diff --git a/battery_state_broadcaster/CMakeLists.txt b/battery_state_broadcaster/CMakeLists.txt new file mode 100644 index 0000000000..86b5c263ff --- /dev/null +++ b/battery_state_broadcaster/CMakeLists.txt @@ -0,0 +1,94 @@ +cmake_minimum_required(VERSION 3.8) +project(battery_state_broadcaster) + +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") + add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) +endif() + +set(THIS_PACKAGE_INCLUDE_DEPENDS + builtin_interfaces + control_msgs + controller_interface + generate_parameter_library + pluginlib + rclcpp_lifecycle + realtime_tools + sensor_msgs + control_msgs + urdf +) + +find_package(ament_cmake REQUIRED) +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + +generate_parameter_library(battery_state_broadcaster_parameters + src/battery_state_broadcaster.yaml +) + +add_library(battery_state_broadcaster SHARED + src/battery_state_broadcaster.cpp +) + +target_compile_features(battery_state_broadcaster PUBLIC cxx_std_17) +target_include_directories(battery_state_broadcaster + PUBLIC + $ + $ +) +target_link_libraries(battery_state_broadcaster PUBLIC + battery_state_broadcaster_parameters + controller_interface::controller_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${sensor_msgs_TARGETS} + ${control_msgs_TARGETS} + ${builtin_interfaces_TARGETS}) + + +pluginlib_export_plugin_description_file(controller_interface battery_state_broadcaster.xml) + +if(BUILD_TESTING) + find_package(ament_cmake_gmock REQUIRED) + find_package(controller_manager REQUIRED) + find_package(hardware_interface REQUIRED) + find_package(ros2_control_test_assets REQUIRED) + + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_battery_state_broadcaster test/test_load_battery_state_broadcaster.cpp) + target_include_directories(test_load_battery_state_broadcaster PRIVATE include) + target_link_libraries(test_load_battery_state_broadcaster + battery_state_broadcaster + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets + ) + + add_rostest_with_parameters_gmock(test_battery_state_broadcaster + test/test_battery_state_broadcaster.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/battery_state_broadcaster_params.yaml) + target_include_directories(test_battery_state_broadcaster PRIVATE include) + target_link_libraries(test_battery_state_broadcaster + battery_state_broadcaster + ) +endif() + +install( + DIRECTORY include/ + DESTINATION include/battery_state_broadcaster +) +install( + TARGETS + battery_state_broadcaster + battery_state_broadcaster_parameters + EXPORT export_battery_state_broadcaster + RUNTIME DESTINATION bin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib +) + +ament_export_targets(export_battery_state_broadcaster HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) +ament_package() diff --git a/battery_state_broadcaster/battery_state_broadcaster.xml b/battery_state_broadcaster/battery_state_broadcaster.xml new file mode 100644 index 0000000000..11bad6658b --- /dev/null +++ b/battery_state_broadcaster/battery_state_broadcaster.xml @@ -0,0 +1,26 @@ + + + + + + This controller publishes the individual battery state of each joint as sensor_msgs/BatteryState messages. + It also publishes the aggregated battery state of all joints as a single control_msgs/BatteryStates message. + + + diff --git a/battery_state_broadcaster/doc/userdoc.rst b/battery_state_broadcaster/doc/userdoc.rst new file mode 100644 index 0000000000..0bfde1c6a4 --- /dev/null +++ b/battery_state_broadcaster/doc/userdoc.rst @@ -0,0 +1,88 @@ +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/battery_state_broadcaster/doc/userdoc.rst + +.. _battery_state_broadcaster_userdoc: + +Battery State Broadcaster +-------------------------------- +The *Battery State Broadcaster* is a ROS 2 controller that publishes battery status information as ``sensor_msgs/msg/BatteryState`` messages. + +It reads battery-related state interfaces from one or more joints and exposes them in a standard ROS 2 message format. This allows easy integration with monitoring tools, logging systems, and higher-level decision-making nodes. + +Interfaces +^^^^^^^^^^^ + +The broadcaster can read the following state interfaces from each configured joint: + +- ``battery_voltage`` *(mandatory)* (double) +- ``battery_temperature`` *(optional)* (double) +- ``battery_current`` *(optional)* (double) +- ``battery_charge`` *(optional)* (double) +- ``battery_percentage`` *(optional)* (double) +- ``battery_power_supply_status`` *(optional)* (double) +- ``battery_power_supply_health`` *(optional)* (double) +- ``battery_present`` *(optional)* (bool) + +Published Topics +^^^^^^^^^^^^^^^^^^ + +The broadcaster publishes two topics: + +- ``~/raw_battery_states`` (``control_msgs/msg/BatteryStates``) + Publishes **per-joint battery state messages**, containing the raw values for each configured joint. + +- ``~/battery_state`` (``sensor_msgs/msg/BatteryState``) + Publishes a **single aggregated battery message** representing the combined status across all joints. + ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| Field | ``battery_state`` | ``raw_battery_states`` | ++=============================+======================================================================+=============================================================================================================================================+ +| ``header.frame_id`` | Empty | Joint name | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``voltage`` | Mean across all joints | From joint's ``battery_voltage`` interface if enabled, otherwise nan | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``temperature`` | Mean across joints reporting temperature | From joint's ``battery_temperature`` interface if enabled, otherwise nan. | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``current`` | Mean across joints reporting current | From joint's ``battery_current`` interface if enabled, otherwise nan. | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``charge`` | Sum across all joints | From joint's ``battery_charge`` interface if enabled, otherwise nan. | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``capacity`` | Sum across all joints | From joint's ``capacity`` parameter if provided, otherwise nan. | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``design_capacity`` | Sum across all joints | From joint's ``design_capacity`` parameter if provided, otherwise nan. | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``percentage`` | Mean across joints reporting/calculating percentage | From joint's ``battery_percentage`` interface if enabled, otherwise calculated from joint's ``min_voltage`` and ``max_voltage`` parameters. | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``power_supply_status`` | Highest reported enum value | From joint's ``battery_power_supply_status`` interface if enabled, otherwise 0 (unknown). | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``power_supply_health`` | Highest reported enum value | From joint's ``battery_power_supply_health`` interface if enabled, otherwise 0 (unknown). | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``power_supply_technology`` | Reported as-is if same across all joints, otherwise set to *Unknown* | From joint's ``power_supply_technology`` parameter if provided, otherwise 0 (unknown). | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``present`` | True | From joint's ``battery_present`` interface if enabled, otherwise true if joint's voltage values is valid. | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``cell_voltage`` | Empty | Empty | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``cell_temperature`` | Empty | Empty | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``location`` | All joint locations appended | From joint's ``location`` parameter if provided, otherwise empty. | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ +| ``serial_number`` | All joint serial numbers appended | From joint's ``serial_number`` parameter if provided, otherwise empty. | ++-----------------------------+----------------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------+ + + +Parameters +^^^^^^^^^^^ +This controller uses the `generate_parameter_library `_ to manage parameters. +The parameter `definition file `_ contains the full list and descriptions. + +List of parameters +========================= +.. generate_parameter_library_details:: ../src/battery_state_broadcaster_parameters.yaml + +Example Parameter File +========================= + +An example parameter file for this controller is available in the `test directory `_: + +.. literalinclude:: ../test/battery_state_broadcaster_params.yaml + :language: yaml diff --git a/battery_state_broadcaster/include/battery_state_broadcaster/battery_state_broadcaster.hpp b/battery_state_broadcaster/include/battery_state_broadcaster/battery_state_broadcaster.hpp new file mode 100644 index 0000000000..3c91e6ffd9 --- /dev/null +++ b/battery_state_broadcaster/include/battery_state_broadcaster/battery_state_broadcaster.hpp @@ -0,0 +1,137 @@ +// Copyright (c) 2025, b-robotized Group +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef BATTERY_STATE_BROADCASTER__BATTERY_STATE_BROADCASTER_HPP_ +#define BATTERY_STATE_BROADCASTER__BATTERY_STATE_BROADCASTER_HPP_ + +#include +#include +#include +#include +#include + +#include "controller_interface/controller_interface.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "rclcpp_lifecycle/state.hpp" +#include "realtime_tools/realtime_buffer.hpp" +#include "realtime_tools/realtime_publisher.hpp" + +#include +#include "control_msgs/msg/battery_states.hpp" +#include "sensor_msgs/msg/battery_state.hpp" + +namespace battery_state_broadcaster +{ +// // name constants for state interfaces +// static constexpr size_t STATE_MY_ITFS = 0; + +// // name constants for command interfaces +// static constexpr size_t CMD_MY_ITFS = 0; + +/** + * \brief Battery State Broadcaster for all or some state in a ros2_control system. + * + * BatteryStateBroadcaster publishes state interfaces from ros2_control as ROS messages. + * The following state interfaces are published: + * /voltage + * /current + * /charge + * /percentage + * /power_supply_status + * /power_supply_health + * /present + * + * \param state_joints of the batteries to publish. + * \param capacity of the batteries to publish. + * \param design_capacity of the batteries to publish. + * \param power_supply_technology of the batteries to publish. + * \param location of the batteries to publish. + * \param serial_number of the batteries to publish. + * + * Publishes to: + * + * - \b battery_state (sensor_msgs::msg::BatteryState): battery state of the combined battery + * joints. + * - \b raw_battery_states (battery_state_broadcaster::msg::BatteryStates): battery states of the + * individual battery joints. + * + */ +class BatteryStateBroadcaster : public controller_interface::ControllerInterface +{ +public: + BatteryStateBroadcaster(); + + controller_interface::InterfaceConfiguration command_interface_configuration() const override; + + controller_interface::InterfaceConfiguration state_interface_configuration() const override; + + controller_interface::CallbackReturn on_init() override; + + controller_interface::CallbackReturn on_configure( + const rclcpp_lifecycle::State & previous_state) override; + + controller_interface::CallbackReturn on_activate( + const rclcpp_lifecycle::State & previous_state) override; + + controller_interface::CallbackReturn on_deactivate( + const rclcpp_lifecycle::State & previous_state) override; + + controller_interface::return_type update( + const rclcpp::Time & time, const rclcpp::Duration & period) override; + + float get_or_nan(int interface_cnt); + char get_or_unknown(int interface_cnt); + +protected: + std::shared_ptr param_listener_; + battery_state_broadcaster::Params params_; + + std::vector state_joints_; + + std::shared_ptr> battery_state_publisher_; + std::shared_ptr> + raw_battery_states_publisher_; + std::shared_ptr> + battery_state_realtime_publisher_; + std::shared_ptr> + raw_battery_states_realtime_publisher_; + struct BatteryInterfaceSums + { + float voltage_sum = 0.0f; + float temperature_sum = 0.0f; + float current_sum = 0.0f; + float charge_sum = 0.0f; + float percentage_sum = 0.0f; + float capacity_sum = 0.0f; + float design_capacity_sum = 0.0f; + }; + + struct BatteryInterfaceCounts + { + float temperature_cnt = 0.0f; + float current_cnt = 0.0f; + float percentage_cnt = 0.0f; + }; + + BatteryInterfaceSums sums_; + BatteryInterfaceCounts counts_; + + std::vector battery_presence_; + +private: +}; + +} // namespace battery_state_broadcaster + +#endif // BATTERY_STATE_BROADCASTER__BATTERY_STATE_BROADCASTER_HPP_ diff --git a/battery_state_broadcaster/package.xml b/battery_state_broadcaster/package.xml new file mode 100644 index 0000000000..5975d143ca --- /dev/null +++ b/battery_state_broadcaster/package.xml @@ -0,0 +1,41 @@ + + + + battery_state_broadcaster + 0.1.0 + ros2 control battery state broadcaster controller + Yara Shahin + + Dr. Denis Štogl + + Apache License 2.0 + + https://control.ros.org + https://github.com/ros-controls/ros2_controllers/issues + https://github.com/ros-controls/ros2_controllers/ + + ament_cmake + + ros2_control_cmake + rosidl_default_generators + sensor_msgs + control_msgs + + rclcpp + controller_interface + + rosidl_default_runtime + sensor_msgs + control_msgs + + ament_cmake_gmock + ament_lint_auto + ament_lint_common + controller_manager + hardware_interface_testing + ros2_control_test_assets + + + ament_cmake + + diff --git a/battery_state_broadcaster/src/battery_state_broadcaster.cpp b/battery_state_broadcaster/src/battery_state_broadcaster.cpp new file mode 100644 index 0000000000..e465151a89 --- /dev/null +++ b/battery_state_broadcaster/src/battery_state_broadcaster.cpp @@ -0,0 +1,442 @@ +// Copyright (c) 2025, b-robotized Group +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "battery_state_broadcaster/battery_state_broadcaster.hpp" + +#include +#include +#include +#include +#include + +#include "controller_interface/helpers.hpp" + +namespace battery_state_broadcaster +{ +const auto kUninitializedValue = std::numeric_limits::quiet_NaN(); +const size_t MAX_LENGTH = 64; + +BatteryStateBroadcaster::BatteryStateBroadcaster() : controller_interface::ControllerInterface() {} + +controller_interface::CallbackReturn BatteryStateBroadcaster::on_init() +{ + try + { + param_listener_ = std::make_shared(get_node()); + } + catch (const std::exception & e) + { + RCLCPP_ERROR( + get_node()->get_logger(), "Exception thrown during controller's init with message: %s \n", + e.what()); + return