def _check_battery_state(_battery_acpi_path):
"""
@return LaptopChargeStatus
"""
if os.access(_battery_acpi_path, os.F_OK):
o = slerp(_battery_acpi_path+'/state')
else:
raise Exception(_battery_acpi_path+' does 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 __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, queue_size=5)
self._diag_pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=1)
# Battery info
self._batt_acpi_path = rospy.get_param('~acpi_path', "/proc/acpi/battery/BAT0")
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(_battery_acpi_path):
"""
@return LaptopChargeStatus
"""
rv = LaptopChargeStatus()
if _battery_acpi_path.startswith('/proc'):
if os.access(_battery_acpi_path, os.F_OK):
o = slerp(_battery_acpi_path+'/state')
else:
raise Exception(_battery_acpi_path+' does not exist')
batt_info = yaml.load(o)
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')) # /energy_now
rv.voltage = _strip_V(batt_info.get('present voltage', '-1 mV')) # /voltage_now
rv.present = batt_info.get('present', False) # /present
rv.header.stamp = rospy.get_rostime()
else:
# Charging state; make lowercase and remove trailing eol
state = _read_string(_battery_acpi_path+'/status', 'discharging').lower().rstrip()
rv.charge_state = state_to_val.get(state, 0)
if os.path.exists(_battery_acpi_path + '/power_now'):
rv.rate = _read_number(_battery_acpi_path + '/power_now')/10e5
else:
rv.rate = _read_number(_battery_acpi_path + '/current_now')/10e5
if rv.charge_state == LaptopChargeStatus.DISCHARGING:
rv.rate = math.copysign(rv.rate, -1) # Need to set discharging rate to negative
if os.path.exists(_battery_acpi_path + '/energy_now'):
rv.charge = _read_number(_battery_acpi_path + '/energy_now')/10e5
else:
rv.charge = _read_number(_battery_acpi_path + '/charge_now')/10e5
rv.voltage = _read_number(_battery_acpi_path + '/voltage_now')/10e5
rv.present = _read_number(_battery_acpi_path + '/present') == 1
rv.header.stamp = rospy.get_rostime()
return rv
def _check_battery_state(_battery_acpi_path):
"""
@return LaptopChargeStatus
"""
rv = LaptopChargeStatus()
if _battery_acpi_path.startswith('/proc'):
if os.access(_battery_acpi_path, os.F_OK):
o = slerp(_battery_acpi_path + '/state')
else:
raise Exception(_battery_acpi_path + ' does not exist')
batt_info = yaml.load(o)
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')) # /energy_now
rv.voltage = _strip_V(batt_info.get('present voltage',
'-1 mV')) # /voltage_now
rv.present = batt_info.get('present', False) # /present
rv.header.stamp = rospy.get_rostime()
else:
# Charging state; make lowercase and remove trailing eol
state = _read_string(_battery_acpi_path + '/status',
'discharging').lower().rstrip()
rv.charge_state = state_to_val.get(state, 0)
if os.path.exists(_battery_acpi_path + '/power_now'):
rv.rate = _read_number(_battery_acpi_path + '/power_now') / 10e5
else:
rv.rate = _read_number(_battery_acpi_path + '/current_now') / 10e5
if rv.charge_state == LaptopChargeStatus.DISCHARGING:
rv.rate = math.copysign(
rv.rate, -1) # Need to set discharging rate to negative
if os.path.exists(_battery_acpi_path + '/energy_now'):
rv.charge = _read_number(_battery_acpi_path + '/energy_now') / 10e5
else:
rv.charge = _read_number(_battery_acpi_path + '/charge_now') / 10e5
rv.voltage = _read_number(_battery_acpi_path + '/voltage_now') / 10e5
rv.present = _read_number(_battery_acpi_path + '/present') == 1
rv.header.stamp = rospy.get_rostime()
return rv