updates

config/daveData.json

@@ -0,0 +1 @@
+{"lastDocking": "---- Docking 0 completed  at 0.0 v after 0.0 h playtime", "chargeCycles": 0, "lastDismount": "---- Dismount 0 at 0.0 v after 0.0 h recharge", "dockingState": 0, "chargingState": 0, "lastDismountTime": "YYYY-MM-DD HH:MM:SS", "lastRechargeDuration": "0.0", "newBatteryDate": "2021-06-21", "newBatteryAtDocking": "0", "newBatteryAtLifeHours": "0.0", "newBatteryDesc": "Original GoPiGo3/TalentCell 12v 3000mAh", "lastDockingTime": "YYYY-MM-DD HH:MM:SS", "lastPlaytimeDuration": "0.0"}

plib/battery.py

@@ -5,6 +5,8 @@
 # PURPOSE:  Central facts and methods for the ModRobotics/TalentCell YB1203000 Li-Ion Battery Pack
 #           12.6v to 9v 3A "3000mAh" Battery Pack
 #
+# Update:
+#    2024-04: Added Battery class which uses INA219 current and voltage sensor
 
 import sys
 sys.path.insert(1,"/home/pi/GoPi5Go/plib/")
@@ -14,28 +16,28 @@
 import numpy as np
 import time
 import statistics
+import daveDataJson
+import ina219
+
 
 CHARGING_ADJUST_V = 0.2    # When charging the GoPiGo3 reading is closer to the actual battery voltage
-REV_PROTECT_DIODE = 0.76    # The GoPiGo3 has a reverse polarity protection diode drop of 0.6v to 0.8v (n=2)
+REV_PROTECT_DIODE = 0.7    # The GoPiGo3 has a reverse polarity protection diode drop of 0.6v to 0.8v (n=2)
                             # This value results in average readings vs battery voltage error of +/- 0.03
-SAFETY_SHUTDOWN_vBatt = 9.75   # Battery Discharge Protection Circuit allows down to 8.2v or so (9.75 leaves 5-15m reserve)
+SAFETY_SHUTDOWN_vBatt = 9.75   # Battery Discharge Protection Circuit allows down to 8.2v or so (9.75 leaves 5-12m reserve)
 SAFETY_SHUTDOWN_vReading = SAFETY_SHUTDOWN_vBatt - REV_PROTECT_DIODE   # 8.5v EasyGoPiGo3.volt() reading
-WARNING_LOW_vBatt = 10.25       # Give (~15 minutes) Advance Warning before safety shutdown
-
-# 2024-3-24 Data 
-# VOLTAGE_POINTS = \
-#     [8.21, 9.489, 9.643, 9.754, 9.934, 9.969, 10.011, 10.08, 10.157, 10.243, 10.303, 10.39, 10.474, 10.594, 10.731, 10.885, 10.945, 11.108, 11.348, 11.44, 11.605, 12.4]
+WARNING_LOW_vBatt = 10.0       # Give (~15 minutes) Advance Warning before safety shutdown
 
+# egpg.volt() Data points
 # 2024-4-2 Data  4h19m 12.5v to 8.91v at cutoff - To Cutoff: 9.84v = 5m, 10.15v = 5% 13m, 10.29v = 10% 26m, 10.32v = 12% 20m
 VOLTAGE_POINTS = \
-    [8.91, 10.15, 10.29, 10.42, 10.56, 10.64,  10.69, 10.75,  10.81,  10.87,   10.9,  11.0,  11.14,  11.31,  11.42,  11.56,  11.68,  11.87,   12.0, 12.13,  12.36, 12.5]
+    [8.5, 10.15, 10.29, 10.42, 10.56, 10.64,  10.69, 10.75,  10.81,  10.87,   10.9,  11.0,  11.14,  11.31,  11.42,  11.56,  11.68,  11.87,   12.0, 12.13,  12.36, 12.5]
 BATTERY_REMAINING = \
-    [0.0,   0.05,  0.10,  0.15,  0.20,  0.25,   0.30,  0.35,   0.40,   0.45,   0.50,  0.55,   0.60,   0.65,   0.70,   0.75,   0.80,   0.85,   0.90,  0.95,   0.99, 1.00]
+    [0.0,   0.05,  0.10,  0.15,  0.20,  0.25,   0.30,  0.35,   0.40,   0.45,   0.50,  0.55,   0.60,   0.65,   0.70,   0.75,   0.80,   0.85,   0.90,  0.95,   0.99,  1.00]
 
