status.rightMotorPower = True
arlo_status.robotBatteryLevel = right_motor_voltage
self._rightMotorPower = arlo_status.rightMotorPower
# 11.6 volts is the cutoff for an SLA battery.
if arlo_status.robotBatteryLevel < 12:
arlo_status.robotBatteryLow = True
else:
arlo_status.robotBatteryLow = False
arlo_status.laptopBatteryPercent = self._laptop_battery_percent
arlo_status.acPower = self._acPower
if int(line_parts[9]) == 1:
arlo_status.cliff = True
else:
arlo_status.cliff = False
if int(line_parts[10]) == 1:
arlo_status.floorObstacle = True
else:
arlo_status.floorObstacle = False
self._arlo_status_publisher.publish(arlo_status)
def _broadcast_arlo_status(self, line_parts):
arlo_status = arloStatus()
# Order from ROS Interface for ArloBot.c
# dprint(term, "s\t%d\t%d\t%d\t%d\t%d\n", safeToProceed, safeToRecede, Escaping, abd_speedLimit, abdR_speedLimit);
if int(line_parts[1]) == 1:
arlo_status.safeToProceed = True
else:
arlo_status.safeToProceed = False
if int(line_parts[2]) == 1:
arlo_status.safeToRecede = True
else:
arlo_status.safeToRecede = False
if int(line_parts[3]) == 1:
arlo_status.Escaping = True
else:
arlo_status.Escaping = False
arlo_status.abd_speedLimit = int(line_parts[4])
arlo_status.abdR_speedLimit = int(line_parts[5])
arlo_status.Heading = self.lastHeading
arlo_status.gyroHeading = self.alternate_heading
arlo_status.minDistanceSensor = int(line_parts[6])
left_motor_voltage = (15 / 4.69) * float(line_parts[7])
right_motor_voltage = (15 / 4.69) * float(line_parts[8])
arlo_status.robotBatteryLevel = 12.0
if left_motor_voltage < 1:
arlo_status.leftMotorPower = False
else:
arlo_status.leftMotorPower = True
arlo_status.robotBatteryLevel = left_motor_voltage
self._leftMotorPower = arlo_status.leftMotorPower
if right_motor_voltage < 1:
arlo_status.rightMotorPower = False
else:
arlo_status.rightMotorPower = True
arlo_status.robotBatteryLevel = right_motor_voltage
self._rightMotorPower = arlo_status.rightMotorPower
# 11.6 volts is the cutoff for an SLA battery.
if arlo_status.robotBatteryLevel < 12:
arlo_status.robotBatteryLow = True
else:
arlo_status.robotBatteryLow = False
arlo_status.laptopBatteryPercent = self._laptop_battery_percent
arlo_status.acPower = self._acPower
self._arlo_status_publisher.publish(arlo_status)
def _broadcast_arlo_status(self, line_parts):
arlo_status = arloStatus()
# Order from ROS Interface for ArloBot.c
# dprint(term, "s\t%d\t%d\t%d\t%d\t%d\n", safeToProceed, safeToRecede, Escaping, abd_speedLimit, abdR_speedLimit);
if int(line_parts[1]) == 1:
arlo_status.safeToProceed = True
else:
arlo_status.safeToProceed = False
if int(line_parts[2]) == 1:
arlo_status.safeToRecede = True
else:
arlo_status.safeToRecede = False
if int(line_parts[3]) == 1:
arlo_status.Escaping = True
else:
arlo_status.Escaping = False
arlo_status.abd_speedLimit = int(line_parts[4])
arlo_status.abdR_speedLimit = int(line_parts[5])
arlo_status.Heading = self.lastHeading
arlo_status.gyroHeading = self.alternate_heading
self._arlo_status_publisher.publish(arlo_status)
def _broadcast_arlo_status(self, msg):
arlo_status = arloStatus()
# Order from ROS Interface for ArloBot.c
arlo_status.safeToProceed = msg.safe_to_proceed
arlo_status.safeToRecede = msg.safe_to_recede
arlo_status.Escaping = msg.escaping
arlo_status.abd_speedLimit = msg.max_forward_speed
arlo_status.abdR_speedLimit = msg.max_reverse_speed
arlo_status.Heading = self.lastHeading
arlo_status.gyroHeading = self.alternate_heading
arlo_status.minDistanceSensor = msg.min_distance_sensor
# Note: Just faking the motor voltages for now, remember to change this when there is an actual motor voltage measurement
left_motor_voltage = (15 / 4.69) * msg.left_motor_voltage
right_motor_voltage = (15 / 4.69) * msg.right_motor_voltage
arlo_status.robotBatteryLevel = 12.0
if left_motor_voltage < 1:
arlo_status.leftMotorPower = False
else:
arlo_status.leftMotorPower = True
arlo_status.robotBatteryLevel = left_motor_voltage
self._leftMotorPower = arlo_status.leftMotorPower
if right_motor_voltage < 1:
arlo_status.rightMotorPower = False
else:
arlo_status.rightMotorPower = True
arlo_status.robotBatteryLevel = right_motor_voltage
self._rightMotorPower = arlo_status.rightMotorPower
# 11.6 volts is the cutoff for an SLA battery.
if arlo_status.robotBatteryLevel < 12:
arlo_status.robotBatteryLow = True
else:
arlo_status.robotBatteryLow = False
arlo_status.laptopBatteryPercent = self._laptop_battery_percent
arlo_status.acPower = self._acPower
arlo_status.cliff = msg.cliff_detected
arlo_status.floorObstacle = msg.floor_obstacle_detected
self._arlo_status_publisher.publish(arlo_status)
