create_dashboard: battery.py Source File

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00001 import roslib;roslib.load_manifest('create_dashboard')
00002 import rospy
00003 
00004 from rqt_robot_dashboard.widgets import BatteryDashWidget
00005 
00006 def non_zero(value): 
00007    if value < 0.00001 and value > -0.00001: 
00008       return 0.00001 
00009    return value
00010 
00011 class TurtlebotBattery(BatteryDashWidget):
00012     def __init__(self, name='battery'):
00013         icons = []
00014         charge_icons = []
00015         icons.append(['ic-battery-0.svg'])
00016         icons.append(['ic-battery-20.svg'])
00017         icons.append(['ic-battery-40.svg'])
00018         icons.append(['ic-battery-60-green.svg'])
00019         icons.append(['ic-battery-80-green.svg'])
00020         icons.append(['ic-battery-100-green.svg'])
00021         charge_icons.append(['ic-battery-charge-0.svg'])
00022         charge_icons.append(['ic-battery-charge-20.svg'])
00023         charge_icons.append(['ic-battery-charge-40.svg'])
00024         charge_icons.append(['ic-battery-charge-60-green.svg'])
00025         charge_icons.append(['ic-battery-charge-80-green.svg'])
00026         charge_icons.append(['ic-battery-charge-100-green.svg'])
00027         super(TurtlebotBattery, self).__init__(name=name, icons=icons, charge_icons=charge_icons)
00028 
00029         self._power_consumption = 0.0
00030         self._pct = 0.0
00031         self._cap = 2.7
00032         self._char_cap =2.7
00033         self._time_remaining = 0.0
00034 
00035     def set_power_state(self, msg):
00036         last_pct = self._pct
00037         last_plugged_in = self._charging
00038         last_time_remaining = self._time_remaining
00039         self._char_cap = 0.8*self._char_cap +0.2*float(msg['Charge (Ah)'])
00040         #make sure that battery percentage is not greater than 100%
00041         if self._char_cap < float(msg['Capacity (Ah)']):
00042           self._cap = float(msg['Capacity (Ah)'])
00043         else:
00044           self._cap = self._char_cap
00045     
00046         self._power_consumption = float(msg['Current (A)'])*float(msg['Voltage (V)'])
00047         #determine if we're charging or discharging
00048         if float(msg['Current (A)'])<0:
00049           tmp = (float(msg['Charge (Ah)'])/non_zero(float(msg['Current (A)'])))*60.0
00050         else:
00051           tmp = ((float(msg['Charge (Ah)'])-self._cap)/non_zero(float(msg['Current (A)'])))*60.0
00052     
00053         self._time_remaining = 0.8*self._time_remaining + 0.2*tmp
00054     
00055         self._pct = float(msg['Charge (Ah)'])/self._cap
00056     
00057         if self._pct == 1 and float(msg['Current (A)']) == 0:
00058             self._charging = True
00059         else:
00060             self._charging = (float(msg['Current (A)'])>0)
00061             
00062         self.update_perc(self._pct*100)
00063         self.update_time(self._pct*100)
00064