 def pctRemaining_from_vBatt(vBatt):
       FULL_CHARGE = 1.0
-      PROTECTION_CUTOFF = 8.21
-      pctRemaining = np.interp(vBatt,VOLTAGE_POINTS,BATTERY_REMAINING, left=FULL_CHARGE, right=PROTECTION_CUTOFF)
+      PROTECTION_CUTOFF = 0.0
+      pctRemaining = np.interp(vBatt,VOLTAGE_POINTS,BATTERY_REMAINING, right=FULL_CHARGE, left=PROTECTION_CUTOFF)
       return pctRemaining
 
 def vBatt_vReading(egpg):
@@ -46,7 +48,8 @@ def vBatt_vReading(egpg):
           str_to_log="Exception "+type(e).__name__+": "+str(e)+" vReading:{:.2f}".format(vReading)+" continuing"
           print(str_to_log)
           lifeLog.logger.info(str_to_log)
-      if (vReading > 11.7):
+      chargingState = daveDataJson.getData('chargingState')
+      if (chargingState == "charging"):
           # charging
           vBatt = vReading + REV_PROTECT_DIODE - CHARGING_ADJUST_V
           # print("charging")
@@ -57,7 +60,7 @@ def vBatt_vReading(egpg):
 def voltages_string(egpg):
         vBatt, vReading = vBatt_vReading(egpg)
         pctRemaining = pctRemaining_from_vBatt(vBatt)*100.0
-        return "Current Battery {:.1f}v  {:.0f}%  (Reading {:.2f}v)".format(vBatt,pctRemaining,vReading)
+        return "Current Battery {:.1f}v  {:.1f}%  (Reading {:.2f}v)".format(vBatt,pctRemaining,vReading)
 
 def too_low(egpg):
 	vBatt, _ = vBatt_vReading(egpg)
@@ -83,11 +86,83 @@ def pctRemaining(egpg):
     return(pctRemaining_from_vBatt(aveBatteryV(egpg)))
 
 
+class Battery:
+    """Class containing TalentCell YB1203000 parameters and methods"""
+    ina = None   # INA219 class instance
+    SHUNT_OHMS = 0.1
+    MAX_EXPECTED_AMPS = 2.0
+
+    def __init__(self):
+        self.ina = ina219.INA219(self.SHUNT_OHMS, self.MAX_EXPECTED_AMPS,log_level=None)
+        self.ina.configure(self.ina.RANGE_16V, bus_adc=self.ina.ADC_128SAMP,shunt_adc=self.ina.ADC_128SAMP)
+
+    def ave_voltage(self):
+        vlist = []
+        for i in range(3):
+            vBatt = self.ina.voltage()
+            vlist += [vBatt]
+            time.sleep(0.01)  # cannot be faster than 0.005
+        return statistics.mean(vlist)
+
+    def ave_current(self):
+        clist = []
+        for i in range(3):
+            cBatt = self.ina.current()
+            clist += [cBatt]
+            time.sleep(0.01)  # cannot be faster than 0.005
+        return statistics.mean(clist)
+
+    def ave_power(self):
+        plist = []
+        for i in range(3):
+            pBatt = self.ina.power()
+            plist += [pBatt]
+            time.sleep(0.01)  # cannot be faster than 0.005
+        return statistics.mean(plist)/1000.0
+
+    def pctRemaining(self):
+        # ina219.voltage() Data points
+        # 2024-4-2 Data  4h19m 12.5v to 8.91v at cutoff - To Cutoff: 9.84v = 5m, 10.15v = 5% 13m, 10.29v = 10% 26m, 10.32v = 12% 20m
+        VOLTAGE_POINTS = \
+            [8.5,   9.74,  9.88, 10.04, 10.16, 10.22,  10.25, 10.26,  10.38,  10.43,  10.46, 11.53,  11.59,  10.69,  10.79,  10.89,  11.00,  11.17,  11.29, 11.44,  11.53, 11.55]
+        BATTERY_REMAINING = \
+            [0.0,   0.05,  0.10,  0.15,  0.20,  0.25,   0.30,  0.35,   0.40,   0.45,   0.50,  0.55,   0.60,   0.65,   0.70,   0.75,   0.80,   0.85,   0.90,  0.95,   0.99,  1.00]
+
+        FULL_CHARGE = 1.0
+        PROTECTION_CUTOFF = 0.0
+        vBatt = self.ave_voltage()
+        pctRemaining = np.interp(vBatt,VOLTAGE_POINTS,BATTERY_REMAINING, right=FULL_CHARGE, left=PROTECTION_CUTOFF) * 100
+        return pctRemaining
+
+    def too_low(self):
+        vBatt = self.ave_voltage()
+        return vBatt < SAFETY_SHUTDOWN_vBatt
+
+    def on_last_leg(self):
+        vBatt = self.ave_voltage()
+        return vBatt < WARNING_LOW_vBatt
+
+
+    def status_string(self):
+        vBatt = self.ave_voltage()
+        cBatt = self.ave_current()
+        rBatt = self.pctRemaining()
+        pBatt = self.ave_power()
+        return "Current Battery {:.2f}v  {:.1f}% Load: {:.0f}mA {:.1f}W".format(vBatt,rBatt,cBatt,pBatt)
+
+
+
+
+
 
