diff --git a/battery_state_broadcaster/CHANGELOG.rst b/battery_state_broadcaster/CHANGELOG.rst new file mode 100644 index 0000000000..bd5a156727 --- /dev/null +++ b/battery_state_broadcaster/CHANGELOG.rst @@ -0,0 +1,28 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package battery_state_broadcaster +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + + +The entries below refer to the standalone `ipa320/ros_battery_monitoring `_ package, +from which this broadcaster originates. + +1.1.0 (2025-09-26) +------------------ +* address deprecations in ros2_control for kilted +* Don't make a temporary copy of semantic component (`#9 `_) +* Contributors: Christoph Froehlich, Jonas Otto + +1.0.2 (2025-06-01) +------------------ +* Replace ament_target_dependencies with target_link_libraries (`#6 `_) +* Contributors: Alejandro Hernandez Cordero, Jonas Otto + +1.0.1 (2025-02-06) +------------------ +* fix realtime_tools include +* Contributors: Jonas Otto + +1.0.0 (2024-08-14) +------------------ +* initial release +* Contributors: Jonas Otto diff --git a/battery_state_broadcaster/CMakeLists.txt b/battery_state_broadcaster/CMakeLists.txt new file mode 100644 index 0000000000..9fe053a883 --- /dev/null +++ b/battery_state_broadcaster/CMakeLists.txt @@ -0,0 +1,104 @@ +cmake_minimum_required(VERSION 3.10) +project(battery_state_broadcaster) + +find_package(ros2_control_cmake REQUIRED) +set_compiler_options() +export_windows_symbols() + +set(THIS_PACKAGE_INCLUDE_DEPENDS + control_msgs + controller_interface + hardware_interface + generate_parameter_library + pluginlib + rclcpp + rclcpp_lifecycle + rcpputils + realtime_tools + sensor_msgs +) + +find_package(ament_cmake REQUIRED) +find_package(backward_ros REQUIRED) +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() +add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR}) +add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR}) + +generate_parameter_library(battery_state_broadcaster_parameters + src/battery_state_broadcaster_parameters.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 + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + rcpputils::rcpputils + realtime_tools::realtime_tools + ${control_msgs_TARGETS} + ${sensor_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 + hardware_interface::hardware_interface + rclcpp::rclcpp + 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..cdfbb5278f --- /dev/null +++ b/battery_state_broadcaster/battery_state_broadcaster.xml @@ -0,0 +1,9 @@ + + + + This controller publishes the individual battery state of each battery as control_msgs/BatteryStateArray messages. + It also publishes the aggregated battery state of all batteries as a single sensor_msgs/BatteryState message. + + + diff --git a/battery_state_broadcaster/doc/userdoc.rst b/battery_state_broadcaster/doc/userdoc.rst new file mode 100644 index 0000000000..86fa5d8685 --- /dev/null +++ b/battery_state_broadcaster/doc/userdoc.rst @@ -0,0 +1,144 @@ +: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* publishes battery status information as ``sensor_msgs/msg/BatteryState`` messages. + +It reads battery-related state interfaces from one or more batteries 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 battery: + +- ``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/BatteryStateArray``) + Publishes **per-battery state messages**, containing the raw values for each configured battery. + +- ``~/battery_state`` (``sensor_msgs/msg/BatteryState``) + Publishes a **single aggregated battery message** representing the combined status across all batteries. + +.. list-table:: + :header-rows: 1 + + * - Field + - ``battery_state`` + - ``raw_battery_states`` + * - ``header.frame_id`` + - Empty + - Battery name + * - ``voltage`` + - Mean across all batteries + - From battery's ``battery_voltage`` interface *(mandatory)* (NaN if unmeasured) + * - ``temperature`` + - Mean across batteries reporting temperature + - From battery's ``battery_temperature`` interface if enabled, otherwise nan. + * - ``current`` + - Mean across batteries reporting current + - From battery's ``battery_current`` interface if enabled, otherwise nan. + * - ``charge`` + - Sum across batteries reporting charge + - From battery's ``battery_charge`` interface if enabled, otherwise nan. + * - ``capacity`` + - Sum across all batteries + - From battery's ``capacity`` parameter if provided, otherwise nan. + * - ``design_capacity`` + - Sum across all batteries + - From battery's ``design_capacity`` parameter if provided, otherwise nan. + * - ``percentage`` + - Mean across batteries reporting/calculating percentage + - From battery's ``battery_percentage`` interface if enabled, otherwise calculated from battery's ``minimum_voltage`` and ``maximum_voltage`` parameters. + * - ``power_supply_status`` + - Highest reported enum value + - From battery's ``battery_power_supply_status`` interface if enabled, otherwise 0 (unknown). + * - ``power_supply_health`` + - Highest reported enum value + - From battery's ``battery_power_supply_health`` interface if enabled, otherwise 0 (unknown). + * - ``power_supply_technology`` + - Reported as-is if same across all batteries, otherwise set to *Unknown* + - From battery's ``power_supply_technology`` parameter if provided, otherwise 0 (unknown). + * - ``present`` + - True + - From battery's ``battery_present`` interface if enabled, otherwise true if the battery voltage value is valid (not NaN and not 0.0). + * - ``cell_voltage`` + - Empty + - Empty + * - ``cell_temperature`` + - Empty + - Empty + * - ``location`` + - All battery locations appended + - From battery's ``location`` parameter if provided, otherwise empty. + * - ``serial_number`` + - All battery serial numbers appended + - From battery'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 + +Migration for ``ipa320/ros_battery_monitoring`` users +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +If you were previously using the ``battery_state_broadcaster`` from the ``ipa320/ros_battery_monitoring package``, you can switch directly to this package. The configuration style using ``sensor_name`` is still supported for backward compatibility, but it may be removed in a future release. + +To adapt your setup to the new ``battery_state_broadcaster`` configuration: + +1. Update your hardware interface name from ``voltage`` → ``battery_voltage``. + +2. Convert your controller parameters from + + .. code-block:: yaml + + battery_state_broadcaster: + ros__parameters: + sensor_name: "battery_state" + design_capacity: 100.0 + # https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/BatteryState.msg + power_supply_technology: 2 + + to: + + .. code-block:: yaml + + battery_state_broadcaster: + ros__parameters: + batteries: ["battery_state"] + battery_state: + design_capacity: 100.0 + power_supply_technology: 2 + +**Notes**: + +- Parameters must provide **either** sensor_name **or** batteries. +- If both are empty → the broadcaster will fail to configure. +- If both are set → the broadcaster will throw an error. diff --git a/battery_state_broadcaster/include/battery_state_broadcaster/BatteryStateBroadcaster.hpp b/battery_state_broadcaster/include/battery_state_broadcaster/BatteryStateBroadcaster.hpp new file mode 100644 index 0000000000..c67258344d --- /dev/null +++ b/battery_state_broadcaster/include/battery_state_broadcaster/BatteryStateBroadcaster.hpp @@ -0,0 +1,23 @@ +// 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__BATTERYSTATEBROADCASTER_HPP_ +#define BATTERY_STATE_BROADCASTER__BATTERYSTATEBROADCASTER_HPP_ + +#pragma message( \ + "BatteryStateBroadcaster.hpp is deprecated, please use battery_state_broadcaster.hpp instead.") + +#include "battery_state_broadcaster/battery_state_broadcaster.hpp" + +#endif // BATTERY_STATE_BROADCASTER__BATTERYSTATEBROADCASTER_HPP_ 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..c4d06d7c8e --- /dev/null +++ b/battery_state_broadcaster/include/battery_state_broadcaster/battery_state_broadcaster.hpp @@ -0,0 +1,131 @@ +// 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 + +#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_state_array.hpp" +#include "sensor_msgs/msg/battery_state.hpp" + +namespace battery_state_broadcaster +{ +/** + * \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 can be published: + * /battery_voltage (Mandatory) + * /battery_temperature + * /battery_current + * /battery_charge + * /battery_percentage + * /battery_power_supply_status + * /battery_power_supply_health + * /battery_present + * + * \param batteries names 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): combined battery state across all + * configured batteries. + * - \b raw_battery_states (control_msgs::msg::BatteryStateArray): battery states of + * the individual batteries. + * + */ +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; + +protected: + 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 + { + int temperature_cnt = 0; + int current_cnt = 0; + int percentage_cnt = 0; + }; + + battery_state_broadcaster::Params params_; + + std::vector batteries_; + + BatteryInterfaceSums sums_; + BatteryInterfaceCounts counts_; + +private: + std::shared_ptr> + battery_state_realtime_publisher_; + std::shared_ptr> + raw_battery_states_realtime_publisher_; + + std::shared_ptr param_listener_; + std::shared_ptr> battery_state_publisher_; + std::shared_ptr> + raw_battery_states_publisher_; + sensor_msgs::msg::BatteryState battery_state_msg_; + control_msgs::msg::BatteryStateArray raw_battery_states_msg_; +}; + +} // 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..e1a310d920 --- /dev/null +++ b/battery_state_broadcaster/package.xml @@ -0,0 +1,45 @@ + + + + battery_state_broadcaster + 6.8.0 + ros2_control battery state broadcaster controller + + Bence Magyar + Denis Štogl + Christoph Froehlich + Sai Kishor Kothakota + + Apache License 2.0 + + https://control.ros.org + https://github.com/ros-controls/ros2_controllers/issues + https://github.com/ros-controls/ros2_controllers/ + + Yara Shahin + Jonas Otto + + ament_cmake + + generate_parameter_library + ros2_control_cmake + + backward_ros + control_msgs + controller_interface + hardware_interface + pluginlib + rclcpp + rclcpp_lifecycle + realtime_tools + sensor_msgs + ament_cmake_gmock + controller_manager + hardware_interface_testing + hardware_interface + 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..9e3343f249 --- /dev/null +++ b/battery_state_broadcaster/src/battery_state_broadcaster.cpp @@ -0,0 +1,492 @@ +// 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; // maximum length of strings to reserve + +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(); + counts_ = {}; + sums_ = {}; + raw_battery_states_msg_.battery_states.clear(); + + if (!params_.sensor_name.empty()) + { + if (params_.batteries.size() > 0) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "You cannot use both 'sensor_name' and 'batteries' parameters. Please use only " + "'batteries' going forward."); + return controller_interface::CallbackReturn::ERROR; + } + RCLCPP_WARN( + get_node()->get_logger(), + "The 'sensor_name' parameter is deprecated and will be removed in future releases. Please " + "use 'batteries' parameter instead."); + batteries_ = {params_.sensor_name}; + } + else + { + batteries_ = params_.batteries; + } + + if (batteries_.