root / scout / power / src / power.cpp @ 7db6cf9f
History | View | Annotate | Download (3.86 KB)
1 |
/**
|
---|---|
2 |
* Copyright (c) 2011 Colony Project
|
3 |
*
|
4 |
* Permission is hereby granted, free of charge, to any person
|
5 |
* obtaining a copy of this software and associated documentation
|
6 |
* files (the "Software"), to deal in the Software without
|
7 |
* restriction, including without limitation the rights to use,
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell
|
9 |
* copies of the Software, and to permit persons to whom the
|
10 |
* Software is furnished to do so, subject to the following
|
11 |
* conditions:
|
12 |
*
|
13 |
* The above copyright notice and this permission notice shall be
|
14 |
* included in all copies or substantial portions of the Software.
|
15 |
*
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
23 |
* OTHER DEALINGS IN THE SOFTWARE.
|
24 |
*/
|
25 |
|
26 |
/**
|
27 |
* @file power.cpp
|
28 |
* @brief Contains code to monitor and regulate power systems
|
29 |
*
|
30 |
* Implementation of power monitor and control
|
31 |
*
|
32 |
* @author Colony Project, CMU Robotics Club
|
33 |
* @author Jeff Cooper
|
34 |
|
35 |
* @defgroup power Power
|
36 |
* @brief Functions for monitoring and regulating the power systems
|
37 |
*
|
38 |
* @{
|
39 |
**/
|
40 |
|
41 |
#include "ros/ros.h" |
42 |
#include "power.h" |
43 |
#include <cstdlib> |
44 |
|
45 |
/* Power system state variables
|
46 |
* updated by the AVR, used to respond to
|
47 |
* power queries and send messages
|
48 |
*
|
49 |
*/
|
50 |
|
51 |
/** @todo Fix types: static */
|
52 |
|
53 |
/** @todo figure out if we can get things like the current draw from the AVR. */
|
54 |
/** @todo More generally, figure out how we get info from the AVR (avrbridge
|
55 |
* node?) */
|
56 |
|
57 |
uint32_t voltage; /**< the current voltage */
|
58 |
uint32_t percentage; /**< current percentage of power remaining */
|
59 |
uint32_t draw; /**< the current draw in mW */
|
60 |
/** @todo: figure out if these have to be uint8_t's to play nice with ROS */
|
61 |
bool externalpower; /**< are we on external power? */ |
62 |
bool warning; /**< is the battery reporting a warning state? */ |
63 |
bool critical; /**< is the battery reporting a critical state? */ |
64 |
|
65 |
/**
|
66 |
* @brief Outputs current power state information
|
67 |
*
|
68 |
* Serves the service query_power by responding to service requests with the
|
69 |
* state of the power system
|
70 |
* @param req The request. There are no fields
|
71 |
* @param res The response. The fields will be filled with values.
|
72 |
*/
|
73 |
bool power_query(::messages::query_power::Request &req,
|
74 |
::messages::query_power::Response &res) |
75 |
{ |
76 |
res.voltage = voltage; |
77 |
res.percentage = percentage; |
78 |
res.draw = draw; |
79 |
res.externalpower = externalpower; |
80 |
res.warning = warning; |
81 |
res.critical = critical; |
82 |
|
83 |
ROS_DEBUG("Power speeds queried");
|
84 |
return true; |
85 |
} |
86 |
|
87 |
|
88 |
/** @todo: implement a function to send a message about the power state when
|
89 |
* it's critical. can't do much with this until I have some way of reading the
|
90 |
* power state from the AVR, I don't believe. */
|
91 |
|
92 |
|
93 |
/**
|
94 |
* @brief Power driver. This is a ROS node that monitors and regulates the power
|
95 |
* systems
|
96 |
*
|
97 |
* This is the main function for the power node. It is run when the node
|
98 |
* starts. It advertises the query_power service.
|
99 |
*
|
100 |
* @param argc The number of command line arguments (should be 1)
|
101 |
* @param argv The array of command line arguments
|
102 |
**/
|
103 |
int main(int argc, char **argv) |
104 |
{ |
105 |
/* Initialize in ROS the motors driver node */
|
106 |
ros::init(argc, argv, "power_driver");
|
107 |
|
108 |
/* Advertise that this serves the query_motors service */
|
109 |
ros::NodeHandle n; |
110 |
ros::ServiceServer service = n.advertiseService("query_power",
|
111 |
power_query); |
112 |
|
113 |
/* Initialize hardware for motors */
|
114 |
// Hardware init functions here
|
115 |
|
116 |
ROS_INFO("Ready to set motors.");
|
117 |
ros::spin(); |
118 |
|
119 |
return 0; |
120 |
} |
121 |
|
122 |
/** @} **/
|