Initial commit

sensors/bms_driver_mingnuo/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(bms_driver_mingnuo)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  serial
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES bms_driver_mingnuo
+#  CATKIN_DEPENDS rospy serial
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/bms_driver_mingnuo.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/bms_driver_mingnuo_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_bms_driver_mingnuo.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

sensors/bms_driver_mingnuo/launch/bms_driver.launch

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+<launch>
+  <node name="bms_driver_mingnuo" pkg="bms_driver_mingnuo" type="bms_driver_node.py" output="screen">
+    <!-- 仅保留可能需要动态调整的参数 -->
+    <param name="port" value="/dev/ttyS2" />
+    <param name="baudrate" value="9600" />
+  </node>
+</launch>

sensors/bms_driver_mingnuo/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>bms_driver_mingnuo</name>
+  <version>0.0.0</version>
+  <description>The bms_driver_mingnuo package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="dreamdeck@todo.todo">dreamdeck</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/bms_driver_mingnuo</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>serial</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>serial</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>serial</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

sensors/bms_driver_mingnuo/readme.md

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+/sensor/battery_state话题格式解析
+
+---
+header: 
+seq: 527
+stamp: 
+secs: 0
+nsecs:         0
+frame_id: ''
+voltage: 53.79999923706055  		  #电池电压V
+temperature: 0.0                  #电池温度℃
+current: 0.0						          #电池电流A
+charge: 0.0
+capacity: 0.0
+design_capacity: 0.0
+percentage: 100.0            			#电池电量百分比
+power_supply_status: 0   			    #充电状态      1：在充电       0：未在充电
+power_supply_health: 0   			    #报警信息1     0：表示正常     非0：有报警
+power_supply_technology: 0    	  #报警信息2	   0：表示正常     非0：有报警
+present: False                    
+cell_voltage: []
+cell_temperature: []
+location: ''
+serial_number: ''
+---
+
+
+
+报警信息1    power_supply_health  8位数据解析
+二进制位  	描述    						地址
+D0			  0表示正常					    0
+D1			  1表示故障					    1
+D2			  1表示充电过流				  2
+D3			  1表示放电过流				  3
+D4			  1表示短路保护				  4
+D5			  1表示充电高温保护			 5
+D6			  1表示放电高温保护			6
+D7			  1表示充电低温保护			7
+
+
+报警信息2    power_supply_technology  8位数据解析
+二进制位  	描述    						  地址
+D0			  1表示放电低温保护			  0
+D1			  1表示充电 MOS 损坏			1
+D2			  1表示放电 MOS 损坏			2
+D3			  1表示内部通讯异常			  3
+D4			  1表示过充电压保护			  4
+D5			  1表示过放电压保护			  5
+D6										          6
+D7			      							    7
+
+