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "No batteries configured. Set 'batteries' (preferred) or 'sensor_name' (deprecated)."); + return controller_interface::CallbackReturn::ERROR; + } + 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_msg_.location.reserve(MAX_LENGTH); + battery_state_msg_.serial_number.reserve(MAX_LENGTH); + + raw_battery_states_msg_.battery_states.reserve(params_.batteries.size()); + for (size_t i = 0; i < params_.batteries.size(); ++i) + { + sensor_msgs::msg::BatteryState battery; + battery.location.reserve(MAX_LENGTH); + battery.serial_number.reserve(MAX_LENGTH); + raw_battery_states_msg_.battery_states.emplace_back(std::move(battery)); + } + + // Get count of enabled batteries for each interface + for (size_t i = 0; i < params_.batteries.size(); ++i) + { + const auto & battery_name = params_.batteries.at(i); + const auto interfaces_it = params_.interfaces.batteries_map.find(battery_name); + const auto props_it = params_.batteries_map.find(battery_name); + if ( + interfaces_it == params_.interfaces.batteries_map.end() || + props_it == params_.batteries_map.end()) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Missing parameters for battery '%s' (expected entries under 'interfaces.%s' and '%s').", + battery_name.c_str(), battery_name.c_str(), battery_name.c_str()); + return controller_interface::CallbackReturn::ERROR; + } + + const auto & interfaces = interfaces_it->second; + const auto & battery_properties = props_it->second; + + 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; + + if (!params_.sensor_name.empty()) + { + state_interfaces_config.names.reserve(1); + state_interfaces_config.names.push_back(params_.sensor_name + "/voltage"); + return state_interfaces_config; + } + + state_interfaces_config.names.reserve(params_.batteries.size() * 8); + for (const auto & battery : params_.batteries) + { + const auto & interfaces = params_.interfaces.batteries_map.at(battery); + state_interfaces_config.names.push_back(battery + "/battery_voltage"); + if (interfaces.battery_temperature) + { + state_interfaces_config.names.push_back(battery + "/battery_temperature"); + } + if (interfaces.battery_current) + { + state_interfaces_config.names.push_back(battery + "/battery_current"); + } + if (interfaces.battery_charge) + { + state_interfaces_config.names.push_back(battery + "/battery_charge"); + } + if (interfaces.battery_percentage) + { + state_interfaces_config.names.push_back(battery + "/battery_percentage"); + } + if (interfaces.battery_power_supply_status) + { + state_interfaces_config.names.push_back(battery + "/battery_power_supply_status"); + } + if (interfaces.battery_power_supply_health) + { + state_interfaces_config.names.push_back(battery + "/battery_power_supply_health"); + } + if (interfaces.battery_present) + { + state_interfaces_config.names.push_back(battery + "/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; + } + + uint8_t combined_power_supply_technology; + if (!params_.sensor_name.empty()) + { + sums_.design_capacity_sum = static_cast(params_.design_capacity); + combined_power_supply_technology = static_cast(params_.power_supply_technology); + } + else + { + combined_power_supply_technology = static_cast( + params_.batteries_map.at(params_.batteries.at(0)).power_supply_technology); + } + std::string combined_location = ""; + std::string combined_serial_number = ""; + + // handle individual battery states initializations + for (size_t i = 0; i < params_.batteries.size(); ++i) + { + auto & battery_state = raw_battery_states_msg_.battery_states[i]; + const auto & battery_properties = params_.batteries_map.at(params_.batteries.at(i)); + + battery_state.header.frame_id = params_.batteries[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 + 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_ = {}; + std::size_t 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_) + { + for (size_t i = 0; i < params_.batteries.size(); ++i) + { + const auto & interfaces = params_.interfaces.batteries_map.at(params_.batteries.at(i)); + + raw_battery_states_msg_.battery_states[i].header.stamp = time; + + raw_battery_states_msg_.battery_states[i].voltage = static_cast( + state_interfaces_[interface_cnt].get_optional().value_or(kUninitializedValue)); + 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 = static_cast( + state_interfaces_[interface_cnt].get_optional().value_or(kUninitializedValue)); + 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 = static_cast( + state_interfaces_[interface_cnt].get_optional().value_or(kUninitializedValue)); + 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 = static_cast( + state_interfaces_[interface_cnt].get_optional().value_or(kUninitializedValue)); + 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 = static_cast( + state_interfaces_[interface_cnt].get_optional().value_or(kUninitializedValue)); + sums_.percentage_sum += raw_battery_states_msg_.battery_states[i].percentage; + interface_cnt++; + } + else + { + auto min_volt = params_.batteries_map.at(params_.batteries.at(i)).minimum_voltage; + auto max_volt = params_.batteries_map.at(params_.batteries.at(i)).maximum_voltage; + float voltage = raw_battery_states_msg_.battery_states[i].voltage; + + if (std::isfinite(min_volt) && std::isfinite(max_volt) && (max_volt > min_volt)) + { + 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; + } + else + { + raw_battery_states_msg_.battery_states[i].percentage = kUninitializedValue; + } + } + if (interfaces.battery_power_supply_status) + { + raw_battery_states_msg_.battery_states[i].power_supply_status = + static_cast(state_interfaces_[interface_cnt].get_optional().value_or( + sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_UNKNOWN)); + 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 = + static_cast(state_interfaces_[interface_cnt].get_optional().value_or( + sensor_msgs::msg::BatteryState::POWER_SUPPLY_HEALTH_UNKNOWN)); + 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) + { + raw_battery_states_msg_.battery_states[i].present = + state_interfaces_[interface_cnt].get_optional().value_or(false); + interface_cnt++; + } + else + { + if ( + (!std::isnan(raw_battery_states_msg_.battery_states[i].voltage)) && + (raw_battery_states_msg_.battery_states[i].voltage != 0.0f)) + { + raw_battery_states_msg_.battery_states[i].present = true; + } + else + { + raw_battery_states_msg_.battery_states[i].present = false; + } + } + } + raw_battery_states_realtime_publisher_->try_publish(raw_battery_states_msg_); + } + + if (!params_.sensor_name.empty()) + { + sums_.voltage_sum = + static_cast(state_interfaces_[0].get_optional().value_or(kUninitializedValue)); + } + + if (battery_state_realtime_publisher_) + { + battery_state_msg_.header.stamp = time; + battery_state_msg_.voltage = sums_.voltage_sum / static_cast(batteries_.size()); + + if (counts_.temperature_cnt) + { + battery_state_msg_.temperature = + sums_.temperature_sum / static_cast(counts_.temperature_cnt); + } + if (counts_.current_cnt) + { + battery_state_msg_.current = sums_.current_sum / static_cast(counts_.current_cnt); + } + + bool has_charge_interface = false; + for (const auto & battery : params_.batteries) + { + if (params_.interfaces.batteries_map.at(battery).battery_charge) + { + has_charge_interface = true; + break; + } + } + battery_state_msg_.charge = + has_charge_interface ? sums_.charge_sum : static_cast(kUninitializedValue); + if (counts_.percentage_cnt) + { + battery_state_msg_.percentage = + sums_.percentage_sum / static_cast(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_->try_publish(battery_state_msg_); + } + + return controller_interface::return_type::OK; +} + +} // 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_parameters.yaml b/battery_state_broadcaster/src/battery_state_broadcaster_parameters.yaml new file mode 100644 index 0000000000..18c44ca042 --- /dev/null +++ b/battery_state_broadcaster/src/battery_state_broadcaster_parameters.yaml @@ -0,0 +1,120 @@ +battery_state_broadcaster: + batteries: { + type: string_array, + description: "List of batteries from which battery state interfaces will be read.", + read_only: true, + validation: { + unique<>: null + } + } + interfaces: + __map_batteries: + battery_temperature: { + type: bool, + default_value: false, + read_only: true, + description: "Whether to read battery temperature [°C] from this battery's state interface (If unmeasured NaN)." + } + battery_current: { + type: bool, + default_value: false, + read_only: true, + description: "Whether to read battery current [A] from this battery's state interface (If unmeasured NaN)." + } + battery_charge: { + type: bool, + default_value: false, + read_only: true, + description: "Whether to read battery charge [Ah] from this battery's state interface (If unmeasured NaN)." + } + battery_percentage: { + type: bool, + default_value: false, + read_only: true, + description: "Whether to read charge level [%] (0.0 to 100.0) from this battery's state interface. If unmeasured, linear percentage is calculated using the minimum_voltage and maximum_voltage parameters (if provided), otherwise NaN." + } + battery_power_supply_status: { + type: bool, + default_value: false, + read_only: true, + description: "Whether to read power supply status (e.g., Charging, Full, see https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/BatteryState.msg) from this battery's state interface. If unmeasured, status is set to unknown." + } + battery_power_supply_health: { + type: bool, + default_value: false, + read_only: true, + description: "Whether to read power supply health (e.g., Good, Overheat, see https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/BatteryState.msg) from this battery's state interface. If unmeasured, health is set to unknown." + } + battery_present: { + type: bool, + default_value: false, + read_only: true, + description: "Whether to read battery presence status (true if battery is present) from this battery's state interface. If unmeasured, the presence will be inferred from the battery voltage value (true if voltage is not NaN and not 0.0, otherwise false)." + } + __map_batteries: + 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 (see https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/BatteryState.msg). 