Merge pull request #37 from clearpathrobotics/lcamero/battery

Battery

clearpath_config/platform/battery.py

@@ -0,0 +1,176 @@
+# Software License Agreement (BSD)
+#
+# @author    Luis Camero <lcamero@clearpathrobotics.com>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from clearpath_config.common.types.config import BaseConfig
+from clearpath_config.common.types.platform import Platform
+from clearpath_config.common.utils.dictionary import flip_dict
+
+
+class BatteryConfig(BaseConfig):
+    BATTERY = "battery"
+
+    # Models
+    MODEL = "model"
+    UNKNOWN = "unknown"
+    # Husky Lead Acid
+    ES20_12C = "ES20_12C"
+    # Husky/Jackal Li_ION
+    HE2613 = "HE2613"
+    # Warthog Lead Acid
+    U1_35 = "U1_35"
+    # Warthog LiFEPO4
+    NEC_ALM12V35 = "NEC_ALM12V35"
+    VALENCE_U24_12XP = "VALENCE_U24_12XP"
+    VALENCE_U27_12XP = "VALENCE_U27_12XP"
+
+    # Configurations
+    CONFIGURATION = "configuration"
+    S2P1 = "S2P1"
+    S1P3 = "S1P3"
+    S1P4 = "S1P4"
+    S1P1 = "S1P1"
+    S4P3 = "S4P3"
+    S4P1 = "S4P1"
+
+    VALID = {
+        Platform.GENERIC: {
+            UNKNOWN: [UNKNOWN]
+        },
+        Platform.A200: {
+            ES20_12C: [S2P1],
+            HE2613: [S1P3, S1P4],
+        },
+        Platform.J100: {
+            HE2613: [S1P1],
+        },
+        Platform.W200: {
+            U1_35: [S4P3],
+            NEC_ALM12V35: [S4P3],
+            VALENCE_U24_12XP: [S4P1],
+            VALENCE_U27_12XP: [S4P1],
+        },
+    }
+
+    TEMPLATE = {
+        BATTERY: {
+            MODEL: MODEL,
+            CONFIGURATION: CONFIGURATION
+        }
+    }
+
+    KEYS = flip_dict(TEMPLATE)
+
+    DEFAULTS = {
+        MODEL: UNKNOWN,
+        CONFIGURATION: UNKNOWN
+    }
+
+    def __init__(
+            self,
+            config: dict = {},
+            model: str = DEFAULTS[MODEL],
+            configuration: str = DEFAULTS[CONFIGURATION],
+            ) -> None:
+        # Initialization
+        self._config = {}
+        if model == self.DEFAULTS[self.MODEL] or model == self.UNKNOWN:
+            self.update_defaults()
+            self.model = self.DEFAULTS[self.MODEL]
+        else:
+            self.model = model
+        if configuration == self.DEFAULTS[self.CONFIGURATION] or model == self.UNKNOWN:
+            self.update_defaults()
+            self.configuration = self.DEFAULTS[self.CONFIGURATION]
+        else:
+            self.configuration = configuration
+        # Setter Template
+        setters = {
+            self.KEYS[self.MODEL]: BatteryConfig.model,
+            self.KEYS[self.CONFIGURATION]: BatteryConfig.configuration,
+        }
+        super().__init__(setters, config, self.BATTERY)
+
+    def update_defaults(self) -> None:
+        platform = BaseConfig.get_platform_model()
+        self.DEFAULTS[self.MODEL] = list(self.VALID[platform])[0]
+        self.DEFAULTS[self.CONFIGURATION] = list(
+            self.VALID[platform][self.DEFAULTS[self.MODEL]])[0]
+
+    def update(self, serial_number: bool = False) -> None:
+        if serial_number:
+            self.update_defaults()
+            self.model = self.DEFAULTS[self.MODEL]
+            self.configuration = self.DEFAULTS[self.CONFIGURATION]
+
+    @property
+    def model(self) -> str:
+        self.set_config_param(
+            key=self.KEYS[self.MODEL],
+            value=self._model
+        )
+        return self._model
+
+    @model.setter
+    def model(self, value: str) -> None:
+        platform = BaseConfig.get_platform_model()
+        assert platform in self.VALID, ((
+            "Platform %s is invalid. " % platform +
+            "Platform must be one of: %s" % list(self.VALID)
+        ))
+        assert value in self.VALID[platform], ((
+            "Battery model %s is invalid. " % value +
+            "Battery model for platform '%s' must be one of: %s" % (
+                platform, list(self.VALID[platform]))
+        ))
+        self._model = value
+
+    @property
+    def configuration(self) -> str:
+        self.set_config_param(
+            key=self.KEYS[self.CONFIGURATION],
+            value=self._configuration
+        )
+        return self._configuration
+
+    @configuration.setter
+    def configuration(self, value: str) -> None:
+        platform = BaseConfig.get_platform_model()
+        assert platform in self.VALID, ((
+            "Platform %s is invalid. " % platform +
+            "Platform must be one of: %s" % list(self.VALID)
+        ))
+        assert self.model in self.VALID[platform], ((
+            "Battery model %s in invalid. " % self.model +
+            "Battery model for platform '%s' must be one of: %s" % (
+                platform, list(self.VALID[platform]))
+        ))
+        assert value in self.VALID[platform][self.model], ((
+            "Battery configuration %s invalid. " % value +
+            "For platform '%s' and battery model '%s', it must be one of: %s" % (
+                platform, self.model, list(self.VALID[platform][self.model]))
+        ))
+        self._configuration = value

clearpath_config/platform/platform.py

@@ -27,6 +27,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 from clearpath_config.common.types.config import BaseConfig
 from clearpath_config.common.utils.dictionary import flip_dict
+from clearpath_config.platform.battery import BatteryConfig
 from clearpath_config.platform.extras import ExtrasConfig
 from clearpath_config.platform.attachments.config import BaseAttachmentsConfig
 from clearpath_config.platform.attachments.mux import AttachmentsConfigMux
@@ -38,15 +39,19 @@ class PlatformConfig(BaseConfig):
     # Controllers
     PS4 = "ps4"
     LOGITECH = "logitech"
+
     CONTROLLER = "controller"
     ATTACHMENTS = "attachments"
     # Extras
     EXTRAS = "extras"
+    # Battery
+    BATTERY = "battery"
 
