Initial commit

sensors/wireless_charging_yichuang/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(wireless_charging_yichuang)
+
+## 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 wireless_charging_yichuang
+#  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/wireless_charging_yichuang/launch/wireless_charging.launch

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+<launch>
+  <node name="wireless_charging_yichuang" pkg="wireless_charging_yichuang" type="wireless_charging_node.py" output="screen">
+    <!-- 仅保留可能需要动态调整的参数 -->
+    <param name="port" value="/dev/ttyS1" />
+    <param name="baudrate" value="115200" />
+  </node>
+</launch>

sensors/wireless_charging_yichuang/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>wireless_charging_yichuang</name>
+  <version>0.0.0</version>
+  <description>The wireless_charging_yichuang 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/wireless_charging_yichuang/scripts/wireless_charging_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
+from rc_receiver.msg import rc
+from geometry_msgs.msg import Twist
+
+class WirelessChargingNode:
+    def __init__(self):
+        rospy.init_node('wireless_charging_yichuang', anonymous=False)
+        
+        # 获取参数
+        self.port = rospy.get_param('~port', '/dev/ttyS1')
+        self.baudrate = rospy.get_param('~baudrate', 115200)
+        self.polling_rate = rospy.get_param('~polling_rate', 10)
+        self.timeout = rospy.get_param('~timeout', 0.5)
+        
+        # 初始化串口
+        self.ser = None
+        self.init_serial()
+        
+        # 初始化订阅者
+        self.attach_result_sub = rospy.Subscriber(
+            '/attach/result', 
+            String, 
+            self.attach_result_callback
+        )
+        self.battery_state_sub = rospy.Subscriber(
+            '/sensor/battery_state', 
+            BatteryState, 
+            self.battery_state_callback
+        )
+        self.rc_contrl_sub = rospy.Subscriber(
+            '/remote_ctrl', 
+            rc, 
+            self.rc_ctrl_callback
+        )
+        self.auto_contrl_sub = rospy.Subscriber(
+            '/cmd_vel', 
+            Twist, 
+            self.auto_ctrl_callback
+        )
+        
+        # 充电状态标志（仅用于日志显示）
+        self.is_charging = False
+        self.charging_status = False
+        self.full_charge_count = 0
+        # 用于记录上次处理的消息ID，确保每次新消息都能被处理
+        self.last_attach_msg_id = None
+        self.last_battery_msg_id = None
+
+        self.car_ctrl_mode = 0
+        
+
+        self.rate = rospy.Rate(self.polling_rate)
+        rospy.loginfo("Wireless charging node initialized")
+
+    def init_serial(self):
+        """初始化串口连接"""
+        try:
+            self.ser = serial.Serial(
+                port=self.port,
+                baudrate=self.baudrate,
+                timeout=self.timeout,
+                parity='N',
+                stopbits=1,
+                bytesize=8
+            )
+            if self.ser.is_open:
+                rospy.loginfo(f"Serial port {self.port} opened successfully")
+        except serial.SerialException as e:
+            rospy.logerr(f"Failed to open serial port: {e}")
+            self.ser = None
+
+    def send_start_charging(self):
+        """发送开始充电指令"""
+        if not self.ser or not self.ser.is_open:
+            rospy.logwarn("Serial port not open, cannot send start charging command")
+            self.init_serial()  # 尝试重新初始化串口
+            return
+            
+        try:
+            # 开始充电指令
+            start_cmd = b'\x04\x06\x30\x01\x00\xB1\x17\x2B'   
+            self.ser.write(start_cmd)
+            rospy.loginfo("Sent start charging command")
+            self.is_charging = True
+        except Exception as e:
+            rospy.logerr(f"Failed to send start charging command: {e}")
+
+    def send_stop_charging(self):
+        """发送停止充电指令"""
+        if not self.ser or not self.ser.is_open:
+            rospy.logwarn("Serial port not open, cannot send stop charging command")
+            self.init_serial()  # 尝试重新初始化串口
+            return
+            
+        try:
+            # 停止充电指令
+            stop_cmd = b'\x04\x06\x30\x01\x00\xB2\x57\x2A'  
+            self.ser.write(stop_cmd)
+            rospy.loginfo("Sent stop charging command")
+            self.is_charging = False
+        except Exception as e:
+            rospy.logerr(f"Failed to send stop charging command: {e}")
+
+    def attach_result_callback(self, msg):
+        """处理/attach/result话题回调 - 每次收到"Finish"都触发"""
+        rospy.logdebug(f"Received attach result: {msg.data}")
+        
+        # 生成消息唯一标识（使用时间戳和消息内容的组合）
+        current_msg_id = f"{rospy.get_time()}-{msg.data}"
+        
+        # 检查是否为新消息且内容为"Finish"
+        if msg.data == "Finish" and current_msg_id != self.last_attach_msg_id:
+            rospy.loginfo("Received 'Finish' signal, sending start charging command")
+            self.send_start_charging()
+            time.sleep(0.1)
+            self.send_start_charging()
+            time.sleep(0.1)
+            self.send_start_charging()
+            # 更新最后处理的消息ID
+            self.last_attach_msg_id = current_msg_id
+
+
+    def rc_ctrl_callback(self, msg):
+        """/remote_ctrl接收到yundong指令发送停充指令"""
+        self.car_ctrl_mode = msg.control_mode
+        if (msg.linear_x <= -0.01 or msg.linear_x >= 0.01) and self.charging_status == True and self.car_ctrl_mode == 1:
+                rospy.loginfo("Received 'back' command, sending stop charging command")
+                self.send_stop_charging()
+
+    def auto_ctrl_callback(self, msg):
+        """/remote_ctrl接收到yundong指令发送停充指令"""
+        if (msg.linear.x <= -0.01 or msg.linear.x >= 0.01) and self.charging_status == True and self.car_ctrl_mode == 0:
+                rospy.loginfo("Received 'back' command, sending stop charging command")
+                self.send_stop_charging()
+
+
+    def battery_state_callback(self, msg):
+        """处理/sensor/battery_state话题回调 - 满电一段时间发送停充指令"""
+        rospy.logdebug(f"Battery percentage: {msg.percentage}")
+        
+        # 生成消息唯一标识
+        current_msg_id = f"{rospy.get_time()}-{msg.percentage}"
+        
+        # 检查是否为新消息且电量达到100%
+        if msg.percentage == 100.0 and current_msg_id != self.last_battery_msg_id:
+            self.full_charge_count += 1
+            if self.full_charge_count >= 25:
+            	rospy.loginfo(f"Battery fully charged ({msg.percentage}%), sending stop charging command")
+            	self.send_stop_charging()
+            	self.full_charge_count = 0
+            # 更新最后处理的消息ID
+            self.last_battery_msg_id = current_msg_id
+        if msg.percentage < 100.0:
+            self.full_charge_count = 0
+        if msg.power_supply_status == 1:
+            self.charging_status = True
+        else:
+            self.charging_status = False
+
+    def run(self):
+        while not rospy.is_shutdown():
+            try:
+                if self.ser and self.ser.is_open:
+                    self.ser.flushInput()
+            except Exception as e:
+                rospy.logerr(f"Error in main loop: {e}")
+            
+            self.rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        node = WirelessChargingNode()
+        node.run()
+    except rospy.ROSInterruptException:
+        pass
+    finally:
+        try:
+            if 'node' in locals() and hasattr(node, 'ser') and node.ser and node.ser.is_open:
+                node.ser.close()
+                rospy.loginfo("WirelessCharging serial port closed")
+        except Exception as e:
+            rospy.logerr(f"Error closing serial port: {e}")
+