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, + } + sensor_name: { + type: string, + default_value: "", + description: "[DEPRECATED] Sensor name of the battery. If provided, the 'voltage' state interface of this sensor will be used to populate the voltage field in the BatteryState message. If this parameter is used, the batteries and interfaces parameters are ignored.", + read_only: true, + } + design_capacity: { + type: double, + default_value: .nan, + description: "[DEPRECATED] Design capacity of the battery [Ah] for the sensor_name mode (If unmeasured NaN).", + read_only: true, + } + power_supply_technology: { + type: int, + default_value: 0, + description: "[DEPRECATED] Battery chemistry type as an enum for the sensor_name mode (see https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/BatteryState.msg). If unmeasured, the technology is set to unknown.", + read_only: true, + validation: { + bounds<>: [0, 8] + } + } 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..b0deb1d678 --- /dev/null +++ b/battery_state_broadcaster/test/battery_state_broadcaster_params.yaml @@ -0,0 +1,46 @@ +test_battery_state_broadcaster: + ros__parameters: + batteries: + - "battery0" + - "battery1" + interfaces: + battery0: + 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 + battery1: + 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 + battery0: + minimum_voltage: 0.0 + maximum_voltage: 10.0 + capacity: 12000.0 + design_capacity: 13000.0 + power_supply_technology: 3 + location: "slot0" + serial_number: "serial_device_0" + battery1: + minimum_voltage: 0.0 + maximum_voltage: 15.0 + capacity: 17000.0 + design_capacity: 18000.0 + power_supply_technology: 3 + location: "slot1" + serial_number: "serial_device_1" + +# [deprecated] do not use for new configurations +test_battery_state_broadcaster_legacy: + ros__parameters: + batteries: ["battery_state"] + battery_state: + design_capacity: 100.0 + power_supply_technology: 2 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..0af22252e1 --- /dev/null +++ b/battery_state_broadcaster/test/test_battery_state_broadcaster.cpp @@ -0,0 +1,324 @@ +// 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 legacy config +TEST_F(BatteryStateBroadcasterTest, activate_success_legacy) +{ + SetUpBatteryStateBroadcaster("test_battery_state_broadcaster_legacy"); + + ASSERT_TRUE(battery_state_broadcaster_->params_.batteries.empty()); + ASSERT_TRUE(configure_succeeds(battery_state_broadcaster_)); + + ASSERT_EQ(battery_state_broadcaster_->params_.batteries.size(), 1u); + ASSERT_EQ(battery_state_broadcaster_->params_.batteries.at(0), "battery_state"); + + auto properties = battery_state_broadcaster_->params_.batteries_map; + EXPECT_EQ(properties.at("battery_state").design_capacity, 100.0); + EXPECT_EQ(properties.at("battery_state").power_supply_technology, 2); + + ASSERT_TRUE(activate_succeeds(battery_state_broadcaster_)); +} + +// 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_.batteries.empty()); + + ASSERT_TRUE(configure_succeeds(battery_state_broadcaster_)); + + ASSERT_THAT(battery_state_broadcaster_->batteries_, testing::ElementsAreArray(battery_names_)); + + auto interface_params = battery_state_broadcaster_->params_.interfaces.batteries_map; + auto properties = battery_state_broadcaster_->params_.batteries_map; + EXPECT_EQ(interface_params.at("battery0").battery_temperature, true); + EXPECT_EQ(interface_params.at("battery0").battery_current, false); + EXPECT_EQ(interface_params.at("battery0").battery_charge, true); + EXPECT_EQ(interface_params.at("battery0").battery_percentage, false); + EXPECT_EQ(interface_params.at("battery0").battery_power_supply_status, true); + EXPECT_EQ(interface_params.at("battery0").battery_power_supply_health, true); + EXPECT_EQ(interface_params.at("battery0").battery_present, false); + + EXPECT_EQ(interface_params.at("battery1").battery_temperature, true); + EXPECT_EQ(interface_params.at("battery1").battery_current, true); + EXPECT_EQ(interface_params.at("battery1").battery_charge, true); + EXPECT_EQ(interface_params.at("battery1").battery_percentage, true); + EXPECT_EQ(interface_params.at("battery1").battery_power_supply_status, true); + EXPECT_EQ(interface_params.at("battery1").battery_power_supply_health, true); + EXPECT_EQ(interface_params.at("battery1").battery_present, false); + + EXPECT_EQ(properties.at("battery0").minimum_voltage, 0.0); + EXPECT_EQ(properties.at("battery0").maximum_voltage, 10.0); + EXPECT_EQ(properties.at("battery0").capacity, 12000.0); + EXPECT_EQ(properties.at("battery0").design_capacity, 13000.0); + EXPECT_EQ(properties.at("battery0").power_supply_technology, 3); + EXPECT_EQ(properties.at("battery0").location, "slot0"); + EXPECT_EQ(properties.at("battery0").serial_number, "serial_device_0"); + + EXPECT_EQ(properties.at("battery1").minimum_voltage, 0.0); + EXPECT_EQ(properties.at("battery1").maximum_voltage, 15.0); + EXPECT_EQ(properties.at("battery1").capacity, 17000.0); + EXPECT_EQ(properties.at("battery1").design_capacity, 18000.0); + EXPECT_EQ(properties.at("battery1").power_supply_technology, 