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
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 __init__(self):
self.volts = 0.
self.wsize = 61
self.filter_order = 3
self.theta = rospy.get_param("~theta")
self.off_y = rospy.get_param("~off_y")
self.abcd = rospy.get_param("~abcd")
self.maximum_time = rospy.get_param("~maximum_time")
self.sg = savitzky.savitzky_golay(window_size=self.wsize,
order=self.filter_order)
size = 2 * self.wsize + 1
self.volt_filt = 48000 * np.ones(size)
rospy.Subscriber("/power_board/voltage", Float64, self.callback)
self.pub_power = rospy.Publisher('/power_state',
PowerState,
queue_size=1)
self.msg_power = PowerState()
def __init__(self):
self.power_state = PowerState()
self.relative_remaining_capacity = 0.0
self.temperature = 0.0
self.is_charging = False
self.topic_name = 'power_state'
self.mode = LightMode()
self.threshold_warning = rospy.get_param("~threshold_warning", 20.0) # % of battery level
self.threshold_error = rospy.get_param("~threshold_error", 10.0) # % of battery level
self.threshold_critical = rospy.get_param("~threshold_critical", 5.0)# % of battery level
self.enable_light = rospy.get_param("~enable_light", True)
self.num_leds = rospy.get_param("~num_leds", 1)
self.track_id_light = {}
if self.enable_light:
if not rospy.has_param("~light_components"):
rospy.logwarn("parameter light_components does not exist on ROS Parameter Server")
return
self.light_components = rospy.get_param("~light_components")
for component in self.light_components:
self.track_id_light[component] = None
self.mode = LightMode()
self.mode.priority = 8
self.enable_sound = rospy.get_param("~enable_sound", True)
self.sound_components = {}
if self.enable_sound:
if not rospy.has_param("~sound_components"):
rospy.logwarn("parameter sound_components does not exist on ROS Parameter Server")
return
self.sound_components = rospy.get_param("~sound_components")
self.sound_critical = rospy.get_param("~sound_critical", "My battery is empty, please recharge now.")
self.sound_warning = rospy.get_param("~sound_warning", "My battery is nearly empty, please consider recharging.")
self.last_time_warned = rospy.get_time()
self.last_time_power_received = rospy.get_time()
rospy.Subscriber(self.topic_name, PowerState, self.power_callback)
rospy.Timer(rospy.Duration(1), self.timer_callback)
def charging_callback(self, msg):
power_state = PowerState()
power_state.header.stamp = rospy.Time.now()
power_state.charging = msg.data
self.pub_power_state_.publish(power_state)