 def testMain():
 	egpg = EasyGoPiGo3(use_mutex=True, noinit=True)
 	print(voltages_string(egpg))  
-	print("Battery Remaining: {:.0f}% at 10.15v".format(pctRemaining_from_vBatt(10.15)*100 ))
-	print("Battery Percent Remaining: {:.0f}%".format(pctRemaining(egpg)*100 ))
+	print("Battery Remaining: {:.0f}% at 10.0v".format(pctRemaining_from_vBatt(10.0)*100 ))
+	print("Battery Remaining: {:.0f}% at 9.75v".format(pctRemaining_from_vBatt(9.75)*100 ))
+	print("Battery Percent Remaining now: {:.0f}%".format(pctRemaining(egpg)*100 ))
+
+	batt = Battery()
+	print(batt.status_string())
 
 if __name__ == '__main__': testMain()

plib/daveDataJson.py

@@ -0,0 +1,164 @@
+#!/usr/bin/env python3
+
+# file:  daveDataJson.py
+#
+# Serialize data values to /home/pi/GoPi5Go/daveData.json
+# (running ./daveDataJson.py will create the file)
+#
+# Methods:
+#    saveData(dataname, datavalue, logit=False)   # adds datanaem:datavalue to rosbotData.json file
+#    getData(dataname=None)      # either returns dictionary with all values, or just value of passed name
+#    delData(dataname)           # delete item from rosbotData.json
+#    printData()                 # prints contents of rosbotData.json
+#
+
+"""
+Example from Carl:
+   lastDocking  :  ---- Docking 4573 completed  at 8.1 v after 2.6 h playtime
+   chargeCycles  :  4573
+   lastDismount  :  ---- Dismount 4573 at 10.9 v after 2.5 h recharge
+   dockingState  :  1
+   chargingState  :  1
+   chargeConditioning  :  0
+   lastDismountTime  :  2024-04-15 06:47:03
+   lastRechargeDuration  :  2.5
+   newBatterySetDate  :  2023-03-21
+   newBatterySetAtDocking  :  3652
+   newBatterySetAtLifeHours  :  36810.9
+   newBatterySetDesc  :  8x Eneloop White 2000 mAh NiMH AA cells
+   lastDockingTime  :  2024-04-15 04:15:21
+   lastPlaytimeDuration  :  2.6
+
+"""
+import sys
+sys.path.insert(1,'/home/pi/GoPi5Go/plib')
+
+import json
+import threading
+# import runLog
+DATA_FILE = '/home/pi/GoPi5Go/daveData.json'
+
+DataLock = threading.Lock()       # with DataLock: any operation to make syncronous
+
+def saveData(dataname, datavalue, logit=False):
+
+
+    # print("-- saveData({},{}) called".format(dataname, datavalue))
+    with DataLock:         # prevents two different saveData() at same time
+        lData = {}
+        # print("got lock")
+        try:
+
+            lData = getData()   # lock assures no one changes this till we are done
+            if lData == None:
+                lData = {}
+            # print("   Data:", lData)
+            lData[dataname] = datavalue
+            # print("   lData:",lData)
+
+            with open(DATA_FILE, 'w') as outfile:
+                json.dump( lData, outfile )
+            # print("   Data.json updated")
+            if logit: runLog.logger.info("** Data '{}' = {} updated **".format(dataname, datavalue))
+        except:
+            # print("   saveData failed")
+            return False
+
+        return True
+
+def delData(dataname):
+    # print("-- delData({}) called".format(dataname))
+
+    with DataLock:
+        lData = {}
+        try:
+
+            lData = getData()
+            if lData == None:
+               lData = ()
+            # print("   Data:", lData)
+            if dataname in lData: 
+                del lData[dataname]
+                # print("   lData:", lData)
+
+                with open(DATA_FILE, 'w') as outfile:
+                    json.dump( lData, outfile )
+                # print("   Data.json updated")
+            # else:   print("   {} not found in Data".format(dataname))
+        except:
+            # print("   delData{} failed".dataname)
+            return False
+
+        return True
+
+
+def getData(dataname=None):
+
+
+    # print("-- getData({}) called".format(dataname))
+
+    try:
+        with open(DATA_FILE, 'r') as infile:
+            lData = json.load(infile)
+            if (dataname == None):
+                return lData
+            else:
+                return lData[dataname]
+    except:
+        # print("   getData() exception")
+        return None
+
+def printData():
+    print("daveData.json contents:")
+    lData = getData()
+    if lData != None:
+        for i in lData:
+            print("  ",i," : ",lData[i])
+    else:
+        print("daveData.json contains no data")
+
+def main():
+
+    print("** Starting main()")
+
+    printData()
+
+    lData = getData()
+    print("    daveData: ",lData)
+
+    chargeCycles = 1
+
+    if (saveData('chargeCycles', chargeCycles) == True):
+        print('   Saved chargeCycles: {}'.format(chargeCycles))
+    else:
+        print("   saveData('chargeCycles') failed")
+
+    lData = getData()
+    print("    daveData: ",lData)
+
+
+    chargeCycles = int(getData('chargeCycles'))
+    chargeCycles += 1
+
+    if (saveData('chargeCycles', chargeCycles) == True):
+        print('   Saved chargeCycles: {}'.format(chargeCycles))
+    else:
+        print("   saveData('chargeCycles') failed")
+
+
+    if 'chargeCycles' in lData:
+        print("removing chargeCycles from daveData.json")
+        delData('chargeCycles')
+
+    if (saveData('nothing',"not important" ) == True):
+        print('   Saved nothing: {}'.format("not important"))
+    else:
+        print("   saveData('nothing') failed")
+
+    lData = getData()
+    print("   Data: ",lData)
+
+
+if __name__ == "__main__": 
+    main()
+