     TEMPLATE = {
         PLATFORM: {
             CONTROLLER: CONTROLLER,
             ATTACHMENTS: ATTACHMENTS,
+            BATTERY: BATTERY,
             EXTRAS: EXTRAS
         }
     }
@@ -57,25 +62,29 @@ class PlatformConfig(BaseConfig):
         # PLATFORM
         CONTROLLER: PS4,
         ATTACHMENTS: {},
-        EXTRAS: ExtrasConfig.DEFAULTS
+        BATTERY: BatteryConfig.DEFAULTS,
+        EXTRAS: ExtrasConfig.DEFAULTS,
     }
 
     def __init__(
             self,
             config: dict = {},
             controller: str = DEFAULTS[CONTROLLER],
             attachments: str = DEFAULTS[ATTACHMENTS],
-            extras: str = DEFAULTS[EXTRAS]
+            battery: dict = DEFAULTS[BATTERY],
+            extras: dict = DEFAULTS[EXTRAS],
             ) -> None:
         # Initialization
         self._config = {}
         self.controller = controller
         self.attachments = attachments
+        self._battery = BatteryConfig(battery)
         self._extras = ExtrasConfig(extras)
         # Setter Template
         setters = {
             self.KEYS[self.CONTROLLER]: PlatformConfig.controller,
             self.KEYS[self.ATTACHMENTS]: PlatformConfig.attachments,
+            self.KEYS[self.BATTERY]: PlatformConfig.battery,
             self.KEYS[self.EXTRAS]: PlatformConfig.extras
         }
         super().__init__(setters, config, self.PLATFORM)
@@ -87,6 +96,8 @@ def update(self, serial_number=False) -> None:
             # TODO: Set PACS Profile
             # Reload extras
             self.extras.update(serial_number=serial_number)
+            # Reload battery
+            self.battery.update(serial_number=serial_number)
 
     @property
     def controller(self) -> str:
@@ -139,3 +150,23 @@ def extras(self, value: dict | ExtrasConfig) -> None:
 
     def get_controller(self) -> str:
         return self.controller
+
+    @property
+    def battery(self) -> BatteryConfig:
+        self.set_config_param(
+            key=self.KEYS[self.BATTERY],
+            value=self._battery.config[self.BATTERY]
+        )
+        return self._battery
+
+    @battery.setter
+    def battery(self, value: dict | BatteryConfig) -> None:
+        if isinstance(value, dict):
+            self._battery.config = value
+        elif isinstance(value, BatteryConfig):
+            self._battery = value
+        else:
+            assert isinstance(value, dict) or (
+                isinstance(value, BatteryConfig)), (
+                "Battery configuration must be of type 'dict' or 'BatteryConfig'"
+            )

clearpath_config/sample/a200/a200_default.yaml

@@ -15,6 +15,9 @@ system:
     workspaces: []
 platform:
   controller: ps4
+  battery:
+    model: ES20_12C
+    configuration: S2P1
   attachments:
     front_bumper:
       enabled: true

clearpath_config/sample/a200/a200_dual_laser.yaml

@@ -15,6 +15,9 @@ system:
     workspaces: []
 platform:
   controller: ps4
+  battery:
+    model: ES20_12C
+    configuration: S2P1
   attachments:
     front_bumper:
       enabled: true

clearpath_config/sample/a200/a200_sample.yaml

@@ -15,6 +15,9 @@ system:
     workspaces: []
 platform:
   controller: ps4
+  battery:
+    model: ES20_12C
+    configuration: S2P1
   attachments:
     front_bumper:
       enabled: true

clearpath_config/sample/a200/a200_velodyne.yaml

@@ -15,6 +15,9 @@ system:
     workspaces: []
 platform:
   controller: ps4
+  battery:
+    model: ES20_12C
+    configuration: S2P1
   attachments:
     front_bumper:
       enabled: true

clearpath_config/sample/j100/j100_default.yaml

@@ -15,6 +15,9 @@ system:
     workspaces: []
 platform:
   controller: ps4
+  battery:
+    model: HE2613
+    configuration: S1P1
   attachments:
     front_fender:
       enabled: true

clearpath_config/sample/j100/j100_dual_laser.yaml

@@ -15,6 +15,9 @@ system:
     workspaces: []
 platform:
   controller: ps4
+  battery:
+    model: HE2613
+    configuration: S1P1
   attachments:
     front_fender:
       enabled: true

clearpath_config/sample/j100/j100_sample.yaml

@@ -15,6 +15,9 @@ system:
     workspaces: []
 platform:
   controller: ps4
+  battery:
+    model: HE2613
+    configuration: S1P1
   attachments:
     front_fender:
       enabled: true

clearpath_config/sample/j100/j100_velodyne.yaml

@@ -15,6 +15,9 @@ system:
     workspaces: []
 platform:
   controller: ps4
+  battery:
+    model: HE2613
+    configuration: S1P1
   attachments:
     front_fender:
       enabled: true