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dingo-cpr / dingo_robot

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Diagnostics update #2

Closed civerachb-cpr closed 3 years ago

civerachb-cpr commented 3 years ago

Keep common diagnostics configurations in one file, with Dingo-O and Dingo-D specific changes (e.g. CAN IDs for the wheels) in separate files loaded dynamically.

Refactor the diagnostic updater slightly to make voltage, temperature, and amperage warning levels easier to find & edit in future. Put a simple message in the Power Consumption topic to suppress a perceived error in robot_monitor that flags no-message as an error. (Placeholder message just says if the robot is on battery vs shore power.)

Current issues this PR does not resolve: /imu/data_raw appears to be publishing at 2x the proper rate; Lindy's user 12V supply appears to be broken, so I'm getting a consistent "check fuse" warning on that message. Otherwise everything looks OK in my testing.

civerachb-cpr commented 3 years ago

Sure. Waiting on Dana to get me those numbers, then I'll finish the merge.

civerachb-cpr commented 3 years ago

Requesting a re-review since there have been lots of changes related to cleaning up the lingering TODO's. Lithium battery implementation is untested, so that's still got TODO indicators. But otherwise I think everything should be ready to be merged.