controller_interface::CallbackReturn::ERROR; + } + + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn BatteryStateBroadcaster::on_configure( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + params_ = param_listener_->get_params(); + state_joints_ = params_.state_joints; + battery_presence_.resize(state_joints_.size(), false); + + try + { + battery_state_publisher_ = get_node()->create_publisher( + "~/battery_state", rclcpp::SystemDefaultsQoS()); + + battery_state_realtime_publisher_ = + std::make_shared>( + battery_state_publisher_); + + raw_battery_states_publisher_ = get_node()->create_publisher( + "~/raw_battery_states", rclcpp::SystemDefaultsQoS()); + + raw_battery_states_realtime_publisher_ = + std::make_shared>( + raw_battery_states_publisher_); + } + catch (const std::exception & e) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Exception thrown during publisher creation at configure stage with message : %s \n", + e.what()); + return controller_interface::CallbackReturn::ERROR; + } + + // Reserve memory in state publisher depending on the message type + battery_state_realtime_publisher_->lock(); + battery_state_realtime_publisher_->msg_.location.reserve(MAX_LENGTH); + battery_state_realtime_publisher_->msg_.serial_number.reserve(MAX_LENGTH); + battery_state_realtime_publisher_->unlock(); + + raw_battery_states_realtime_publisher_->lock(); + auto & msg = raw_battery_states_realtime_publisher_->msg_; + msg.battery_states.reserve(state_joints_.size()); + for (size_t i = 0; i < state_joints_.size(); ++i) + { + sensor_msgs::msg::BatteryState battery; + battery.location.reserve(MAX_LENGTH); + battery.serial_number.reserve(MAX_LENGTH); + msg.battery_states.emplace_back(std::move(battery)); + } + raw_battery_states_realtime_publisher_->unlock(); + + // Get count of enabled joints for each interface + for (size_t i = 0; i < state_joints_.size(); ++i) + { + const auto & interfaces = params_.interfaces.state_joints_map.at(params_.state_joints.at(i)); + const auto & battery_properties = params_.state_joints_map.at(params_.state_joints.at(i)); + + if (interfaces.battery_temperature) + { + counts_.temperature_cnt++; + } + if (interfaces.battery_current) + { + counts_.current_cnt++; + } + if (interfaces.battery_percentage) + { + counts_.percentage_cnt++; + } + else + { + auto min_volt = battery_properties.minimum_voltage; + auto max_volt = battery_properties.maximum_voltage; + if ((!std::isnan(min_volt)) && (!std::isnan(max_volt))) + { + if (min_volt >= max_volt) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Maximum battery voltage level must be greater than minimum voltage level."); + return controller_interface::CallbackReturn::ERROR; + } + counts_.percentage_cnt++; + } + } + sums_.capacity_sum += static_cast(battery_properties.capacity); + sums_.design_capacity_sum += static_cast(battery_properties.design_capacity); + } + + RCLCPP_INFO(get_node()->get_logger(), "configure successful"); + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::InterfaceConfiguration +BatteryStateBroadcaster::command_interface_configuration() const +{ + return controller_interface::InterfaceConfiguration{ + controller_interface::interface_configuration_type::NONE}; +} + +controller_interface::InterfaceConfiguration +BatteryStateBroadcaster::state_interface_configuration() const +{ + controller_interface::InterfaceConfiguration state_interfaces_config; + + state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; + + state_interfaces_config.names.reserve(state_joints_.size() * 8); + for (const auto & joint : state_joints_) + { + const auto & interfaces = params_.interfaces.state_joints_map.at(joint); + state_interfaces_config.names.push_back(joint + "/battery_voltage"); + if (interfaces.battery_temperature) + { + state_interfaces_config.names.push_back(joint + "/battery_temperature"); + } + if (interfaces.battery_current) + { + state_interfaces_config.names.push_back(joint + "/battery_current"); + } + if (interfaces.battery_charge) + { + state_interfaces_config.names.push_back(joint + "/battery_charge"); + } + if (interfaces.battery_percentage) + { + state_interfaces_config.names.push_back(joint + "/battery_percentage"); + } + if (interfaces.battery_power_supply_status) + { + state_interfaces_config.names.push_back(joint + "/battery_power_supply_status"); + } + if (interfaces.battery_power_supply_health) + { + state_interfaces_config.names.push_back(joint + "/battery_power_supply_health"); + } + if (interfaces.battery_present) + { + state_interfaces_config.names.push_back(joint + "/battery_present"); + } + } + + return state_interfaces_config; +} + +controller_interface::CallbackReturn BatteryStateBroadcaster::on_activate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + if (state_interfaces_.empty()) + { + RCLCPP_ERROR(get_node()->get_logger(), "No state interfaces found to publish."); + return controller_interface::CallbackReturn::FAILURE; + } + + param_listener_->refresh_dynamic_parameters(); + + // get parameters from the listener in case they were updated + params_ = param_listener_->get_params(); + auto combined_power_supply_technology = static_cast( + params_.state_joints_map.at(params_.state_joints.at(0)).power_supply_technology); + std::string combined_location = ""; + std::string combined_serial_number = ""; + + // handle individual battery states initializations + auto & raw_battery_states_msg = raw_battery_states_realtime_publisher_->msg_; + for (size_t i = 0; i < state_joints_.size(); ++i) + { + auto & battery_state = raw_battery_states_msg.battery_states[i]; + const auto & battery_properties = params_.state_joints_map.at(params_.state_joints.at(i)); + + battery_state.header.frame_id = state_joints_[i]; + battery_state.voltage = kUninitializedValue; + battery_state.temperature = kUninitializedValue; + battery_state.current = kUninitializedValue; + battery_state.charge = kUninitializedValue; + battery_state.capacity = static_cast(battery_properties.capacity); + battery_state.design_capacity = static_cast(battery_properties.design_capacity); + battery_state.percentage = kUninitializedValue; + battery_state.power_supply_status = sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_UNKNOWN; + battery_state.power_supply_health = sensor_msgs::msg::BatteryState::POWER_SUPPLY_HEALTH_UNKNOWN; + battery_state.power_supply_technology = + static_cast(battery_properties.power_supply_technology); + battery_state.present = true; + battery_state.cell_voltage = {}; + battery_state.cell_temperature = {}; + battery_state.location = battery_properties.location; + battery_state.serial_number = battery_properties.serial_number; + + if (combined_power_supply_technology != battery_state.power_supply_technology) + { + combined_power_supply_technology = + sensor_msgs::msg::BatteryState::POWER_SUPPLY_TECHNOLOGY_UNKNOWN; + } + combined_location += battery_state.location + ", "; + combined_serial_number += battery_state.serial_number + ", "; + } + + // handle aggregate battery state initialization + auto & battery_state_msg = battery_state_realtime_publisher_->msg_; + + battery_state_msg.voltage = kUninitializedValue; + battery_state_msg.temperature = kUninitializedValue; + battery_state_msg.current = kUninitializedValue; + battery_state_msg.charge = kUninitializedValue; + battery_state_msg.capacity = sums_.capacity_sum; + battery_state_msg.design_capacity = sums_.design_capacity_sum; + battery_state_msg.percentage = kUninitializedValue; + battery_state_msg.power_supply_status = + sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_UNKNOWN; + battery_state_msg.power_supply_health = + sensor_msgs::msg::BatteryState::POWER_SUPPLY_HEALTH_UNKNOWN; + battery_state_msg.power_supply_technology = combined_power_supply_technology; + battery_state_msg.present = true; + battery_state_msg.cell_voltage = {}; + battery_state_msg.cell_temperature = {}; + battery_state_msg.location = combined_location; + battery_state_msg.serial_number = combined_serial_number; + + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn BatteryStateBroadcaster::on_deactivate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::return_type BatteryStateBroadcaster::update( + const rclcpp::Time & time, const rclcpp::Duration & /*period*/) +{ + sums_ = {}; + int interface_cnt = 0; + uint8_t combined_power_supply_status = + sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_UNKNOWN; + uint8_t combined_power_supply_health = + sensor_msgs::msg::BatteryState::POWER_SUPPLY_HEALTH_UNKNOWN; + + if (raw_battery_states_realtime_publisher_ && raw_battery_states_realtime_publisher_->trylock()) + { + auto & raw_battery_states_msg = raw_battery_states_realtime_publisher_->msg_; + for (size_t i = 0; i < state_joints_.size(); ++i) + { + const auto & interfaces = params_.interfaces.state_joints_map.at(params_.state_joints.at(i)); + + raw_battery_states_msg.battery_states[i].header.stamp = time; + + raw_battery_states_msg.battery_states[i].voltage = get_or_nan(interface_cnt); + sums_.voltage_sum += raw_battery_states_msg.battery_states[i].voltage; + interface_cnt++; + + if (interfaces.battery_temperature) + { + raw_battery_states_msg.battery_states[i].temperature = get_or_nan(interface_cnt); + sums_.temperature_sum += raw_battery_states_msg.battery_states[i].temperature; + interface_cnt++; + } + if (interfaces.battery_current) + { + raw_battery_states_msg.battery_states[i].current = get_or_nan(interface_cnt); + sums_.current_sum += raw_battery_states_msg.battery_states[i].current; + interface_cnt++; + } + if (interfaces.battery_charge) + { + raw_battery_states_msg.battery_states[i].charge = get_or_nan(interface_cnt); + sums_.charge_sum += raw_battery_states_msg.battery_states[i].charge; + interface_cnt++; + } + if (interfaces.battery_percentage) + { + raw_battery_states_msg.battery_states[i].percentage = get_or_nan(interface_cnt); + sums_.percentage_sum += raw_battery_states_msg.battery_states[i].percentage; + interface_cnt++; + } + else + { + auto min_volt = params_.state_joints_map.at(params_.state_joints.at(i)).minimum_voltage; + auto max_volt = params_.state_joints_map.at(params_.state_joints.at(i)).maximum_voltage; + float voltage = raw_battery_states_msg.battery_states[i].voltage; + + raw_battery_states_msg.battery_states[i].percentage = + static_cast((voltage - min_volt) * 100.0 / (max_volt - min_volt)); + sums_.percentage_sum += raw_battery_states_msg.battery_states[i].percentage; + } + if (interfaces.battery_power_supply_status) + { + raw_battery_states_msg.battery_states[i].power_supply_status = + get_or_unknown(interface_cnt); + if ( + raw_battery_states_msg.battery_states[i].power_supply_status > + combined_power_supply_status) + { + combined_power_supply_status = + raw_battery_states_msg.battery_states[i].power_supply_status; + } + interface_cnt++; + } + if (interfaces.battery_power_supply_health) + { + raw_battery_states_msg.battery_states[i].power_supply_health = + get_or_unknown(interface_cnt); + if ( + raw_battery_states_msg.battery_states[i].power_supply_health > + combined_power_supply_health) + { + combined_power_supply_health = + raw_battery_states_msg.battery_states[i].power_supply_health; + } + interface_cnt++; + } + if (interfaces.battery_present) + { + auto opt = state_interfaces_[interface_cnt].get_optional(); + if (opt.has_value()) + { + raw_battery_states_msg.battery_states[i].present = static_cast(*opt); + } + else + { + raw_battery_states_msg.battery_states[i].present = false; + } + interface_cnt++; + } + else + { + if ( + (!std::isnan(raw_battery_states_msg.battery_states[i].voltage)) && + (raw_battery_states_msg.battery_states[i].voltage)) + { + raw_battery_states_msg.battery_states[i].present = true; + } + else + { + raw_battery_states_msg.battery_states[i].present = false; + } + } + } + raw_battery_states_realtime_publisher_->unlockAndPublish(); + } + + if (battery_state_realtime_publisher_ && battery_state_realtime_publisher_->trylock()) + { + auto & battery_state_msg = battery_state_realtime_publisher_->msg_; + + battery_state_msg.header.stamp = time; + battery_state_msg.voltage = sums_.voltage_sum / static_cast(state_joints_.size()); + + if (counts_.temperature_cnt) + { + battery_state_msg.temperature = sums_.temperature_sum / counts_.temperature_cnt; + } + if (counts_.current_cnt) + { + battery_state_msg.current = sums_.current_sum / counts_.current_cnt; + } + battery_state_msg.charge = sums_.charge_sum; + if (counts_.percentage_cnt) + { + battery_state_msg.percentage = sums_.percentage_sum / counts_.percentage_cnt; + } + battery_state_msg.power_supply_status = combined_power_supply_status; + battery_state_msg.power_supply_health = combined_power_supply_health; + + battery_state_realtime_publisher_->unlockAndPublish(); + } + + return controller_interface::return_type::OK; +} + +float BatteryStateBroadcaster::get_or_nan(int interface_cnt) +{ + auto opt = state_interfaces_[interface_cnt].get_optional(); + if (opt.has_value()) + { + return static_cast(*opt); + } + return std::numeric_limits::quiet_NaN(); +} + +char BatteryStateBroadcaster::get_or_unknown(int interface_cnt) +{ + auto opt = state_interfaces_[interface_cnt].get_optional(); + if (opt.has_value()) + { + return static_cast(*opt); + } + return 0; +} + +} // namespace battery_state_broadcaster + +#include "pluginlib/class_list_macros.hpp" + +PLUGINLIB_EXPORT_CLASS( + battery_state_broadcaster::BatteryStateBroadcaster, controller_interface::ControllerInterface) diff --git a/battery_state_broadcaster/src/battery_state_broadcaster.yaml b/battery_state_broadcaster/src/battery_state_broadcaster.yaml new file mode 100644 index 0000000000..bc4708deec --- /dev/null +++ b/battery_state_broadcaster/src/battery_state_broadcaster.yaml @@ -0,0 +1,107 @@ +# Copyright (c) 2025, b-robotized Group +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +battery_state_broadcaster: + state_joints: { + type: string_array, + description: "List of joints from which battery state interfaces will be read.", + read_only: true, + validation: { + unique<>: null, + size_gt<>: [0] + } + } + interfaces: + __map_state_joints: + battery_temperature: { + type: bool, + default_value: false, + description: "Whether to read battery temperature [°C] from this joint's state interface (If unmeasured NaN)." + } + battery_current: { + type: bool, + default_value: false, + description: "Whether to read battery current [A] from this joint's state interface (If unmeasured NaN)." + } + battery_charge: { + type: bool, + default_value: false, + description: "Whether to read battery charge [Ah] from this joint's state interface (If unmeasured NaN)." + } + battery_percentage: { + type: bool, + default_value: false, + description: "Whether to read charge level [%] (0.0 