def __init__(self):
self._mutex = threading.Lock()
self._last_info_update = 0
self._last_state_update = 0
self._msg = LaptopChargeStatus()
self._power_pub = rospy.Publisher('laptop_charge', LaptopChargeStatus, latch=True)
self._diag_pub = rospy.Publisher('/diagnostics', DiagnosticArray)
# Battery info
self._batt_design_capacity = 0
self._batt_last_full_capacity = 0
self._last_info_update = 0
self._batt_info_rate = 1 / 60.0
self._batt_info_thread = threading.Thread(target=self._check_batt_info)
self._batt_info_thread.daemon = True
self._batt_info_thread.start()
# Battery state
self._batt_state_rate = 1 / 5.0
self._batt_state_thread = threading.Thread(target=self._check_batt_state)
self._batt_state_thread.daemon = True
self._batt_state_thread.start()
def _check_battery_state():
"""
@return LaptopChargeStatus
"""
if os.access('/proc/acpi/battery/BAT0', os.F_OK):
o = slerp('/proc/acpi/battery/BAT0/state')
elif os.access('/proc/acpi/battery/BAT1', os.F_OK):
o = slerp('/proc/acpi/battery/BAT1/state')
else:
raise Exception('/proc/acpi/battery/BAT* directory is not exist.')
batt_info = yaml.load(o)
rv = LaptopChargeStatus()
state = batt_info.get('charging state', 'discharging')
rv.charge_state = state_to_val.get(state, 0)
rv.rate = _strip_A(batt_info.get('present rate', '-1 mA'))
if rv.charge_state == LaptopChargeStatus.DISCHARGING:
rv.rate = math.copysign(rv.rate, -1) # Need to set discharging rate to negative
rv.charge = _strip_Ah(batt_info.get('remaining capacity', '-1 mAh'))
rv.voltage = _strip_V(batt_info.get('present voltage', '-1 mV'))
rv.present = batt_info.get('present', False)
rv.header.stamp = rospy.get_rostime()
return rv
def _check_battery_state():
"""
@return LaptopChargeStatus
"""
o = slerp(BATTERY_PROC_FILE + "/state")
batt_info = yaml.load(o)
rv = LaptopChargeStatus()
state = batt_info.get('charging state', 'discharging')
rv.charge_state = state_to_val.get(state, 0)
rv.rate = _strip_A(batt_info.get('present rate', '-1 mA'))
if rv.charge_state == LaptopChargeStatus.DISCHARGING:
rv.rate = math.copysign(rv.rate, -1) # Need to set discharging rate to negative
rv.charge = _strip_Ah(batt_info.get('remaining capacity', '-1 mAh'))
rv.voltage = _strip_V(batt_info.get('present voltage', '-1 mV'))
rv.present = batt_info.get('present', False)
rv.header.stamp = rospy.get_rostime()
return rv
def _check_battery_state():
"""
@return LaptopChargeStatus
"""
o = slerp('/proc/acpi/battery/BAT0/state')
batt_info = yaml.load(o)
rv = LaptopChargeStatus()
state = batt_info.get('charging state', 'discharging')
rv.charge_state = state_to_val.get(state, 0)
rv.rate = _strip_A(batt_info.get('present rate', '-1 mA'))
rv.charge = _strip_Ah(batt_info.get('remaining capacity', '-1 mAh'))
rv.voltage = _strip_V(batt_info.get('present voltage', '-1 mV'))
rv.present = batt_info.get('present', False)
rv.header.stamp = rospy.get_rostime()
return rv