def get_battery_state(self, battery): """Get the current state of a battery.""" battery_config = BATTERIES[battery] battery_state = BatteryState() battery_voltage = PiPuckBatteryServer.get_battery_voltage(battery_config["path"]) self._battery_history[battery].insert(0, battery_voltage) self._battery_history[battery] = self._battery_history[battery][:HISTORY_MAX] split_point = len(self._battery_history[battery]) // 2 head_half = self._battery_history[battery][:split_point] tail_half = self._battery_history[battery][split_point:] try: battery_delta = (sum(head_half) / len(head_half)) - (sum(tail_half) / len(tail_half)) except ZeroDivisionError: battery_delta = 0.0 battery_state.voltage = battery_voltage battery_state.present = True battery_state.design_capacity = battery_config["design_capacity"] battery_state.power_supply_technology = battery_config["power_supply_technology"] average_battery_voltage = sum(self._battery_history[battery]) / len( self._battery_history[battery]) if average_battery_voltage >= battery_config["max_voltage"] * CHARGED_VOLTAGE_MARGIN: battery_state.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_FULL elif battery_delta < 0: battery_state.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING elif battery_delta > 0: battery_state.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_CHARGING else: battery_state.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_NOT_CHARGING if average_battery_voltage >= battery_config["max_voltage"] * OVER_VOLTAGE_MARGIN: battery_state.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_OVERVOLTAGE elif average_battery_voltage <= battery_config["min_voltage"]: # It is unclear whether this means "out of charge" or "will never charge again", we # assume here that it means "out of charge". battery_state.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_DEAD else: battery_state.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_GOOD battery_state.percentage = clamp( (average_battery_voltage - battery_config["min_voltage"]) / (battery_config["max_voltage"] - battery_config["min_voltage"]), 1.0, 0.0) battery_state.current = NAN battery_state.charge = NAN battery_state.capacity = NAN battery_state.location = battery_config["location"] return battery_state
def battery_republisher(): global MotorDriverPort #print "Battery republisher launched" bat_status = BatteryState() BAT_FULL = 6*4.2 BAT_MIN = 6*3.3 bat_status.header.frame_id = 'robot' bat_status.current = float('nan') bat_status.charge = float('nan') bat_status.capacity = float('nan') bat_status.design_capacity = float('nan') bat_status.power_supply_technology = BatteryState().POWER_SUPPLY_TECHNOLOGY_LIPO for cell in range(0, 6): bat_status.cell_voltage.append(float('nan')) bat_status.location = 'Main Battery' bat_status.serial_number = "NA" while 1: MotorDriverPort.write('GetBatTotal\n') sleep(0.05) recv_data = MotorDriverPort.readline() print recv_data # print recv_data bat_status.header.stamp = rospy.Time.now() try: bat_status.voltage = float(recv_data) bat_status.percentage = bat_status.voltage/BAT_FULL bat_status.present = bat_status.voltage<BAT_FULL and bat_status.voltage>BAT_MIN battery_pub.publish(bat_status) except: if DEBUG: print "Receive Error" else: pass sleep(0.01)
def on_new_telemetry(self, message): for servo in message.servos: self.voltages[servo.id] = servo.voltage if len(self.voltages) == SERVO_COUNT: voltages = self.voltages.values() self.voltages.clear() voltage = max(voltages) battery_state = BatteryState() battery_state.header.stamp = rospy.Time.now() battery_state.voltage = voltage battery_state.current = float("nan") battery_state.charge = float("nan") battery_state.capacity = float("nan") battery_state.design_capacity = float("nan") battery_state.percentage = 100 - (MAX_VOLTAGE - voltage) / ( MAX_VOLTAGE - MIN_VOLTAGE) * 100 battery_state.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING battery_state.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN battery_state.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_LIPO battery_state.present = True battery_state.cell_voltage = [float("nan")] * 3 battery_state.location = "Primary batter bay" battery_state.serial_number = "N/A" self.battery_publisher.publish(battery_state) # skip the first check so that you don't get a warning if battery is already bellow some value if self.first_check: self.first_check = False self.lowest_recorded_voltage = voltage return if voltage < 10.2: if self.last_critical_voltage_warning + self.critical_voltage_warning_period < rospy.Time.now( ): self.speech_publisher.publish("battery_critical") self.face_color_publisher.publish("flash:red") self.last_critical_voltage_warning = rospy.Time.now() elif voltage < 11 and self.lowest_recorded_voltage >= 11: self.speech_publisher.publish("battery_below_11") elif voltage < 12 and self.lowest_recorded_voltage >= 12: self.speech_publisher.publish("battery_below_12") if voltage < self.lowest_recorded_voltage: self.lowest_recorded_voltage = voltage