to 100.0) from this joint's state interface. If unmeasured, linear percentage is calculated using min and max voltage parameters (if provided), otherwise NaN." + } + battery_power_supply_status: { + type: bool, + default_value: false, + description: "Whether to read power supply status (e.g., Charging, Full) from this joint's state interface. If unmeasured, status is set to unknown." + } + battery_power_supply_health: { + type: bool, + default_value: false, + description: "Whether to read power supply health (e.g., Good, Overheat) from this joint's state interface. If unmeasured, health is set to unknown." + } + battery_present: { + type: bool, + default_value: false, + description: "Whether to read battery presence status (true if battery is present) from this joint's state interface. If unmeasured, the presence will be set to true if any other state interfaces from this joint are available." + } + __map_state_joints: + minimum_voltage: { + type: double, + default_value: .nan, + description: "Minimum battery voltage (used to calculate percentage).", + read_only: true, + } + maximum_voltage: { + type: double, + default_value: .nan, + description: "Maximum battery voltage (used to calculate percentage).", + read_only: true, + } + capacity: { + type: double, + default_value: .nan, + description: "Last known full battery capacity [Ah] (If unmeasured NaN).", + read_only: true, + } + design_capacity: { + type: double, + default_value: .nan, + description: "Design capacity of the battery [Ah] (If unmeasured NaN).", + read_only: true, + } + power_supply_technology: { + type: int, + default_value: 0, + description: "Battery chemistry type as an enum. If unmeasured, the technology is set to unknown.", + read_only: true, + validation: { + bounds<>: [0, 8] + } + } + location: { + type: string, + default_value: "", + description: "Physical location of the battery (e.g., slot number or plug label).", + read_only: true, + } + serial_number: { + type: string, + default_value: "", + description: "Serial number of the battery.", + read_only: true, + } diff --git a/battery_state_broadcaster/test/battery_state_broadcaster_params.yaml b/battery_state_broadcaster/test/battery_state_broadcaster_params.yaml new file mode 100644 index 0000000000..2efa5fc8f2 --- /dev/null +++ b/battery_state_broadcaster/test/battery_state_broadcaster_params.yaml @@ -0,0 +1,52 @@ +# Copyright (c) 2025, b-robotized Group +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +test_battery_state_broadcaster: + ros__parameters: + state_joints: + - "left_wheel" + - "right_wheel" + interfaces: + left_wheel: + battery_temperature: true + battery_current: false + battery_charge: true + battery_percentage: false + battery_power_supply_status: true + battery_power_supply_health: true + battery_present: false + right_wheel: + battery_temperature: true + battery_current: true + battery_charge: true + battery_percentage: true + battery_power_supply_status: true + battery_power_supply_health: true + battery_present: false + left_wheel: + minimum_voltage: 0.0 + maximum_voltage: 10.0 + capacity: 12000.0 + design_capacity: 13000.0 + power_supply_technology: 3 + location: "left_slot" + serial_number: "left_serial_device" + right_wheel: + minimum_voltage: 0.0 + maximum_voltage: 15.0 + capacity: 17000.0 + design_capacity: 18000.0 + power_supply_technology: 3 + location: "right_slot" + serial_number: "right_serial_device" diff --git a/battery_state_broadcaster/test/test_battery_state_broadcaster.cpp b/battery_state_broadcaster/test/test_battery_state_broadcaster.cpp new file mode 100644 index 0000000000..09780ccd4b --- /dev/null +++ b/battery_state_broadcaster/test/test_battery_state_broadcaster.cpp @@ -0,0 +1,369 @@ +// Copyright (c) 2025, b-robotized Group +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "test_battery_state_broadcaster.hpp" + +// Test correct broadcaster initialization +TEST_F(BatteryStateBroadcasterTest, init_success) { SetUpBatteryStateBroadcaster(); } + +// Test that BatteryStateBroadcaster parses parameters correctly, +// Test that BatteryStateBroadcaster aggregates interfaces and battery properties correctly, +// sets up state interfaces on configure, and computes aggregated counts/sums. +TEST_F(BatteryStateBroadcasterTest, all_parameters_set_configure_success) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_TRUE(battery_state_broadcaster_->params_.state_joints.empty()); + + ASSERT_EQ(battery_state_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_THAT( + battery_state_broadcaster_->state_joints_, testing::ElementsAreArray(state_joint_names_)); + + auto interface_params = battery_state_broadcaster_->params_.interfaces.state_joints_map; + auto properties = battery_state_broadcaster_->params_.state_joints_map; + EXPECT_EQ(interface_params.at("left_wheel").battery_temperature, true); + EXPECT_EQ(interface_params.at("left_wheel").battery_current, false); + EXPECT_EQ(interface_params.at("left_wheel").battery_charge, true); + EXPECT_EQ(interface_params.at("left_wheel").battery_percentage, false); + EXPECT_EQ(interface_params.at("left_wheel").battery_power_supply_status, true); + EXPECT_EQ(interface_params.at("left_wheel").battery_power_supply_health, true); + EXPECT_EQ(interface_params.at("left_wheel").battery_present, false); + + EXPECT_EQ(interface_params.at("right_wheel").battery_temperature, true); + EXPECT_EQ(interface_params.at("right_wheel").battery_current, true); + EXPECT_EQ(interface_params.at("right_wheel").battery_charge, true); + EXPECT_EQ(interface_params.at("right_wheel").battery_percentage, true); + EXPECT_EQ(interface_params.at("right_wheel").battery_power_supply_status, true); + EXPECT_EQ(interface_params.at("right_wheel").battery_power_supply_health, true); + EXPECT_EQ(interface_params.at("right_wheel").battery_present, false); + + EXPECT_EQ(properties.at("left_wheel").minimum_voltage, 0.0); + EXPECT_EQ(properties.at("left_wheel").maximum_voltage, 10.0); + EXPECT_EQ(properties.at("left_wheel").capacity, 12000.0); + EXPECT_EQ(properties.at("left_wheel").design_capacity, 13000.0); + EXPECT_EQ(properties.at("left_wheel").power_supply_technology, 3); + EXPECT_EQ(properties.at("left_wheel").location, "left_slot"); + EXPECT_EQ(properties.at("left_wheel").serial_number, "left_serial_device"); + + EXPECT_EQ(properties.at("right_wheel").minimum_voltage, 0.0); + EXPECT_EQ(properties.at("right_wheel").maximum_voltage, 15.0); + EXPECT_EQ(properties.at("right_wheel").capacity, 17000.0); + EXPECT_EQ(properties.at("right_wheel").design_capacity, 18000.0); + EXPECT_EQ(properties.at("right_wheel").power_supply_technology, 3); + EXPECT_EQ(properties.at("right_wheel").location, "right_slot"); + EXPECT_EQ(properties.at("right_wheel").serial_number, "right_serial_device"); + + // check property aggregation + EXPECT_EQ(battery_state_broadcaster_->counts_.temperature_cnt, 2.0); + EXPECT_EQ(battery_state_broadcaster_->counts_.current_cnt, 1.0); + EXPECT_EQ( + battery_state_broadcaster_->counts_.percentage_cnt, + 2.0); // because min and max voltage are valid + EXPECT_EQ(battery_state_broadcaster_->sums_.capacity_sum, 29000.0); + EXPECT_EQ(battery_state_broadcaster_->sums_.design_capacity_sum, 31000.0); + + // check interface configuration + auto cmd_if_conf = battery_state_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); + auto state_if_conf = battery_state_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(12lu)); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); +} + +// check fails when no defined interfaces +TEST_F(BatteryStateBroadcasterTest, no_interfaces_set_activate_fail) +{ + ASSERT_EQ( + battery_state_broadcaster_->init( + "test_battery_state_broadcaster", "", 0, "", + battery_state_broadcaster_->define_custom_node_options()), + controller_interface::return_type::OK); + + ASSERT_EQ(battery_state_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(battery_state_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_FAILURE); +} + +// check all msgs initial values +// check logic for combined strings for local & serial number and same or none for power supply +TEST_F(BatteryStateBroadcasterTest, activate_success) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_EQ(battery_state_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(battery_state_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // check that the message is reset + RawBatteryStatesMsg raw_battery_states_msg = + battery_state_broadcaster_->raw_battery_states_realtime_publisher_->msg_; + EXPECT_EQ(raw_battery_states_msg.battery_states.size(), static_cast(2)); + + // --- Left wheel --- + const auto & left = raw_battery_states_msg.battery_states[0]; + EXPECT_EQ(left.header.frame_id, "left_wheel"); + EXPECT_TRUE(std::isnan(left.voltage)); + EXPECT_TRUE(std::isnan(left.temperature)); + EXPECT_TRUE(std::isnan(left.current)); + EXPECT_TRUE(std::isnan(left.charge)); + EXPECT_FLOAT_EQ(left.capacity, 12000.0f); + EXPECT_FLOAT_EQ(left.design_capacity, 13000.0f); + EXPECT_TRUE(std::isnan(left.percentage)); + EXPECT_EQ(left.power_supply_status, BatteryState::POWER_SUPPLY_STATUS_UNKNOWN); + EXPECT_EQ(left.power_supply_health, BatteryState::POWER_SUPPLY_HEALTH_UNKNOWN); + EXPECT_EQ(left.power_supply_technology, 3); + EXPECT_TRUE(left.present); + EXPECT_TRUE(left.cell_voltage.empty()); + EXPECT_TRUE(left.cell_temperature.empty()); + EXPECT_EQ(left.location, "left_slot"); + EXPECT_EQ(left.serial_number, "left_serial_device"); + + // --- Right wheel --- + const auto & right = raw_battery_states_msg.battery_states[1]; + EXPECT_EQ(right.header.frame_id, "right_wheel"); + EXPECT_TRUE(std::isnan(right.voltage)); + EXPECT_TRUE(std::isnan(right.temperature)); + EXPECT_TRUE(std::isnan(right.current)); + EXPECT_TRUE(std::isnan(right.charge)); + EXPECT_FLOAT_EQ(right.capacity, 17000.0f); + EXPECT_FLOAT_EQ(right.design_capacity, 18000.0f); + EXPECT_TRUE(std::isnan(right.percentage)); + EXPECT_EQ(right.power_supply_status, BatteryState::POWER_SUPPLY_STATUS_UNKNOWN); + EXPECT_EQ(right.power_supply_health, BatteryState::POWER_SUPPLY_HEALTH_UNKNOWN); + EXPECT_EQ(right.power_supply_technology, 3); + EXPECT_TRUE(right.present); + EXPECT_TRUE(right.cell_voltage.empty()); + EXPECT_TRUE(right.cell_temperature.empty()); + EXPECT_EQ(right.location, "right_slot"); + EXPECT_EQ(right.serial_number, "right_serial_device"); + + BatteryStateMsg battery_state_msg = + battery_state_broadcaster_->battery_state_realtime_publisher_->msg_; + + EXPECT_TRUE(std::isnan(battery_state_msg.voltage)); + EXPECT_TRUE(std::isnan(battery_state_msg.temperature)); + EXPECT_TRUE(std::isnan(battery_state_msg.current)); + EXPECT_TRUE(std::isnan(battery_state_msg.charge)); + EXPECT_TRUE(std::isnan(battery_state_msg.percentage)); + EXPECT_DOUBLE_EQ(battery_state_msg.capacity, 29000.0); + EXPECT_DOUBLE_EQ(battery_state_msg.design_capacity, 31000.0); + EXPECT_EQ(battery_state_msg.power_supply_status, BatteryState::POWER_SUPPLY_STATUS_UNKNOWN); + EXPECT_EQ(battery_state_msg.power_supply_health, BatteryState::POWER_SUPPLY_HEALTH_UNKNOWN); + EXPECT_EQ(battery_state_msg.power_supply_technology, BatteryState::POWER_SUPPLY_TECHNOLOGY_LIPO); + EXPECT_EQ(battery_state_msg.location, "left_slot, right_slot, "); + EXPECT_EQ(battery_state_msg.serial_number, "left_serial_device, right_serial_device, "); + EXPECT_TRUE(battery_state_msg.present); + EXPECT_TRUE(battery_state_msg.cell_voltage.empty()); + EXPECT_TRUE(battery_state_msg.cell_temperature.empty()); +} + +TEST_F(BatteryStateBroadcasterTest, deactivate_success) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_EQ(battery_state_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(battery_state_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(battery_state_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); +} + +TEST_F(BatteryStateBroadcasterTest, check_exported_intefaces) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_EQ(battery_state_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + + auto command_intefaces = battery_state_broadcaster_->command_interface_configuration(); + ASSERT_EQ(command_intefaces.names.size(), static_cast(0)); + + auto state_interfaces = battery_state_broadcaster_->state_interface_configuration(); + ASSERT_EQ(state_interfaces.names.size(), itfs_values_.size()); + EXPECT_EQ(state_interfaces.names[0], "left_wheel/battery_voltage"); + EXPECT_EQ(state_interfaces.names[1], "left_wheel/battery_temperature"); + EXPECT_EQ(state_interfaces.names[2], "left_wheel/battery_charge"); + EXPECT_EQ(state_interfaces.names[3], "left_wheel/battery_power_supply_status"); + EXPECT_EQ(state_interfaces.names[4], "left_wheel/battery_power_supply_health"); + EXPECT_EQ(state_interfaces.names[5], "right_wheel/battery_voltage"); + EXPECT_EQ(state_interfaces.names[6], "right_wheel/battery_temperature"); + EXPECT_EQ(state_interfaces.names[7], "right_wheel/battery_current"); + EXPECT_EQ(state_interfaces.names[8], "right_wheel/battery_charge"); + EXPECT_EQ(state_interfaces.names[9], "right_wheel/battery_percentage"); + EXPECT_EQ(state_interfaces.names[10], "right_wheel/battery_power_supply_status"); + EXPECT_EQ(state_interfaces.names[11], "right_wheel/battery_power_supply_health"); +} + +TEST_F(BatteryStateBroadcasterTest, update_success) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_EQ(battery_state_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(battery_state_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_EQ( + battery_state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); +} + +// check correct values published +// check correct aggregation for present, percentage, averages, and sums, and higher criticality +TEST_F(BatteryStateBroadcasterTest, publish_status_success) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_EQ(battery_state_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(battery_state_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_EQ( + battery_state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + RawBatteryStatesMsg raw_battery_states_msg; + BatteryStateMsg battery_state_msg; + subscribe_and_get_messages(raw_battery_states_msg, battery_state_msg); + + ASSERT_EQ(raw_battery_states_msg.battery_states.size(), 2u); + + // Left wheel + const auto & left = raw_battery_states_msg.battery_states[0]; + EXPECT_EQ(left.header.frame_id, "left_wheel"); + EXPECT_DOUBLE_EQ(left.voltage, 5.0); + EXPECT_DOUBLE_EQ(left.temperature, 60.0); + EXPECT_TRUE(std::isnan(left.current)); // disabled in params + EXPECT_DOUBLE_EQ(left.charge, 6000.0); + EXPECT_DOUBLE_EQ(left.capacity, 12000.0); + EXPECT_DOUBLE_EQ(left.design_capacity, 13000.0); + // percentage calculated (no interface) = (5.0 - 0.0) * 100 / (10.0 - 0.0) = 50 + EXPECT_DOUBLE_EQ(left.percentage, 