From c21a9a5b3e0d1ab4c26997c54b3fe21e265148b5 Mon Sep 17 00:00:00 2001
From: amotaouakkil123 <adam.motaouakkil@mail.mcgill.ca>
Date: Sat, 4 May 2024 16:46:23 -0400
Subject: [PATCH 1/3] Adding the BMS package to the branch

---
 bms_feedback/.DS_Store                  | Bin 0 -> 6148 bytes
 bms_feedback/CMakeLists.txt             |  41 ++++++++++++
 bms_feedback/launch/bms_feedback.launch |   9 +++
 bms_feedback/msg/BMSData.msg            |   8 +++
 bms_feedback/package.xml                |  30 +++++++++
 bms_feedback/setup.py                   |  12 ++++
 bms_feedback/src/bms_node.py            |  80 ++++++++++++++++++++++++
 7 files changed, 180 insertions(+)
 create mode 100644 bms_feedback/.DS_Store
 create mode 100644 bms_feedback/CMakeLists.txt
 create mode 100644 bms_feedback/launch/bms_feedback.launch
 create mode 100644 bms_feedback/msg/BMSData.msg
 create mode 100644 bms_feedback/package.xml
 create mode 100644 bms_feedback/setup.py
 create mode 100644 bms_feedback/src/bms_node.py