def publish_state(self): state = BatteryState() state.header.frame_id = "usv" state.header.stamp = rospy.Time.now() state.voltage = self.voltage state.current = self.power_battery state.charge = self.charging_current #state.capacity = self.design_capacity * (self.percentage / 100.0) state.design_capacity = self.design_capacity state.percentage = (self.percentage/100.0) state.power_supply_status = self.state_charging state.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN state.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_LIPO state.present = True state.cell_voltage = [self.voltage] state.location = "Slot 1" state.serial_number = "SUSV LIPO 3000mAH" self.pub.publish(state)
def bs_err_inj(tb3_name): #Create error-injected topic rospy.init_node('batterystate_err_inj') ######################################### #Create new message batterystate_msg = BatteryState() #Fill message with values batterystate_msg.header.seq = 0 batterystate_msg.header.stamp.secs = 0 batterystate_msg.header.stamp.nsecs = 0 batterystate_msg.header.frame_id = "" batterystate_msg.voltage = 0.0 batterystate_msg.current = 0.0 batterystate_msg.charge = 0.0 batterystate_msg.capacity = 0.0 batterystate_msg.design_capacity = 0.0 batterystate_msg.percentage = 0.0 batterystate_msg.power_supply_status = 0 batterystate_msg.power_supply_health = 0 batterystate_msg.power_supply_technology = 0 batterystate_msg.bool = 1 batterystate_msg.cell_voltage = [] batterystate_msg.location = "" batterystate_msg.serial_number = "" ######################################### rate = rospy.Rate(50) #Publish message into new topic while not rospy.is_shutdown(): my_pub = rospy.Publisher(tb3_name + 'batterystate_err_inj', BatteryState, queue_size=10) my_sub = rospy.Subscriber(tb3_name + 'battery_state', BatteryState, listener) ######################################### #INJECT ERRORS HERE batterystate_msg.header.seq = actual_seq batterystate_msg.header.stamp.secs = actual_secs batterystate_msg.header.stamp.nsecs = actual_nsecs batterystate_msg.header.frame_id = actual_frameid batterystate_msg.voltage = actual_voltage batterystate_msg.current = actual_current batterystate_msg.charge = actual_charge batterystate_msg.capacity = actual_capacity batterystate_msg.design_capacity = actual_designcapacity batterystate_msg.percentage = actual_percentage batterystate_msg.power_supply_status = actual_powersupplystatus batterystate_msg.power_supply_health = actual_powersupplyhealth batterystate_msg.power_supply_technology = actual_powersupplytechnology batterystate_msg.present = actual_present batterystate_msg.cell_voltage = actual_cellvoltage batterystate_msg.location = actual_location batterystate_msg.serial_number = actual_serialnumber ######################################### my_pub.publish(batterystate_msg) rate.sleep() rospy.spin()
# print out pure ADC voltage # rospy.loginfo("Battery: %.1f Volt" % voltage) # completing the ROS message # @SA http://docs.ros.org/jade/api/sensor_msgs/html/msg/BatteryState.html battery_msg.charge = 0.0 battery_msg.capacity = 0.0 battery_msg.design_capacity = 2.2 # 2.2 Ah battery_msg.percentage = 0.0 # 0 to 1! # battery_msg.power_supply_status = POWER_SUPPLY_STATUS_DISCHARGING # battery_msg.power_supply_health = POWER_SUPPLY_HEALTH_GOOD # battery_msg.power_supply_technology = POWER_SUPPLY_TECHNOLOGY_LIPO battery_msg.power_supply_status = 2 battery_msg.power_supply_health = 1 battery_msg.power_supply_technology = 3 battery_msg.present = True battery_msg.cell_voltage = [float(0)] battery_msg.location = "1" # The location into which the battery is inserted. (slot number or plug) battery_msg.serial_number = "1" # this is the battery voltage # @TODO strange, this assignment as to be exactly here... battery_msg.voltage = float(voltage) # publish voltage pubBattery.publish(battery_msg) # Sleep for a second until the next reading. rospy.sleep(sleepTime)