3); + EXPECT_EQ(properties.at("battery1").location, "slot1"); + EXPECT_EQ(properties.at("battery1").serial_number, "serial_device_1"); + + // check property aggregation + EXPECT_EQ(battery_state_broadcaster_->counts_.temperature_cnt, 2); + EXPECT_EQ(battery_state_broadcaster_->counts_.current_cnt, 1); + EXPECT_EQ( + battery_state_broadcaster_->counts_.percentage_cnt, + 2); // 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) +{ + controller_interface::ControllerInterfaceParams params; + params.controller_name = "test_battery_state_broadcaster"; + params.robot_description = ""; + params.update_rate = 0; + params.node_namespace = ""; + params.node_options = battery_state_broadcaster_->define_custom_node_options(); + ASSERT_EQ(battery_state_broadcaster_->init(params), controller_interface::return_type::OK); + + ASSERT_TRUE(configure_succeeds(battery_state_broadcaster_)); + ASSERT_FALSE(activate_succeeds(battery_state_broadcaster_)); +} + +TEST_F(BatteryStateBroadcasterTest, activate_success) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_TRUE(configure_succeeds(battery_state_broadcaster_)); + ASSERT_TRUE(activate_succeeds(battery_state_broadcaster_)); +} + +TEST_F(BatteryStateBroadcasterTest, deactivate_success) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_TRUE(configure_succeeds(battery_state_broadcaster_)); + ASSERT_TRUE(activate_succeeds(battery_state_broadcaster_)); + ASSERT_TRUE(deactivate_succeeds(battery_state_broadcaster_)); +} + +TEST_F(BatteryStateBroadcasterTest, check_exported_interfaces) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_TRUE(configure_succeeds(battery_state_broadcaster_)); + + 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], "battery0/battery_voltage"); + EXPECT_EQ(state_interfaces.names[1], "battery0/battery_temperature"); + EXPECT_EQ(state_interfaces.names[2], "battery0/battery_charge"); + EXPECT_EQ(state_interfaces.names[3], "battery0/battery_power_supply_status"); + EXPECT_EQ(state_interfaces.names[4], "battery0/battery_power_supply_health"); + EXPECT_EQ(state_interfaces.names[5], "battery1/battery_voltage"); + EXPECT_EQ(state_interfaces.names[6], "battery1/battery_temperature"); + EXPECT_EQ(state_interfaces.names[7], "battery1/battery_current"); + EXPECT_EQ(state_interfaces.names[8], "battery1/battery_charge"); + EXPECT_EQ(state_interfaces.names[9], "battery1/battery_percentage"); + EXPECT_EQ(state_interfaces.names[10], "battery1/battery_power_supply_status"); + EXPECT_EQ(state_interfaces.names[11], "battery1/battery_power_supply_health"); +} + +TEST_F(BatteryStateBroadcasterTest, update_success) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_TRUE(configure_succeeds(battery_state_broadcaster_)); + ASSERT_TRUE(activate_succeeds(battery_state_broadcaster_)); + + 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_TRUE(configure_succeeds(battery_state_broadcaster_)); + ASSERT_TRUE(activate_succeeds(battery_state_broadcaster_)); + + 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); + + // battery0 + const auto & battery0 = raw_battery_states_msg.battery_states[0]; + EXPECT_EQ(battery0.header.frame_id, "battery0"); + EXPECT_DOUBLE_EQ(battery0.voltage, 5.0); + EXPECT_DOUBLE_EQ(battery0.temperature, 60.0); + EXPECT_TRUE(std::isnan(battery0.current)); // disabled in params + EXPECT_DOUBLE_EQ(battery0.charge, 6000.0); + EXPECT_DOUBLE_EQ(battery0.capacity, 12000.0); + EXPECT_DOUBLE_EQ(battery0.design_capacity, 13000.0); + // percentage calculated (no interface) = (5.0 - 0.0) * 100 / (10.0 - 0.0) = 50 + EXPECT_DOUBLE_EQ(battery0.percentage, 50.0); + EXPECT_EQ(battery0.power_supply_status, 3); // from itfs_values_[3] + EXPECT_EQ(battery0.power_supply_health, 0); // from itfs_values_[4] + EXPECT_EQ(battery0.power_supply_technology, BatteryState::POWER_SUPPLY_TECHNOLOGY_LIPO); + EXPECT_TRUE(battery0.present); // voltage > 0.0 + EXPECT_EQ(battery0.location, "slot0"); + EXPECT_EQ(battery0.serial_number, "serial_device_0"); + + // battery1 + const auto & battery1 = raw_battery_states_msg.battery_states[1]; + EXPECT_EQ(battery1.header.frame_id, "battery1"); + EXPECT_DOUBLE_EQ(battery1.voltage, 10.0); + EXPECT_DOUBLE_EQ(battery1.temperature, 80.0); + EXPECT_DOUBLE_EQ(battery1.current, 2000.0); + EXPECT_DOUBLE_EQ(battery1.charge, 5000.0); + EXPECT_DOUBLE_EQ(battery1.capacity, 17000.0); + EXPECT_DOUBLE_EQ(battery1.design_capacity, 18000.0); + EXPECT_DOUBLE_EQ(battery1.percentage, 66.0); // directly from itfs_values_[9] + EXPECT_EQ(battery1.power_supply_status, 2); // from itfs_values_[10] + EXPECT_EQ(battery1.power_supply_health, 4); // from itfs_values_[11] + EXPECT_EQ(battery1.power_supply_technology, BatteryState::POWER_SUPPLY_TECHNOLOGY_LIPO); + EXPECT_TRUE(battery1.present); // voltage > 0.0 + EXPECT_EQ(battery1.location, "slot1"); + EXPECT_EQ(battery1.serial_number, "serial_device_1"); + + // 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 battery1 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 12000 + 17000 + EXPECT_DOUBLE_EQ(battery_state_msg.design_capacity, 31000.0); // sum of 13000 + 18000 + 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, "slot0, slot1, "); + EXPECT_EQ(battery_state_msg.serial_number, "serial_device_0, serial_device_1, "); +} + +TEST_F(BatteryStateBroadcasterTest, update_broadcasted_success) +{ + SetUpBatteryStateBroadcaster(); + + ASSERT_TRUE(configure_succeeds(battery_state_broadcaster_)); + ASSERT_TRUE(activate_succeeds(battery_state_broadcaster_)); + + ASSERT_TRUE(battery0_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); + + // battery0 + const auto & battery0 = raw_battery_states_msg.battery_states[0]; + EXPECT_DOUBLE_EQ(battery0.voltage, 10.0); + // percentage calculated (no interface) = (10.0 - 0.0) * 100 / (10.0 - 0.0) = 100 + EXPECT_DOUBLE_EQ(battery0.percentage, 100.0); + EXPECT_TRUE(battery0.present); // voltage > 0.0 + + // battery1 + const auto & battery1 = raw_battery_states_msg.battery_states[1]; + EXPECT_DOUBLE_EQ(battery1.voltage, 10.0); + EXPECT_DOUBLE_EQ(battery1.percentage, 66.0); // directly from itfs_values_[9] + EXPECT_TRUE(battery1.