diff --git a/bms_feedback/.DS_Store b/bms_feedback/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..e3488fadf3e40ad99292fb0416a117b602610e29
GIT binary patch
literal 6148
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diff --git a/bms_feedback/CMakeLists.txt b/bms_feedback/CMakeLists.txt
new file mode 100644
index 00000000..3879cf19
--- /dev/null
+++ b/bms_feedback/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(bms_feedback)
+
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS 
+    roscpp
+    rospy
+    std_msgs
+    message_generation
+)
+
+catkin_python_setup()
+
+add_message_files(
+  FILES
+  BMSData.msg
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+
+
+catkin_package(
+    CATKIN_DEPENDS 
+    roscpp
+    rospy 
+    std_msgs
+    LIBRARIES bms_feedback
+    CATKIN_DEPENDS message_runtime
+)
+
+catkin_install_python(PROGRAMS
+  src/bms_node.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/bms_feedback/launch/bms_feedback.launch b/bms_feedback/launch/bms_feedback.launch
new file mode 100644
index 00000000..94f91c8a
--- /dev/null
+++ b/bms_feedback/launch/bms_feedback.launch
@@ -0,0 +1,9 @@
+<launch>
+    <!-- Node for the UI -->
+    <node pkg="ui_app" type="main.py" name="ui" output="screen">
+    </node>
+
+    <!-- Node for the science embedded system --> 
+    <node pkg="rosserial_python" type="serial_node.py" name="science_embedded" args="/dev/ttyACM0" ></node>
+
+</launch>
\ No newline at end of file
diff --git a/bms_feedback/msg/BMSData.msg b/bms_feedback/msg/BMSData.msg
new file mode 100644
index 00000000..df10a5de
--- /dev/null
+++ b/bms_feedback/msg/BMSData.msg
@@ -0,0 +1,8 @@
+float32 total_voltage
+float32 current
+float32 soc_percent
+float32[] cell_voltages
+int8 charging_mosfet
+int8 discharging_mosfet
+float32 capacity_ah
+string[] error_strings
\ No newline at end of file
diff --git a/bms_feedback/package.xml b/bms_feedback/package.xml
new file mode 100644
index 00000000..24dfe05e
--- /dev/null
+++ b/bms_feedback/package.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>bms_feedback</name>
+  <version>0.0.0</version>
+  <description>The science_module package</description>
+
+  <maintainer email="vincent.boucher5@mail.mcgill.ca">Vincent Boucher</maintainer>
+
+  <license>MIT</license>
+
+  <author email="vincent.boucher5@mail.mcgill.ca">Vincent Boucher</author>
+  
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>message_generation</build_export_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <export>
+
+  </export>
+</package>
diff --git a/bms_feedback/setup.py b/bms_feedback/setup.py
new file mode 100644
index 00000000..52747cee
--- /dev/null
+++ b/bms_feedback/setup.py
@@ -0,0 +1,12 @@
+ ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+   packages=['bms_feedback'],
+   package_dir={'': 'src'},
+)
+
+setup(**setup_args)
diff --git a/bms_feedback/src/bms_node.py b/bms_feedback/src/bms_node.py
new file mode 100644
index 00000000..5b109bd2
--- /dev/null
+++ b/bms_feedback/src/bms_node.py
@@ -0,0 +1,80 @@
+import os, sys
+currentdir = os.path.dirname(os.path.realpath(__file__))
+sys.path.append(currentdir)
+import rospy
+from bms_feedback.msg import BMSData
+import dalybms
+
+class BMSNode():
+
+    def __init__(self, device = "/dev/ttyACM0") -> None:
+        
+
+        rospy.init_node("bms_feedback", anonymous=False)
+
+        self.bms_data_publisher = rospy.Publisher("bmsData", BMSData, queue_size=10)
+
+        self.device = device
+        self.bms_obj = dalybms.DalyBMS()
+        self.bms_obj.connect(self.device)
+        self.bmsData = BMSData()
+
+        self.bms_errors = []
+        self.connected = self.bms_obj.serial.is_open
+
+        self.rate = rospy.Rate(1)
+
+        self.run()
+
+    def disconnect(self) -> None:
+        self.bms_obj.disconnect()
+        self.connected = False
+
+    def connect(self) -> bool:
+        self.bms_obj.connect(self.device)
+        self.connected = self.bms_obj.serial.is_open
+        return self.connected
+    
+    def isConnected(self) -> bool:
+        return self.connected
+    
+    def run(self) -> None:
+        while not rospy.is_shutdown():
+
+            self.getBMSData()
+
+            self.bms_data_publisher.publish(self.bmsData)
+
+            self.rate.sleep()
+
+
+    def getBMSData(self):
+        cell_voltages = self.bms_obj.get_cell_voltages()
+        soc_data = self.bms_obj.get_soc()
+        mosfet_status = self.bms_obj.get_mosfet_status()
+        self.bmsData.error_strings = self.bms_obj.get_errors()
+
+        if cell_voltages:
+            self.bmsData.cell_voltages[0] = cell_voltages["1"]
+            self.bmsData.cell_voltages[1] = cell_voltages["2"]
+            self.bmsData.cell_voltages[2] = cell_voltages["3"]
+            self.bmsData.cell_voltages[3] = cell_voltages["4"]
+            self.bmsData.cell_voltages[4] = cell_voltages["5"]
+            self.bmsData.cell_voltages[5] = cell_voltages["6"]
+            self.bmsData.cell_voltages[6] = cell_voltages["7"]
+            self.bmsData.cell_voltages[7] = cell_voltages["8"]
+
+        if soc_data:
+            self.bmsData.discharging_mosfet = int(mosfet_status["discharging_mosfet"])
+            self.bmsData.charging_mosfet = int(mosfet_status["charging_mosfet"])
+            self.bmsData.capacity_ah = mosfet_status["capacity_ah"]
+
+        if mosfet_status:
+            self.bmsData.total_voltage = soc_data["total_voltage"]
+            self.bmsData.current = soc_data["current"]
+            self.bmsData.soc_percent = soc_data["soc_percent"]
+
+        
+if __name__ == "__main__":
+    driver = BMSNode()
+    rospy.spin()
\ No newline at end of file

From 5af5f4c19384f894c09aa78b14f8dfb78ed549cb Mon Sep 17 00:00:00 2001
From: amotaouakkil123 <adam.motaouakkil@mail.mcgill.ca>
Date: Sat, 4 May 2024 18:05:45 -0400
Subject: [PATCH 2/3] Created the power UI component, need to test bms

