battery_guard.py

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#!/usr/bin/env python

import rospy

from sound_play.msg import SoundRequest
from sound_play.libsoundplay import SoundClient

if __name__ == '__main__':
        rospy.init_node('battery_guard')
        soundclient = SoundClient()

        last_complain= rospy.Time()
        r= rospy.Rate(.1)
        while not rospy.is_shutdown():
                with open('/sys/class/power_supply/BAT0/capacity') as f:
                        capacity= int(f.readline().rstrip())
                with open('/sys/class/power_supply/BAT0/status') as f:
                        status= f.readline().rstrip()
                if status != "Charging" and rospy.Time.now() - last_complain > rospy.Duration(60):
                        if capacity < 10:
                                rospy.logerr("No battery power remaining. Connect the robot laptop to power immediately.")
                                soundclient.play(SoundRequest.NEEDS_PLUGGING_BADLY)
                                last_complain= rospy.Time.now()
                        elif capacity < 15:
                                rospy.logwarn("Only little battery power remaining. Please connect the robot laptop to power.")
                                soundclient.play(SoundRequest.NEEDS_PLUGGING)
                                last_complain= rospy.Time.now()
                r.sleep()