Fix issue #136: Battery charge not shown in Android apps

yujinrobot · Jun 20, 2012 · bb3c7ec · bb3c7ec
1 parent abf4e85
commit bb3c7ec
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Showing 2 changed files with 12 additions and 2 deletions.
diff --git a/kobuki_bringup/resources/yaml/diagnostics.yaml b/kobuki_bringup/resources/yaml/diagnostics.yaml
@@ -6,21 +6,25 @@ analyzers:
     path: 'Power System'
     timeout: 5.0
     contains: ['Battery', 'Laptop Battery']
+    remove_prefix: mobile_base
   kobuki:
     type: diagnostic_aggregator/GenericAnalyzer
     path: 'Kobuki'
     timeout: 5.0
     contains: ['Watchdog']
+    remove_prefix: mobile_base
   sensors: 
     type: diagnostic_aggregator/GenericAnalyzer
     path: 'Sensors'
     timeout: 5.0
     contains: ['Cliff Sensor', 'Wall Sensor', 'Wheel Drop', 'Motor Current', 'Gyro Sensor']
+    remove_prefix: mobile_base
   input_ports:
     type: diagnostic_aggregator/GenericAnalyzer
     path: 'Input Ports'
     timeout: 5.0
     contains: ['Digital Input', 'Analog Input']
+    remove_prefix: mobile_base
 #  nodes:
 #    type: diagnostic_aggregator/GenericAnalyzer
 #    path: 'Nodes'

diff --git a/kobuki_node/src/node/diagnostics.cpp b/kobuki_node/src/node/diagnostics.cpp
@@ -68,9 +68,12 @@ void BatteryTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) {
       break;
     }
   }
-  stat.add("Capacity", status.capacity);
-  stat.add("Voltage", status.voltage);
+
+  stat.add("Voltage (V)", status.voltage);
   stat.add("Percent", status.percent());
+  stat.add("Charge (Ah)", (2.2*status.percent())/100.0);
+  stat.add("Capacity (Ah)", 2.2); // TODO: how can we tell which battery is in use?
+
   switch (status.charging_source ) {
     case(Battery::None) : {
       stat.add("Source", "None");
@@ -88,14 +91,17 @@ void BatteryTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) {
   switch ( status.charging_state ) {
     case ( Battery::Charged ) : {
       stat.add("State", "Charged");
+      stat.add("Current (A)", 3.14); // TODO: what's the real value for our charger?
       break;
     }
     case ( Battery::Charging ) : {
       stat.add("State", "Charging");
+      stat.add("Current (A)", 3.14); // TODO: what's the real value for our charger?
       break;
     }
     case ( Battery::Discharging ) : {
       stat.add("State", "Discharging");
+      stat.add("Current (A)", 0.0);
       break;
     }
     default: break;