50.0); + EXPECT_EQ(left.power_supply_status, 3); // from itfs_values_[3] + EXPECT_EQ(left.power_supply_health, 0); // from itfs_values_[4] + EXPECT_EQ(left.power_supply_technology, BatteryState::POWER_SUPPLY_TECHNOLOGY_LIPO); + EXPECT_TRUE(left.present); // voltage > 0.0 + EXPECT_EQ(left.location, "left_slot"); + EXPECT_EQ(left.serial_number, "left_serial_device"); + + // Right wheel + const auto & right = raw_battery_states_msg.battery_states[1]; + EXPECT_EQ(right.header.frame_id, "right_wheel"); + EXPECT_DOUBLE_EQ(right.voltage, 10.0); + EXPECT_DOUBLE_EQ(right.temperature, 80.0); + EXPECT_DOUBLE_EQ(right.current, 2000.0); + EXPECT_DOUBLE_EQ(right.charge, 5000.0); + EXPECT_DOUBLE_EQ(right.capacity, 17000.0); + EXPECT_DOUBLE_EQ(right.design_capacity, 18000.0); + EXPECT_DOUBLE_EQ(right.percentage, 66.0); // directly from itfs_values_[9] + EXPECT_EQ(right.power_supply_status, 2); // from itfs_values_[10] + EXPECT_EQ(right.power_supply_health, 4); // from itfs_values_[11] + EXPECT_EQ(right.power_supply_technology, BatteryState::POWER_SUPPLY_TECHNOLOGY_LIPO); + EXPECT_TRUE(right.present); // voltage > 0.0 + EXPECT_EQ(right.location, "right_slot"); + EXPECT_EQ(right.serial_number, "right_serial_device"); + + // Combined battery state message + EXPECT_EQ(battery_state_msg.header.frame_id, ""); + EXPECT_DOUBLE_EQ(battery_state_msg.voltage, 7.5); // average of 5 + 10 + EXPECT_DOUBLE_EQ(battery_state_msg.temperature, 70.0); // average of 60 + 80 + EXPECT_DOUBLE_EQ(battery_state_msg.current, 2000.0); // only right wheel contributes + EXPECT_DOUBLE_EQ(battery_state_msg.charge, 11000.0); // sum of 6000 + 5000 + EXPECT_DOUBLE_EQ(battery_state_msg.capacity, 29000.0); // sum of 6000 + 5000 + EXPECT_DOUBLE_EQ(battery_state_msg.design_capacity, 31000.0); // sum of 6000 + 5000 + EXPECT_DOUBLE_EQ(battery_state_msg.percentage, 58.0); // average of 50 + 66 + EXPECT_EQ(battery_state_msg.power_supply_status, 3); // max(3, 2) + EXPECT_EQ(battery_state_msg.power_supply_health, 4); // max(0, 4) + EXPECT_EQ(battery_state_msg.power_supply_technology, BatteryState::POWER_SUPPLY_TECHNOLOGY_LIPO); + EXPECT_TRUE(battery_state_msg.present); // voltage > 0.0 + EXPECT_EQ(battery_state_msg.location, "left_slot, right_slot, "); + EXPECT_EQ(battery_state_msg.serial_number, "left_serial_device, right_serial_device, "); +} + +TEST_F(BatteryStateBroadcasterTest, update_broadcasted_success) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_EQ(battery_state_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(battery_state_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_TRUE(left_voltage_itf_.set_value(10.0)); + + RawBatteryStatesMsg raw_battery_states_msg; + BatteryStateMsg battery_state_msg; + subscribe_and_get_messages(raw_battery_states_msg, battery_state_msg); + + ASSERT_EQ(raw_battery_states_msg.battery_states.size(), 2u); + + // Left wheel + const auto & left = raw_battery_states_msg.battery_states[0]; + EXPECT_DOUBLE_EQ(left.voltage, 10.0); + // percentage calculated (no interface) = (10.0 - 0.0) * 100 / (10.0 - 0.0) = 50 + EXPECT_DOUBLE_EQ(left.percentage, 100.0); + EXPECT_TRUE(left.present); // voltage > 0.0 + + // Right wheel + const auto & right = raw_battery_states_msg.battery_states[1]; + EXPECT_DOUBLE_EQ(right.voltage, 10.0); + EXPECT_DOUBLE_EQ(right.percentage, 66.0); // directly from itfs_values_[9] + EXPECT_TRUE(right.present); // voltage > 0.0 + + // Combined battery state message + EXPECT_DOUBLE_EQ(battery_state_msg.voltage, 10.0); // average of 10 + 10 + EXPECT_DOUBLE_EQ(battery_state_msg.percentage, 83.0); // average of 100 + 66 + EXPECT_TRUE(battery_state_msg.present); // voltage > 0.0 +} + +TEST_F(BatteryStateBroadcasterTest, publish_nan_voltage) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_EQ(battery_state_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(battery_state_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_TRUE(left_voltage_itf_.set_value(std::numeric_limits::quiet_NaN())); + + RawBatteryStatesMsg raw_battery_states_msg; + BatteryStateMsg battery_state_msg; + subscribe_and_get_messages(raw_battery_states_msg, battery_state_msg); + + ASSERT_EQ(raw_battery_states_msg.battery_states.size(), 2u); + + // Left wheel + const auto & left = raw_battery_states_msg.battery_states[0]; + EXPECT_TRUE(std::isnan(left.voltage)); + EXPECT_TRUE(std::isnan(left.percentage)); + EXPECT_FALSE(left.present); // voltage nan + + // Right wheel + const auto & right = raw_battery_states_msg.battery_states[1]; + EXPECT_DOUBLE_EQ(right.voltage, 10.0); + EXPECT_DOUBLE_EQ(right.percentage, 66.0); // directly from itfs_values_[9] + EXPECT_TRUE(right.present); // voltage > 0.0 + + // Combined battery state message + EXPECT_TRUE(std::isnan(battery_state_msg.voltage)); // average of nan + 10 + EXPECT_TRUE(std::isnan(battery_state_msg.percentage)); // average of nan + 66 + EXPECT_TRUE(battery_state_msg.present); +} + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + int result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return result; +} diff --git a/battery_state_broadcaster/test/test_battery_state_broadcaster.hpp b/battery_state_broadcaster/test/test_battery_state_broadcaster.hpp new file mode 100644 index 0000000000..a3fd271935 --- /dev/null +++ b/battery_state_broadcaster/test/test_battery_state_broadcaster.hpp @@ -0,0 +1,205 @@ +// Copyright (c) 2025, b-robotized Group +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_BATTERY_STATE_BROADCASTER_HPP_ +#define TEST_BATTERY_STATE_BROADCASTER_HPP_ + +#include +#include +#include +#include +#include +#include +#include + +#include "battery_state_broadcaster/battery_state_broadcaster.hpp" +#include "gmock/gmock.h" +#include "hardware_interface/loaned_command_interface.hpp" +#include "hardware_interface/loaned_state_interface.hpp" +#include "hardware_interface/types/hardware_interface_return_values.hpp" +#include "rclcpp/executor.hpp" +#include "rclcpp/parameter_value.hpp" +#include "rclcpp/time.hpp" +#include "rclcpp/utilities.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" + +#include "control_msgs/msg/battery_states.hpp" +#include "sensor_msgs/msg/battery_state.hpp" + +using BatteryStateMsg = sensor_msgs::msg::BatteryState; +using RawBatteryStatesMsg = control_msgs::msg::BatteryStates; +using sensor_msgs::msg::BatteryState; +using testing::IsEmpty; +using testing::SizeIs; + +namespace +{ +constexpr auto NODE_SUCCESS = controller_interface::CallbackReturn::SUCCESS; +constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; +constexpr auto NODE_FAILURE = controller_interface::CallbackReturn::FAILURE; +} // namespace + +// subclassing and friending so we can access member variables +class FriendBatteryStateBroadcaster : public battery_state_broadcaster::BatteryStateBroadcaster +{ + FRIEND_TEST(BatteryStateBroadcasterTest, init_success); + FRIEND_TEST(BatteryStateBroadcasterTest, all_parameters_set_configure_success); + FRIEND_TEST(BatteryStateBroadcasterTest, no_interfaces_set_activate_fail); + FRIEND_TEST(BatteryStateBroadcasterTest, activate_success); + FRIEND_TEST(BatteryStateBroadcasterTest, deactivate_success); + FRIEND_TEST(BatteryStateBroadcasterTest, check_exported_intefaces); + FRIEND_TEST(BatteryStateBroadcasterTest, update_success); + FRIEND_TEST(BatteryStateBroadcasterTest, publish_status_success); + FRIEND_TEST(BatteryStateBroadcasterTest, update_broadcasted_success); + FRIEND_TEST(BatteryStateBroadcasterTest, publish_nan_voltage); +}; + +class