systests/docking/test_daveData.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+
+import sys
+sys.path.insert(1,'/home/pi/GoPi5Go/plib')
+import daveDataJson
+
+
+
+try:
+    chargeCycles = int(daveDataJson.getData('chargeCycles'))
+    chargeCycles += 1
+except:
+    chargeCycles = 0
+
+
+if (daveDataJson.saveData('chargeCycles', chargeCycles) == True):
+        print('   Saved chargeCycles: {}'.format(chargeCycles))
+else:
+        print("   saveData('chargeCycles') failed")
+

utils/print_daveDataJson.py

@@ -0,0 +1,13 @@
+#!/usr/bin/env  python3
+
+import sys
+sys.path.insert(1,"/home/pi/GoPi5Go/plib")
+
+import daveDataJson
+
+# print("daveDataJson contents:")
+# lcarlData = carlDataJson.getCarlData()
+# for i in lcarlData:
+#     print("  ",i," : ",lcarlData[i])
+
+daveDataJson.printData()

utils/totallife.sh

@@ -9,6 +9,8 @@
 #   Sessions:            "- boot -"              ( "\- boot \-" search string )
 #   Safety shutdowns:    "SAFETY SHUTDOWN"
 
+declare -i newBatteryAtCycle=416
+
 echo "(Cleaning life.log first)"
 /home/pi/GoPi5Go/plib/cleanlifelog.py
 echo " "
@@ -19,11 +21,19 @@ ofn='/home/pi/GoPi5Go/logs/odometer.log'
 totalAwake=`(awk -F'execution:' '{sum+=$2}END{print sum;}' $fn)`
 totalNaps=`(awk -F'nap for' '{sum+=$2}END{print sum;}' $fn)`
 totalLife=`(echo "scale=1; ($totalAwake + $totalNaps)" | bc)`
+lastDockingStr=`(grep "h playtime" $fn | tail -1)`
+totalDockings=`(awk -F"Docking " '{sub(/ .*/,"",$2);print $2}' <<< $lastDockingStr)`
+currentBattCycles=`(echo "scale=1; $totalDockings - $newBatteryAtCycle" | bc)`
+
 echo "*** GoPi5Go Dave TOTAL LIFE STATISTICS ***"
 echo "Total Awake:  " $totalAwake " hrs"
 echo "Total Naps:    " $totalNaps " hrs"
 echo "Total Life:   " $totalLife " hrs (since Mar 17, 2024)"
-echo "Playtimes (Undocked-Docked):" `(grep -c " Docking: success " $fn)`
+echo "GoPi5Go-Dave Playtimes (Undocked-Docked):" `(grep -c ": success" $fn)`
+echo "Total Dockings: " $totalDockings
+echo "New Batteries At Cycle:" $newBatteryAtCycle
+echo "Battery At Cycle: " $currentBattCycles
+
 # last5playtimes=`(grep " hrs playtime " $fn | tail -5 | awk -F" after "  '{sum+=$2}END{print sum;}' )`
 # last5avePlaytime=`(echo "scale=1; $last5playtimes / 5" | bc)`
 # echo "Average playtime (last five)" $last5avePlaytime "hrs "