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_TRUE(configure_succeeds(battery_state_broadcaster_)); + ASSERT_TRUE(activate_succeeds(battery_state_broadcaster_)); + + ASSERT_TRUE(battery0_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); + + // battery0 + const auto & battery0 = raw_battery_states_msg.battery_states[0]; + EXPECT_TRUE(std::isnan(battery0.voltage)); + EXPECT_TRUE(std::isnan(battery0.percentage)); + EXPECT_FALSE(battery0.present); // voltage nan + + // battery1 + const auto & battery1 = raw_battery_states_msg.battery_states[1]; + EXPECT_DOUBLE_EQ(battery1.voltage, 10.0); + EXPECT_DOUBLE_EQ(battery1.percentage, 66.0); // directly from itfs_values_[9] + EXPECT_TRUE(battery1.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..10d7f0dd78 --- /dev/null +++ b/battery_state_broadcaster/test/test_battery_state_broadcaster.hpp @@ -0,0 +1,248 @@ +// 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 + +#include "battery_state_broadcaster/battery_state_broadcaster.hpp" +#include "controller_interface/test_utils.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/parameter_value.hpp" +#include "rclcpp/time.hpp" +#include "rclcpp/utilities.hpp" +#include "rclcpp/wait_result_kind.hpp" +#include "rclcpp/wait_set.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" + +#include "control_msgs/msg/battery_state_array.hpp" +#include "sensor_msgs/msg/battery_state.hpp" + +using BatteryStateMsg = sensor_msgs::msg::BatteryState; +using RawBatteryStatesMsg = control_msgs::msg::BatteryStateArray; +using controller_interface::activate_succeeds; +using controller_interface::configure_succeeds; +using controller_interface::deactivate_succeeds; +using sensor_msgs::msg::BatteryState; +using testing::IsEmpty; +using testing::SizeIs; + +// subclassing and friending so we can access member variables +class FriendBatteryStateBroadcaster : public battery_state_broadcaster::BatteryStateBroadcaster +{ + // Re-expose base class members that the tests need. + using BatteryStateBroadcaster::batteries_; + using BatteryStateBroadcaster::counts_; + using BatteryStateBroadcaster::params_; + using BatteryStateBroadcaster::sums_; + + 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, activate_success_legacy); + FRIEND_TEST(BatteryStateBroadcasterTest, deactivate_success); + FRIEND_TEST(BatteryStateBroadcasterTest, check_exported_interfaces); + 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(); + + battery0_voltage_itf_ = + std::make_shared("battery0", "battery_voltage"); + std::ignore = battery0_voltage_itf_->set_value(itfs_values_[0]); + battery0_temperature_itf_ = + std::make_shared("battery0", "battery_temperature"); + std::ignore = battery0_temperature_itf_->set_value(itfs_values_[1]); + battery0_charge_itf_ = + std::make_shared("battery0", "battery_charge"); + std::ignore = battery0_charge_itf_->set_value(itfs_values_[2]); + battery0_status_itf_ = std::make_shared( + "battery0", "battery_power_supply_status"); + std::ignore = battery0_status_itf_->set_value(itfs_values_[3]); + battery0_health_itf_ = std::make_shared( + "battery0", "battery_power_supply_health"); + std::ignore = battery0_health_itf_->set_value(itfs_values_[4]); + + battery1_voltage_itf_ = + std::make_shared("battery1", "battery_voltage"); + std::ignore = battery1_voltage_itf_->set_value(itfs_values_[5]); + battery1_temperature_itf_ = + std::make_shared("battery1", "battery_temperature"); + std::ignore = battery1_temperature_itf_->set_value(itfs_values_[6]); + battery1_current_itf_ = + std::make_shared("battery1", "battery_current"); + std::ignore = battery1_current_itf_->set_value(itfs_values_[7]); + battery1_charge_itf_ = + std::make_shared("battery1", "battery_charge"); + std::ignore = battery1_charge_itf_->set_value(itfs_values_[8]); + battery1_percentage_itf_ = + std::make_shared("battery1", "battery_percentage"); + std::ignore = battery1_percentage_itf_->set_value(itfs_values_[9]); + battery1_status_itf_ = std::make_shared( + "battery1", "battery_power_supply_status"); + std::ignore = battery1_status_itf_->set_value(itfs_values_[10]); + battery1_health_itf_ = std::make_shared( + "battery1", "battery_power_supply_health"); + std::ignore = battery1_health_itf_->set_value(itfs_values_[11]); + } + void TearDown() { battery_state_broadcaster_.reset(nullptr); } + + void SetUpBatteryStateBroadcaster( + const std::string controller_name = "test_battery_state_broadcaster") + { + controller_interface::ControllerInterfaceParams params; + params.controller_name = controller_name; + params.robot_description = ""; + params.update_rate = 0; + params.node_namespace = ""; + params.node_options = battery_state_broadcaster_->define_custom_node_options(); + ASSERT_EQ(battery_state_broadcaster_->init(params), controller_interface::return_type::OK); + + std::vector state_ifs; + + state_ifs.emplace_back(battery0_voltage_itf_); + state_ifs.emplace_back(battery0_temperature_itf_); + state_ifs.emplace_back(battery0_charge_itf_); + state_ifs.emplace_back(battery0_status_itf_); + state_ifs.emplace_back(battery0_health_itf_); + + state_ifs.emplace_back(battery1_voltage_itf_); + state_ifs.emplace_back(battery1_temperature_itf_); + state_ifs.emplace_back(battery1_current_itf_); + state_ifs.emplace_back(battery1_charge_itf_); + state_ifs.emplace_back(battery1_percentage_itf_); + state_ifs.emplace_back(battery1_status_itf_); + state_ifs.emplace_back(battery1_health_itf_); + + battery_state_broadcaster_->assign_interfaces({}, std::move(state_ifs)); + } + +protected: + // Controller-related parameters + std::vector battery_names_ = {"battery0", "battery1"}; + std::array itfs_values_ = {{ + 5.0, // 0 battery0_voltage + 60.0, // 1 battery0_temperature + 6000.0, // 2 battery0_charge + 3.0, // 3 battery0_status + 0.0, // 4 battery0_health + 10.0, // 5 battery1_voltage + 80.0, // 6 battery1_temperature + 2000.0, // 7 battery1_current + 5000.0, // 8 battery1_charge + 66.0, // 9 battery1_percentage + 2.0, // 10 battery1_status + 4.0 // 11 battery1_health + }}; + + hardware_interface::StateInterface::SharedPtr battery0_voltage_itf_; + hardware_interface::StateInterface::SharedPtr battery0_temperature_itf_; + hardware_interface::StateInterface::SharedPtr battery0_charge_itf_; + hardware_interface::StateInterface::SharedPtr battery0_status_itf_; + hardware_interface::StateInterface::SharedPtr battery0_health_itf_; + hardware_interface::StateInterface::SharedPtr battery1_voltage_itf_; + hardware_interface::StateInterface::SharedPtr battery1_temperature_itf_; + hardware_interface::StateInterface::SharedPtr battery1_current_itf_; + hardware_interface::StateInterface::SharedPtr battery1_charge_itf_; + hardware_interface::StateInterface::SharedPtr battery1_percentage_itf_; + hardware_interface::StateInterface::SharedPtr battery1_status_itf_; + hardware_interface::StateInterface::SharedPtr battery1_health_itf_; + + // 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 + rclcpp::Node test_subscription_node("test_subscription_node"); + auto raw_battery_states_subscription = + test_subscription_node.create_subscription( + "/test_battery_state_broadcaster/raw_battery_states", 10, + [](const RawBatteryStatesMsg::SharedPtr) {}); + auto battery_state_subscription = test_subscription_node.create_subscription( + "/test_battery_state_broadcaster/battery_state", 10, [](const BatteryStateMsg::SharedPtr) {}); + + // call update to publish the test value + // since update doesn't guarantee a published message, republish until received + RawBatteryStatesMsg received_raw_battery_states_msg; + BatteryStateMsg received_battery_state_msg; + bool has_raw_battery_states_msg = false; + bool has_battery_state_msg = false; + + rclcpp::WaitSet wait_set; + wait_set.add_subscription(raw_battery_states_subscription); + wait_set.add_subscription(battery_state_subscription); + + int max_sub_check_loop_count = 100; // 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)); + + if (wait_set.wait(std::chrono::milliseconds(20)).kind() == rclcpp::WaitResultKind::Ready) + { + rclcpp::MessageInfo raw_msg_info; + rclcpp::MessageInfo battery_msg_info; + while (raw_battery_states_subscription->take(received_raw_battery_states_msg, raw_msg_info)) + { + has_raw_battery_states_msg = true; + } + while (battery_state_subscription->take(received_battery_state_msg, battery_msg_info)) + { + has_battery_state_msg = true; + } + } + + // Check if messages have been received. + if (has_raw_battery_states_msg && has_battery_state_msg) + { + break; + } + } + ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through " + "controller/broadcaster update loop"; + ASSERT_TRUE(has_raw_battery_states_msg); + ASSERT_TRUE(has_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/doc/controllers_index.rst b/doc/controllers_index.rst index cf5ddd5e2b..99c5441220 100644 --- a/doc/controllers_index.rst +++ b/doc/controllers_index.rst @@ -77,6 +77,7 @@ In the sense of ros2_control, broadcasters are still controllers using the same GPS Sensor Broadcaster <../gps_sensor_broadcaster/doc/userdoc.rst> State Interfaces Broadcaster <../state_interfaces_broadcaster/doc/userdoc.rst> Magnetometer Broadcaster <../magnetometer_broadcaster/doc/userdoc.rst> + Battery State Broadcaster <../battery_state_broadcaster/doc/userdoc.rst> Filters ********************** diff --git a/doc/release_notes.rst b/doc/release_notes.rst index a6446b2ef6..deab0808ae 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -8,6 +8,10 @@ chained_filter_controller ******************************* * The chained_filter_controller was added to use generic filter plugins (`#1634 `__). +battery_state_broadcaster +************************* +* 🚀 The battery_state_broadcaster was added 🎉 (`#1888 `_). + state_interfaces_broadcaster ********************************* * 🚀 The state_interfaces_broadcaster was added 🎉 (`#2006 `_). diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index 91745b9146..232287f3eb 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