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<!-- roslaunch buggy main.launch --> | ||
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<launch> | ||
<node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" /> | ||
<node name="watchdog" pkg="buggy" type="watchdog.py" args = "--self_name SC" /> | ||
</launch> |
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#!/usr/bin/env python3 | ||
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import argparse | ||
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import rospy | ||
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from std_msgs.msg import Bool, Int8, Float64 | ||
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class Watchdog: | ||
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STEERING_DEVIANCE = 2 #deg | ||
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def __init__(self, self_name) -> None: | ||
self.alarm = 0 #Check this alarm value | ||
""" | ||
0 - OK | ||
1 - WARNING | ||
2 - ERROR | ||
""" | ||
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self.commanded_steering = 0 | ||
self.inAutonSteer = False | ||
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rospy.Subscriber( | ||
self_name + "/buggy/input/steering", Float64, self.set_input_steering | ||
) | ||
rospy.Subscriber( | ||
self_name + "/buggy/debug/steering_angle", Float64, self.check_stepper_steering | ||
) | ||
rospy.Subscriber( | ||
self_name + "/buggy/debug/use_auton_steer", Bool, self.check_stepper_steering | ||
) | ||
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self.alarm_publisher = rospy.Publisher(self_name + "/debug/sanity_warning", Int8, queue_size=1) | ||
self.alarm_publish_rate = rospy.Rate(100) #10ms per alarm | ||
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def set_input_steering(self, msg): | ||
rospy.loginfo("Got input steering of, " + str(msg.data)) | ||
self.commanded_steering = msg.data | ||
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def set_auton_steer(self, msg): | ||
self.inAutonSteer = msg.data | ||
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def check_stepper_steering(self, msg): | ||
stepper_steer = msg.data | ||
rospy.logdebug("Firmware's reported stepper degree: " + str(stepper_steer)) | ||
if abs(stepper_steer - self.commanded_steering) > Watchdog.STEERING_DEVIANCE: | ||
self.alarm = 2 # ERROR | ||
if self.inAutonSteer: | ||
rospy.logerror("STEPPER DEVIANCE of " + str(abs(stepper_steer - self.commanded_steering))) | ||
else: | ||
rospy.logdebug("Stepper Deviance of " + str((stepper_steer - self.commanded_steering)) + " but not in auton steer") | ||
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elif abs(stepper_steer - self.commanded_steering) > Watchdog.STEERING_DEVIANCE//2: | ||
if self.inAutonSteer: | ||
rospy.logwarn("STEPPER POSSIBILY DEVIATING: " + str(abs(stepper_steer - self.commanded_steering))) | ||
else: | ||
rospy.logdebug("Not in auton, but stepper possibly deviating " + str(abs(stepper_steer - self.commanded_steering))) | ||
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def loop(self): | ||
while True: | ||
print("HERE") | ||
#publish alarm | ||
ros_alarm = Int8() | ||
ros_alarm.data = self.alarm | ||
self.alarm_publisher.publish(ros_alarm) | ||
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self.alarm_publish_rate.sleep() | ||
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if __name__ == "__main__": | ||
parser = argparse.ArgumentParser() | ||
parser.add_argument( | ||
"--self_name", type=str, help="name of ego-buggy", required=True | ||
) | ||
args, _ = parser.parse_known_args() | ||
self_name = args.self_name | ||
rospy.init_node("watchdog") | ||
print("INITIALIZED") | ||
rospy.loginfo("INITIALIZED WATCHDOG NODE") | ||
watchdog = Watchdog(self_name=self_name) | ||
watchdog.loop() | ||
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