37 lines
1.1 KiB
Python
37 lines
1.1 KiB
Python
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# power_monitor.py
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from HiwonderSDK.ros_robot_controller_sdk import Board
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import time
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from logger import get_logger
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logger = get_logger("power_monitor")
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class PowerMonitor:
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def __init__(self):
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self.board = Board()
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self.board.enable_reception()
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self.last_voltage = None
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self.last_check_time = 0
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self.cache_interval = 0.5 # seconds
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def get_voltage(self):
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now = time.time()
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if self.last_voltage is not None and now - self.last_check_time < self.cache_interval:
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return self.last_voltage # return cached value
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raw = self.board.get_battery()
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if raw is None:
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logger.warning("⚠️ Failed to read battery voltage!")
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return None
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self.last_voltage = raw / 1000.0
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self.last_check_time = now
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return self.last_voltage
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def voltage_ok(self, threshold=6.8):
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voltage = self.get_voltage()
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if voltage is None:
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return False
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if voltage < threshold:
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logger.warning(f"🔋 LOW VOLTAGE: {voltage:.2f}V! (Threshold: {threshold:.2f}V)")
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return False
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return True
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