BatteryStateBroadcasterTest : public ::testing::Test +{ +public: + static void SetUpTestCase() {} + static void TearDownTestCase() {} + + void SetUp() + { + // initialize controller + battery_state_broadcaster_ = std::make_unique(); + } + void TearDown() { battery_state_broadcaster_.reset(nullptr); } + + void SetUpBatteryStateBroadcaster( + const std::string controller_name = "test_battery_state_broadcaster") + { + ASSERT_EQ( + battery_state_broadcaster_->init( + controller_name, "", 0, "", battery_state_broadcaster_->define_custom_node_options()), + controller_interface::return_type::OK); + + std::vector state_ifs; + + state_ifs.emplace_back(left_voltage_itf_); + state_ifs.emplace_back(left_temperature_itf_); + state_ifs.emplace_back(left_charge_itf_); + state_ifs.emplace_back(left_status_itf_); + state_ifs.emplace_back(left_health_itf_); + + state_ifs.emplace_back(right_voltage_itf_); + state_ifs.emplace_back(right_temperature_itf_); + state_ifs.emplace_back(right_current_itf_); + state_ifs.emplace_back(right_charge_itf_); + state_ifs.emplace_back(right_percentage_itf_); + state_ifs.emplace_back(right_status_itf_); + state_ifs.emplace_back(right_health_itf_); + + battery_state_broadcaster_->assign_interfaces({}, std::move(state_ifs)); + } + +protected: + // Controller-related parameters + std::vector state_joint_names_ = {"left_wheel", "right_wheel"}; + std::array itfs_values_ = { + 5.0, // 0 left_voltage + 60.0, // 1 left_temperature + 6000.0, // 2 left_charge + 3.0, // 3 left_status + 0.0, // 4 left_health + 10.0, // 5 right_voltage + 80.0, // 6 right_temperature + 2000.0, // 7 right_current + 5000.0, // 8 right_charge + 66.0, // 9 right_percentage + 2.0, // 10 right_status + 4.0 // 11 right_health + }; + // std::array itfs_values_ = {{1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10}}; + + hardware_interface::StateInterface left_voltage_itf_{ + "left_wheel", "battery_voltage", &itfs_values_[0]}; + hardware_interface::StateInterface left_temperature_itf_{ + "left_wheel", "battery_temperature", &itfs_values_[1]}; + hardware_interface::StateInterface left_charge_itf_{ + "left_wheel", "battery_charge", &itfs_values_[2]}; + hardware_interface::StateInterface left_status_itf_{ + "left_wheel", "battery_power_supply_status", &itfs_values_[3]}; + hardware_interface::StateInterface left_health_itf_{ + "left_wheel", "battery_power_supply_health", &itfs_values_[4]}; + hardware_interface::StateInterface right_voltage_itf_{ + "right_wheel", "battery_voltage", &itfs_values_[5]}; + hardware_interface::StateInterface right_temperature_itf_{ + "right_wheel", "battery_temperature", &itfs_values_[6]}; + hardware_interface::StateInterface right_current_itf_{ + "right_wheel", "battery_current", &itfs_values_[7]}; + hardware_interface::StateInterface right_charge_itf_{ + "right_wheel", "battery_charge", &itfs_values_[8]}; + hardware_interface::StateInterface right_percentage_itf_{ + "right_wheel", "battery_percentage", &itfs_values_[9]}; + hardware_interface::StateInterface right_status_itf_{ + "right_wheel", "battery_power_supply_status", &itfs_values_[10]}; + hardware_interface::StateInterface right_health_itf_{ + "right_wheel", "battery_power_supply_health", &itfs_values_[11]}; + + // Test related parameters + std::unique_ptr battery_state_broadcaster_; + + void subscribe_and_get_messages( + RawBatteryStatesMsg & raw_battery_states_msg, BatteryStateMsg & battery_state_msg) + { + // create a new subscriber + RawBatteryStatesMsg::SharedPtr received_raw_battery_states_msg; + BatteryStateMsg::SharedPtr received_battery_state_msg; + rclcpp::Node test_subscription_node("test_subscription_node"); + auto raw_battery_states_callback = [&](const RawBatteryStatesMsg::SharedPtr msg) + { received_raw_battery_states_msg = msg; }; + auto battery_state_callback = [&](const BatteryStateMsg::SharedPtr msg) + { received_battery_state_msg = msg; }; + auto raw_battery_states_subscription = + test_subscription_node.create_subscription( + "/test_battery_state_broadcaster/raw_battery_states", 10, raw_battery_states_callback); + auto battery_state_subscription = test_subscription_node.create_subscription( + "/test_battery_state_broadcaster/battery_state", 10, battery_state_callback); + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(test_subscription_node.get_node_base_interface()); + + // call update to publish the test value + // since update doesn't guarantee a published message, republish until received + int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop + while (max_sub_check_loop_count--) + { + battery_state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); + const auto timeout = std::chrono::milliseconds{5}; + const auto until = test_subscription_node.get_clock()->now() + timeout; + while ((!received_battery_state_msg || !received_raw_battery_states_msg) && + test_subscription_node.get_clock()->now() < until) + { + executor.spin_some(); + std::this_thread::sleep_for(std::chrono::microseconds(10)); + } + // check if message has been received + if (received_raw_battery_states_msg.get() && received_battery_state_msg.get()) + { + break; + } + } + ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through " + "controller/broadcaster update loop"; + ASSERT_TRUE(received_raw_battery_states_msg); + ASSERT_TRUE(received_battery_state_msg); + + // take message from subscription + raw_battery_states_msg = *received_raw_battery_states_msg; + battery_state_msg = *received_battery_state_msg; + } +}; + +#endif // TEST_BATTERY_STATE_BROADCASTER_HPP_ diff --git a/battery_state_broadcaster/test/test_load_battery_state_broadcaster.cpp b/battery_state_broadcaster/test/test_load_battery_state_broadcaster.cpp new file mode 100644 index 0000000000..0fe90d309c --- /dev/null +++ b/battery_state_broadcaster/test/test_load_battery_state_broadcaster.cpp @@ -0,0 +1,50 @@ +// Copyright (c) 2025, b-robotized Group +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include "controller_manager/controller_manager.hpp" +#include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" +#include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" +#include "ros2_control_test_assets/descriptions.hpp" + +TEST(TestLoadBatteryStateBroadcaster, load_controller) +{ + std::shared_ptr executor = + std::make_shared(); + + controller_manager::ControllerManager cm( + executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/battery_state_broadcaster_params.yaml"; + + cm.set_parameter({"test_battery_state_broadcaster.params_file", test_file_path}); + cm.set_parameter( + {"test_battery_state_broadcaster.type", "battery_state_broadcaster/BatteryStateBroadcaster"}); + + ASSERT_NO_THROW(cm.load_controller( + "test_battery_state_broadcaster", "battery_state_broadcaster/BatteryStateBroadcaster")); +} + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleMock(&argc, argv); + rclcpp::init(argc, argv); + int result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return result; +} diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index 5e27dbfdcf..549b75d52a 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -19,6 +19,7 @@ ackermann_steering_controller admittance_controller + battery_state_broadcaster bicycle_steering_controller chained_filter_controller diff_drive_controller