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add battery charging logs #175

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merged 5 commits into from
Aug 14, 2023
Merged

add battery charging logs #175

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62a7330
add battery charging logs
pkowalsk1 Aug 14, 2023
475a549
Update panther_battery/src/adc_node.py
pkowalsk1 Aug 14, 2023
bd29799
Update adc_node.py
pkowalsk1 Aug 14, 2023
d034249
Update adc_node.py
pkowalsk1 Aug 14, 2023
52fd96e
fix typo
pkowalsk1 Aug 14, 2023
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16 changes: 16 additions & 0 deletions panther_battery/src/adc_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -221,10 +221,26 @@ def _publish_battery_msg(
if self._charger_connected:
if battery_msg.percentage == 1.0:
battery_msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_FULL
rospy.loginfo_throttle(
60.0,
f'[{rospy.get_name()}] The battery is fully charged. '
f'The robot can be disconnected from the charger.',
)
elif I_bat_mean > self._I_bat_charging_thresh[bat_pub]:
battery_msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_CHARGING
rospy.loginfo_throttle(
1800.0,
f'[{rospy.get_name()}] Robot charging process update. '
f'Battery percentage: {battery_msg.percentage * 100}%',
)
else:
battery_msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_NOT_CHARGING
rospy.logwarn_throttle(
5.0,
f'[{rospy.get_name()}] The charger has been plugged in, '
f'but the charging process has not started. '
f'Verify whether the charger is connected to a power source.',
)
else:
battery_msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING

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