bat_state.py

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#!/usr/bin/env python
import serial
import roslib; 
roslib.load_manifest('cob_battery')
import rospy
from diagnotic_msgs.msg import * 

ns_global_prefix = "/battery_controller"
rospy.init_node('battery_node')
#read in paramterers
if not rospy.has_param(ns_global_prefix + "/devicestring"):
                        rospy.logerr("parameter %s does not exist on ROS Parameter Server, aborting...",ns_global_prefix + "/devicestring")
                        sys.exit()
devicestring_param = rospy.get_param(self.ns_global_prefix + "/devicestring")
if not rospy.has_param(ns_global_prefix + "/minimum_battery_voltage"):
                        rospy.logerr("parameter %s does not exist on ROS Parameter Server, aborting...",ns_global_prefix + "/minimum_battery_voltage")
                        sys.exit()
minvalue_param = rospy.get_param(self.ns_global_prefix + "/minimum_battery_voltage")
if not rospy.has_param(ns_global_prefix + "/maximum_battery_voltage"):
                        rospy.logerr("parameter %s does not exist on ROS Parameter Server, aborting...",ns_global_prefix + "/maximum_battery_voltage")
                        sys.exit()
maxvalue_param = rospy.get_param(self.ns_global_prefix + "/maximum_battery_voltage")

diagnostic_publisher = rospy.Publisher("/diagnostics", DiagnosticStatus)
batcon = serial.Serial("/dev/ttyUSB2", 230400)
msg = DiagnosticStatus()
msg.level = 0
msg.name = "battery_state"
msg.message = "measuring battery voltage"
valuevoltage = KeyValue()
valuevoltage.key = "Voltage"
valuevoltage.value = "0"
msg.values.append(valuevoltage)
valuepercentage = KeyValue()
valuepercentage.key = "Percentage"
valuepercentage.value = "0"
msg.values.append(valuevoltage)


while not rospy.is_shutdown():
        batcon.write("B\r")
        batvalue = batcon.readline()
        diagnostic_publisher.publish(msg)
        

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cob_battery
Author(s): Alexander Bubeck
autogenerated on Fri Jan 11 10:00:26 2013