[Personalrobots-commit] SF.net SVN: personalrobots:[22772] pkg/trunk/stacks

[<wg_...@us...>]

Revision: 22772
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22772&view=rev
Author:   wg_cmeyers
Date:     2009-08-24 22:36:30 +0000 (Mon, 24 Aug 2009)

Log Message:
-----------
Added relative_capacity to the PowerState message, this is your
basic fuel guage 0-100%

Modified Paths:
--------------
    pkg/trunk/stacks/pr2_common/pr2_msgs/msg/PowerState.msg
    pkg/trunk/stacks/pr2_power_drivers/power_monitor/src/power_monitor.cpp

Modified: pkg/trunk/stacks/pr2_common/pr2_msgs/msg/PowerState.msg
===================================================================
--- pkg/trunk/stacks/pr2_common/pr2_msgs/msg/PowerState.msg	2009-08-24 22:31:56 UTC (rev 22771)
+++ pkg/trunk/stacks/pr2_common/pr2_msgs/msg/PowerState.msg	2009-08-24 22:36:30 UTC (rev 22772)
@@ -2,4 +2,5 @@
 float64 power_consumption ## Watts
 int64 time_remaining ## minutes
 string prediction_method ## how time_remaining is being calculated
+int8  relative_capacity ## percent of capacity
 int8  AC_present ## number of packs detecting AC power

Modified: pkg/trunk/stacks/pr2_power_drivers/power_monitor/src/power_monitor.cpp
===================================================================
--- pkg/trunk/stacks/pr2_power_drivers/power_monitor/src/power_monitor.cpp	2009-08-24 22:31:56 UTC (rev 22771)
+++ pkg/trunk/stacks/pr2_power_drivers/power_monitor/src/power_monitor.cpp	2009-08-24 22:36:30 UTC (rev 22772)
@@ -36,7 +36,9 @@
       int acCount(0);
       //float totalCurrent[batteryServers.size()];
       float totalPower(0.0);
-      unsigned int minTime(65535);
+      unsigned int minTime(65535);  //for discharging
+      unsigned int maxTime(0);  //for charging
+      int minCapacity(1000); 
 
       boost::mutex::scoped_lock lock(vLock);
       map< int, boost::shared_ptr<pr2_msgs::BatteryServer const> >::iterator itr = batteryServers.begin();
@@ -64,8 +66,16 @@
           totalPower += (current * voltage);
 
           unsigned tte = bat->battery[xx].batReg[0x12];
-          if(tte < minTime) //search for battery is least time remaining
+          if(tte < minTime) //search for battery with least time remaining
             minTime = tte;
+
+          unsigned ttf = bat->battery[xx].batReg[0x13];
+          if(ttf > maxTime) //search for battery with longtest recharge time
+            maxTime = ttf;
+
+          unsigned rsc = bat->battery[xx].batReg[0x0d];
+          if(rsc < minCapacity) //search for battery with lowest state of charge
+            minCapacity = rsc;
         }
 
         //totalCurrent[bat->id] = tmpCurrent;
@@ -75,9 +85,13 @@
       ROS_DEBUG(" totalPower=%f", totalPower);
 
       powerState.power_consumption = totalPower;
-      powerState.time_remaining = minTime;
+      powerState.AC_present = acCount;
+      if(acCount > 0) //Are we charging??
+        powerState.time_remaining = maxTime;
+      else
+        powerState.time_remaining = minTime;
       powerState.prediction_method = "fuel guage";
-      powerState.AC_present = acCount;
+      powerState.relative_capacity = minCapacity;
 
       pub.publish(powerState);
     };


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.