---
 .../power-page/power-page.component.html      | 10 ++--
 .../power/power-page/power-page.component.ts  | 47 +++++++------------
 .../drive-page/drive-page.component.html      |  1 +
 bms_feedback/src/bms_node.py                  |  3 +-
 4 files changed, 27 insertions(+), 34 deletions(-)

diff --git a/angular_ui_app/src/app/components/power/power-page/power-page.component.html b/angular_ui_app/src/app/components/power/power-page/power-page.component.html
index 80522f31..bf2ab887 100644
--- a/angular_ui_app/src/app/components/power/power-page/power-page.component.html
+++ b/angular_ui_app/src/app/components/power/power-page/power-page.component.html
@@ -1,3 +1,7 @@
-<p>power-page works!</p>
-<div>{{Results}}</div>
-<input type="text" [(ngModel)]=Results>
\ No newline at end of file
+<p>Power Component</p>
+<!-- Preview content before sent -->
+<p>Cell Voltage: {{cellVoltage}}</p>
+<p>Total Voltage: {{totalVoltage}}</p>
+<p>Charging Mosfet: {{chargingMosfet}}</p>
+<p>Discharging Mosfet: {{dischargingMosfet}}</p>
+<p>Error Logs: {{cellVoltage}}</p>
diff --git a/angular_ui_app/src/app/components/power/power-page/power-page.component.ts b/angular_ui_app/src/app/components/power/power-page/power-page.component.ts
index e51a9a18..5d9a9d8e 100644
--- a/angular_ui_app/src/app/components/power/power-page/power-page.component.ts
+++ b/angular_ui_app/src/app/components/power/power-page/power-page.component.ts
@@ -11,45 +11,32 @@ import { RosService } from 'src/app/ros.service';
 export class PowerPageComponent {
   rosBridgeStatus: string;
   ros: ROSLIB.Ros;
-  String: ROSLIB.Topic; //payload type
-  Pub: ROSLIB.Topic; //payload type
-  
-  Results: string;
-    
+  bmsData: ROSLIB.Topic; //payload type
+  errorLogs: string[];
+  cellVoltage: number[];
+  totalVoltage: number;
+  chargingMosfet: number;
+  dischargingMosfet: number;
+
   constructor(private rosService: RosService) {
     this.ros = this.rosService.getRos();
   }
 
   ngOnInit() {
 
-    this.String = new ROSLIB.Topic({
-      ros : this.ros,
-      name : '/chatter',
-      messageType : 'std_msgs/String'
+    this.bmsData= new ROSLIB.Topic({
+      ros: this.ros,
+      name: '/bmsData',
+      messageType: 'bms_feedback/BMSData'
     });
 
-    this.Pub = new ROSLIB.Topic({
-      ros : this.ros,
-      name : 'lol',
-      messageType : 'std_msgs/String'
+    this.bmsData.subscribe((message:any) => {
+      console.log(message.cell_voltages);
+      this.cellVoltage = message.cell_voltages;
+      this.totalVoltage = message.total_voltage;
+      this.chargingMosfet = message.charging_mosfet;
+      this.dischargingMosfet = message.discharging_mosfet;
     });
-
-    this.listen()
   }
-  
-  publish() {
-    this.Pub.publish({data:"YYOYOYY"+this.Results});
-  }
-
-  listen() {
-    this.String.subscribe((message:any) => {
-      // console.log('Received message on ' +this.listener.name + ': ' + message.y + message.x);
-      this.Results = ('Received message on ' + this.String.name +"and the message.data"+  message.data);
-      this.publish();
-    });
-    }
-
-
-  
 }
 
diff --git a/angular_ui_app/src/app/pages/drive-page/drive-page.component.html b/angular_ui_app/src/app/pages/drive-page/drive-page.component.html
index 04c7b811..ec857ea2 100644
--- a/angular_ui_app/src/app/pages/drive-page/drive-page.component.html
+++ b/angular_ui_app/src/app/pages/drive-page/drive-page.component.html
@@ -6,4 +6,5 @@
         <app-gps/>
     </div>
     <app-drive-component/>
+    <app-power-page/>
 </div>
\ No newline at end of file
diff --git a/bms_feedback/src/bms_node.py b/bms_feedback/src/bms_node.py
index 5b109bd2..d5f2aa37 100644
--- a/bms_feedback/src/bms_node.py
+++ b/bms_feedback/src/bms_node.py
@@ -18,6 +18,7 @@ def __init__(self, device = "/dev/ttyACM0") -> None:
         self.bms_obj = dalybms.DalyBMS()
         self.bms_obj.connect(self.device)
         self.bmsData = BMSData()
+        self.bmsData.cell_voltages = [0 for x in range(1000)]
 
