robotnikautomation/daly_bms

Python module for Daly BMS devices

daly_bms's Issues

Handle device disconnections

If device is disconnected while the node is being executed, the read thread will fail with the following error:

Node does not fail, because publisher thread is still alive. This means that the node cannot be automatically relaunched, and that it will keep publishing the last valid data.

humble missing robotnik msgs requirement

The humble version do not require robotnik messages and when running fails

Improve time_remaining calculation

time_remaining is currently computed with the last current data that the sensor read in charging mode. This is not robust enough, we should at least use a sliding window approach, or estimate it using the mean consumption value.

Ubuntu connection problem

I am trying to use the package with my Daly BMS for a mobile robot, but I am having problems with the connection. I am using Ubuntu 20.04 with ROS Humble and immediately after connecting the BMS with the UART converter provided by Daly the BMS is recognized, if I run ls /dev/ttyUSB_* I see the ttyUSB_BMS port in the list, after one or two seconds the port disappears and I can't get the information from the device. How can I solve this problem, is there something else I need to set up?

Getpackmeasurments failing

Deleted

Unable to communicate with device

This error is happening in some recent robots (THER0-230130AA and THER0-221207AA).

The node stops publishing the battery estimation apparently without logging any kind of issue.
If you try to restart the node or use the python-daly-bms cli, it fails with the following error: could not open port /dev/ttyUSB_BMS: [Errno 5] Input/output error: '/dev/ttyUSB_BMS'.

Output for cat /dev/ttyUSB0, same if you use sudo
cat: /dev/ttyUSB0: Input/output error

/robot/battery_estimator/data stops publishing. /robot/battery_estimator/state shows INIT_STATE, although I'm not sure what the process was. I tried to check the logs without success, so I don't know if the node was restarted after the issue.

It is fixed rebooting the PC or rebooting the USB devices as follows:

for port in $(lspci | grep USB | cut -d' ' -f1); do
    echo -n "0000:${port}"| sudo tee /sys/bus/pci/drivers/xhci_hcd/unbind;
    sleep 5;
    echo -n "0000:${port}" | sudo tee /sys/bus/pci/drivers/xhci_hcd/bind;
    sleep 5;
done