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| 1 | +// Copyright (c) 2020 Sarthak Mittal |
| 2 | +// Copyright (c) 2019 Intel Corporation |
| 3 | +// |
| 4 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | +// you may not use this file except in compliance with the License. |
| 6 | +// You may obtain a copy of the License at |
| 7 | +// |
| 8 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | +// |
| 10 | +// Unless required by applicable law or agreed to in writing, software |
| 11 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | +// See the License for the specific language governing permissions and |
| 14 | +// limitations under the License. |
| 15 | + |
| 16 | +#include <string> |
| 17 | + |
| 18 | +#include "nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp" |
| 19 | + |
| 20 | +namespace nav2_behavior_tree |
| 21 | +{ |
| 22 | + |
| 23 | +IsBatteryLowCondition::IsBatteryLowCondition( |
| 24 | + const std::string & condition_name, |
| 25 | + const BT::NodeConfiguration & conf) |
| 26 | +: BT::ConditionNode(condition_name, conf), |
| 27 | + battery_topic_("/battery_status"), |
| 28 | + min_battery_(0.0), |
| 29 | + is_voltage_(false), |
| 30 | + is_battery_low_(false) |
| 31 | +{ |
| 32 | + getInput("min_battery", min_battery_); |
| 33 | + getInput("battery_topic", battery_topic_); |
| 34 | + getInput("is_voltage", is_voltage_); |
| 35 | + node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node"); |
| 36 | + battery_sub_ = node_->create_subscription<sensor_msgs::msg::BatteryState>( |
| 37 | + battery_topic_, |
| 38 | + rclcpp::SystemDefaultsQoS(), |
| 39 | + std::bind(&IsBatteryLowCondition::batteryCallback, this, std::placeholders::_1)); |
| 40 | +} |
| 41 | + |
| 42 | +BT::NodeStatus IsBatteryLowCondition::tick() |
| 43 | +{ |
| 44 | + std::lock_guard<std::mutex> lock(mutex_); |
| 45 | + if (is_battery_low_) { |
| 46 | + return BT::NodeStatus::SUCCESS; |
| 47 | + } |
| 48 | + return BT::NodeStatus::FAILURE; |
| 49 | +} |
| 50 | + |
| 51 | +void IsBatteryLowCondition::batteryCallback(sensor_msgs::msg::BatteryState::SharedPtr msg) |
| 52 | +{ |
| 53 | + std::lock_guard<std::mutex> lock(mutex_); |
| 54 | + if (is_voltage_) { |
| 55 | + is_battery_low_ = msg->voltage <= min_battery_; |
| 56 | + } else { |
| 57 | + is_battery_low_ = msg->percentage <= min_battery_; |
| 58 | + } |
| 59 | +} |
| 60 | + |
| 61 | +} // namespace nav2_behavior_tree |
| 62 | + |
| 63 | +#include "behaviortree_cpp_v3/bt_factory.h" |
| 64 | +BT_REGISTER_NODES(factory) |
| 65 | +{ |
| 66 | + factory.registerNodeType<nav2_behavior_tree::IsBatteryLowCondition>("IsBatteryLow"); |
| 67 | +} |
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