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Added dingo #36

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merged 3 commits into from
Dec 5, 2023
Merged

Added dingo #36

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31c7119
Added D100 and D150 to generator and battery node
roni-kreinin Dec 5, 2023
6bb9c51
Added dingo to battery state control
roni-kreinin Dec 5, 2023
58948d5
Set battery charging status
roni-kreinin Dec 5, 2023
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42 changes: 37 additions & 5 deletions clearpath_diagnostics/clearpath_diagnostics/battery_state/battery.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,13 @@ def __init__(
case Platform.W200:
self.power_msg_voltage_index = Power.W200_MEASURED_BATTERY
self.power_msg_current_index = Power.W200_TOTAL_CURRENT
case Platform.DD100 | Platform.DO100:
self.power_msg_voltage_index = Power.D100_MEASURED_BATTERY
self.power_msg_current_index = Power.D100_TOTAL_CURRENT
case Platform.DD150 | Platform.DO150:
self.power_msg_voltage_index = Power.D150_MEASURED_BATTERY
self.power_msg_current_index = Power.D150_TOTAL_CURRENT


# System capacity
self._msg.capacity = self._msg.design_capacity = self.system_capacity
Expand Down Expand Up @@ -142,6 +149,11 @@ def update(self, power_msg: Power):
self._msg.current = 0.0
for i in self.power_msg_current_index:
self._msg.current += power_msg.measured_currents[i]
# Set charging status
if power_msg.charger_connected == 1:
self._msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_CHARGING
else:
self._msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
# Cells
self.update_cells()

Expand All @@ -168,10 +180,6 @@ def update_from_lut(self):
self._msg.percentage = self.linear_interpolation(self.LUT, avg_voltage)
self._msg.charge = self._msg.capacity * self._msg.percentage

# Power supply status
if self._msg.percentage == 1.0:
self._msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_FULL

def update_cells(self):
self._msg.cell_voltage = [self._msg.voltage / self.series] * self.cell_count
self._msg.cell_temperature = [nan] * self.cell_count
Expand Down Expand Up @@ -257,11 +265,35 @@ class U1_35(SLA):
CAPACITY = 35.0
VOLTAGE = 12.0

class TLV1222(SLA):
CAPACITY = 22.0
VOLTAGE = 12.0

class RB20(LiION):
CAPACITY = 20.0
VOLTAGE = 12.8
LUT = [
[10.5, 0.0],
[12.0, 0.05],
[13.0, 0.1],
[13.25, 0.2],
[13.3, 0.3],
[13.4, 0.4],
[13.45, 0.5],
[13.5, 0.6],
[13.6, 0.7],
[13.7, 0.8],
[13.8, 0.9],
[14.5, 1.0],
]

# Match battery name to class
BATTERIES = {
BatteryConfig.HE2613: HE2613,
BatteryConfig.ES20_12C: ES20_12C,
BatteryConfig.U1_35: U1_35
BatteryConfig.U1_35: U1_35,
BatteryConfig.TLV1222: TLV1222,
BatteryConfig.RB20: RB20
}

def __new__(cls,
Expand Down
4 changes: 2 additions & 2 deletions clearpath_diagnostics/clearpath_diagnostics/battery_state/battery_state_control
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ class BatteryStateControl(Node):
qos_profile_sensor_data)

match self.platform:
case Platform.J100:
case Platform.J100 | Platform.DD100 | Platform.DO100 | Platform.DD150 | Platform.DO150:
self.hmi_battery_pub = self.create_publisher(
UInt8,
'platform/mcu/_hmi',
Expand Down Expand Up @@ -114,7 +114,7 @@ class BatteryStateControl(Node):

def battery_state_callback(self, msg: BatteryState):
match self.platform:
case Platform.J100:
case Platform.J100 | Platform.DD100 | Platform.DO100 | Platform.DD150 | Platform.DO150:
self.hmi_control(msg.percentage)


Expand Down
36 changes: 32 additions & 4 deletions clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -79,8 +79,8 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
]
)

# W200 MicroROS Agent
self.w200_uros_node = LaunchFile.Node(
# Ethernet MicroROS Agent
self.eth_uros_node = LaunchFile.Node(
name='micro_ros_agent',
package='micro_ros_agent',
executable='micro_ros_agent',
Expand Down Expand Up @@ -205,11 +205,39 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
Platform.W200: common_platform_components + [
self.imu_0_filter_node,
self.imu_0_filter_config,
self.w200_uros_node,
self.eth_uros_node,
self.configure_mcu,
self.lighting_node,
self.sevcon_node
]
],
Platform.DD100: common_platform_components + [
self.imu_0_filter_node,
self.imu_0_filter_config,
self.eth_uros_node,
self.configure_mcu,
self.lighting_node,
],
Platform.DO100: common_platform_components + [
self.imu_0_filter_node,
self.imu_0_filter_config,
self.eth_uros_node,
self.configure_mcu,
self.lighting_node,
],
Platform.DD150: common_platform_components + [
self.imu_0_filter_node,
self.imu_0_filter_config,
self.eth_uros_node,
self.configure_mcu,
self.lighting_node,
],
Platform.DO150: common_platform_components + [
self.imu_0_filter_node,
self.imu_0_filter_config,
self.eth_uros_node,
self.configure_mcu,
self.lighting_node,
],
}

def generate_sensors(self) -> None:
Expand Down