sensors/bms_driver_mingnuo/scripts/bms_driver_node.py

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+#!/usr/bin/env python3
+import rospy
+import serial
+import binascii
+import time
+from std_msgs.msg import String
+from sensor_msgs.msg import BatteryState
+
+class BMSDriverNode:
+    def __init__(self):
+        rospy.init_node('bms_driver_mingnuo', anonymous=False)
+        
+        self.port = rospy.get_param('~port', '/dev/ttyUSB0')
+        self.baudrate = rospy.get_param('~baudrate', 9600)
+        
+        self.timeout = 0.5
+        self.battery_cmd = b'\x01\x03\x00\x00\x00\x1E\xC5\xC2'  # 电量查询指令
+        self.alarm_cmd = b'\x01\x01\x00\x00\x00\x34\x3D\xDD'     # 报警查询指令
+        self.polling_rate = 1.0
+        
+        try:
+            self.ser = serial.Serial(
+                port=self.port,
+                baudrate=self.baudrate,
+                timeout=self.timeout,
+                parity='N',
+                stopbits=1,
+                bytesize=8
+            )
+            rospy.loginfo(f"Successfully connected to BMS: {self.port} @ {self.baudrate}bps")
+        except serial.SerialException as e:
+            rospy.logerr(f"Failed to connect to BMS: {e}")
+            raise
+        
+        # 初始化全局消息对象
+        self.global_msg = BatteryState()
+        self.battery_pub = rospy.Publisher('/sensor/battery_state', BatteryState, queue_size=10)
+        self.rate = rospy.Rate(self.polling_rate)
+
+    def update_battery_data(self, hex_data):
+        """更新全局消息中的电池数据"""
+        try:
+            # if len(hex_data) < 65:
+            #     rospy.logwarn(f"Battery response frame too short: {hex_data.hex()}")
+            #     return False
+            
+            # if hex_data[0] != 0x01 or hex_data[1] != 0x03 or hex_data[2] != 0x3C:
+            #     rospy.logwarn(f"Battery response frame format error: {hex_data.hex()}")
+            #     return False
+            
+            # 更新电池数据
+            self.global_msg.header.stamp = rospy.Time.now()
+            self.global_msg.voltage = ((hex_data[3] << 8) | hex_data[4]) / 100.0
+            self.global_msg.percentage = ((hex_data[7] << 8) | hex_data[8])
+            
+            unsigned_value = (hex_data[13] << 8) | hex_data[14]
+	    # 转换为16位有符号整数
+            if unsigned_value & 0x8000: 
+               signed_value = unsigned_value - 0x10000  
+            else:
+               signed_value = unsigned_value  # 正数直接使用
+	    
+            self.global_msg.current = signed_value / 100.0
+           
+            self.global_msg.power_supply_status = 1 if self.global_msg.current > 0.5 else 0
+            self.global_msg.present = True
+            self.global_msg.temperature = (hex_data[61] << 8) | hex_data[62]
+            
+            return True
+        except Exception as e:
+            rospy.loginfo(f"Error updating battery data: {e}")
+            return False
+
+    def update_alarm_data(self, hex_data):
+        """更新全局消息中的报警数据"""
+        try:
+            # if len(hex_data) < 12:
+            #     rospy.logwarn(f"Alarm response frame too short: {hex_data.hex()}")
+            #     return False
+            
+            # if hex_data[0] != 0x01 or hex_data[1] != 0x01 or hex_data[2] != 0x07:
+            #     rospy.logwarn(f"Alarm response frame format error: {hex_data.hex()}")
+            #     return False
+            
+            # 更新报警数据
+            self.global_msg.header.stamp = rospy.Time.now()
+            
+            alarm_code1 = hex_data[3]
+            self.global_msg.power_supply_health = alarm_code1
+            
+            if ((hex_data[7] == 0) and (hex_data[8] == 0) and (hex_data[9] == 0)):
+                alarm_code_over_discharge_voltage = 0
+            else:
+                alarm_code_over_discharge_voltage = 1
+            
+            if ((hex_data[6] == 0) and (hex_data[5] == 0) and (hex_data[4] < 16)):
+                alarm_code_over_charge_voltage = 0
+            else:
+                alarm_code_over_charge_voltage = 1
+            
+            self.global_msg.power_supply_technology = (hex_data[4] & 0xF) | (alarm_code_over_charge_voltage << 4) | (alarm_code_over_discharge_voltage << 5)
+            return True
+        except Exception as e:
+            rospy.loginfo(f"Error updating alarm data: {e}")
+            return False
+
+    def receive_and_update(self):
+        """接收数据并更新全局消息"""
+        data = self.ser.read_all()
+        if not data:
+            return False, "No data"
+        
+        # 判断是否为电量响应
+        if data[0] == 0x01 and data[1] == 0x03 and data[2] == 0x3C:
+            success = self.update_battery_data(data)
+            return success, "Battery data updated"
+        
+        # 判断是否为报警响应
+        elif data[0] == 0x01 and data[1] == 0x01 and data[2] == 0x07:
+            success = self.update_alarm_data(data)
+            return success, "Alarm data updated"
+        
+        # 不符合任何类型
+        else:
+            rospy.loginfo(f"Unknown response frame: {data.hex()}")
+            return False, "Unknown frame"
+
+    def run(self):
+        while not rospy.is_shutdown():
+            try:
+                # 1. 发送电量指令并更新
+                self.ser.flushInput()
+                self.ser.write(self.battery_cmd)
+                rospy.logdebug(f"Sent battery command: {binascii.hexlify(self.battery_cmd).decode().upper()}")
+                time.sleep(0.19)
+                
+                battery_success, battery_msg = self.receive_and_update()
+                if battery_success:
+                    self.battery_pub.publish(self.global_msg)
+                    # rospy.loginfo(f"Battery state updated: Voltage={self.global_msg.voltage:.2f}V, SOC={self.global_msg.percentage:.1f}%, Current={self.global_msg.current:.2f}A")
+                else:
+                    rospy.loginfo(f"Battery update failed: {battery_msg}")
+                
+                time.sleep(0.2)
+
+                # 2. 发送报警指令并更新
+                self.ser.flushInput()
+                self.ser.write(self.alarm_cmd)
+                rospy.logdebug(f"Sent alarm command: {binascii.hexlify(self.alarm_cmd).decode().upper()}")
+                time.sleep(0.08)
+                
+                alarm_success, alarm_msg = self.receive_and_update()
+                if alarm_success:
+                    self.battery_pub.publish(self.global_msg)
+                    # rospy.loginfo(f"Alarm state updated: Health={self.global_msg.power_supply_health}")
+                else:
+                    rospy.loginfo(f"Alarm update failed: {alarm_msg}")
+
+            except Exception as e:
+                rospy.logerr(f"Communication error: {e}")
+            
+            self.rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        node = BMSDriverNode()
+        node.run()
+    except rospy.ROSInterruptException:
+        pass
+    finally:
+        if 'node' in locals() and hasattr(node, 'ser') and node.ser.is_open:
+            node.ser.close()
+            rospy.loginfo("BMS serial port closed")