Source code for morse.sensors.battery

import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.sensor
import time
from morse.helpers.components import add_data, add_property

[docs]class Battery(morse.core.sensor.Sensor): """ This sensor emulates the remaining charge of a battery on the robot. It is meant to be used only as an informative measure, to be taken in consideration by the planning algorithms. It does not prevent the robot from working. The charge of the battery decreases with time, using a predefined **Discharge rate** specified as a property of the Blender object. This rate is independent of the actions performed by the robot, and only dependant on the time elapsed since the beginning of the simulation. A planned feature is to allow for designated **Charging Zones** where the battery will gradually recharge. However, this is not implemented yet. """ _name = "Battery Sensor" add_property('_discharging_rate', 0.05, 'DischargingRate', "float", "Battery discharging rate, in percent per seconds") add_data('charge', 100.0, "float", "Initial battery level, in percent") def __init__(self, obj, parent=None): """ Constructor method. Receives the reference to the Blender object. The second parameter should be the name of the object's parent. """ logger.info("%s initialization" % obj.name) # Call the constructor of the parent class super(self.__class__,self).__init__(obj, parent) self._time = time.time() logger.info('Component initialized, runs at %.2f Hz', self.frequency)
[docs] def default_action(self): """ Main function of this component. """ newtime = time.time() charge = self.local_data['charge'] dt = newtime - self._time if self.isInChargingZone() and charge < 100: charge = charge + dt * self._discharging_rate if charge > 100.0: charge = 100.0 elif charge > 0: charge = charge - dt * self._discharging_rate if charge < 0.0: charge = 0.0 # Store the data acquired by this sensor that could be sent # via a middleware. self.local_data['charge'] = float(charge) # update the current time self._time = newtime
[docs] def isInChargingZone(self): # Test if the robot (parent) is in a charging zone pose = self.position_3d # look for a charging zon in the scene # TODO for 'charging_zone' in scene: # if the robot is near the zone, return true return False