         self.bms_errors = []
         self.connected = self.bms_obj.serial.is_open
@@ -64,6 +65,7 @@ def getBMSData(self):
             self.bmsData.cell_voltages[6] = cell_voltages["7"]
             self.bmsData.cell_voltages[7] = cell_voltages["8"]
 
+
         if soc_data:
             self.bmsData.discharging_mosfet = int(mosfet_status["discharging_mosfet"])
             self.bmsData.charging_mosfet = int(mosfet_status["charging_mosfet"])
@@ -73,7 +75,6 @@ def getBMSData(self):
             self.bmsData.total_voltage = soc_data["total_voltage"]
             self.bmsData.current = soc_data["current"]
             self.bmsData.soc_percent = soc_data["soc_percent"]
-
         
 if __name__ == "__main__":
     driver = BMSNode()

From 59619cd91db808f6af43b60839bd61dc46601eb4 Mon Sep 17 00:00:00 2001
From: amotaouakkil123 <adam.motaouakkil@mail.mcgill.ca>
Date: Mon, 6 May 2024 20:26:12 -0400
Subject: [PATCH 3/3] Power error logs and divs for later scss mods

---
 .../power-page/power-page.component.html      | 26 ++++++++++++++-----
 .../power/power-page/power-page.component.ts  |  6 ++---
 2 files changed, 22 insertions(+), 10 deletions(-)

diff --git a/angular_ui_app/src/app/components/power/power-page/power-page.component.html b/angular_ui_app/src/app/components/power/power-page/power-page.component.html
index bf2ab887..e21d744d 100644
--- a/angular_ui_app/src/app/components/power/power-page/power-page.component.html
+++ b/angular_ui_app/src/app/components/power/power-page/power-page.component.html
@@ -1,7 +1,19 @@
-<p>Power Component</p>
-<!-- Preview content before sent -->
-<p>Cell Voltage: {{cellVoltage}}</p>
-<p>Total Voltage: {{totalVoltage}}</p>
-<p>Charging Mosfet: {{chargingMosfet}}</p>
-<p>Discharging Mosfet: {{dischargingMosfet}}</p>
-<p>Error Logs: {{cellVoltage}}</p>
+<div class="power-feedback">
+    <p>Power Component</p>
+    <!-- Preview content before sent -->
+    <div class="cell-voltage">
+        <p>Cell Voltage: {{cellVoltage}}</p>
+    </div>
+    <div class="total-voltage">
+        <p>Total Voltage: {{totalVoltage}}</p>
+    </div>
+    <div class="charging-mosfet">
+        <p>Charging Mosfet: {{chargingMosfet}}</p>
+    </div>
+    <div class="discharging-mosfet">
+        <p>Discharging Mosfet: {{dischargingMosfet}}</p>
+    </div>
+    <div class="error-logs">
+        <p>Error Logs: {errorLogs}</p>
+    </div>
+</div>
\ No newline at end of file
diff --git a/angular_ui_app/src/app/components/power/power-page/power-page.component.ts b/angular_ui_app/src/app/components/power/power-page/power-page.component.ts
index 5d9a9d8e..0fa3c730 100644
--- a/angular_ui_app/src/app/components/power/power-page/power-page.component.ts
+++ b/angular_ui_app/src/app/components/power/power-page/power-page.component.ts
@@ -35,8 +35,8 @@ export class PowerPageComponent {
       this.cellVoltage = message.cell_voltages;
       this.totalVoltage = message.total_voltage;
       this.chargingMosfet = message.charging_mosfet;
-      this.dischargingMosfet = message.discharging_mosfet;
+      this.dischargingMosfet = message.discharging_logs;
+      this.errorLogs = message.error_logs;
     });
   }
-}
-
+}
\ No newline at end of file