def publish(self):
self.calculate_voltage()
if self.voltage != None and self.current != None and (rospy.Time.now() - self.last_update) < rospy.Duration(1):
ps = PowerState()
ps.header.stamp = self.last_update
ps.voltage = self.voltage
ps.current = self.current
ps.power_consumption = self.calculate_power_consumption()
ps.relative_remaining_capacity = self.calculate_relative_remaining_capacity()
ps.charging = self.charging
self.pub_power_state.publish(ps)
def publish(self):
if self.voltage != None and self.current != None and self.remaining_capacity != None and self.full_charge_capacity != None and self.temperature != None and (rospy.Time.now() - self.last_update) < rospy.Duration(1):
ps = PowerState()
ps.header.stamp = self.last_update
ps.voltage = self.voltage
ps.current = self.current
ps.power_consumption = self.calculate_power_consumption()
ps.remaining_capacity = self.remaining_capacity
ps.relative_remaining_capacity = self.calculate_relative_remaining_capacity()
ps.charging = self.charging
ps.time_remaining = self.calculate_time_remaining()
ps.temperature = self.temperature
self.pub_power_state.publish(ps)
return ps