laptop_battery.py 文件源码

def _check_battery_state(_battery_acpi_path):
    """
    @return LaptopChargeStatus
    """
    o = slerp(_battery_acpi_path+'/state')

    batt_info = yaml.load(o)

    rv = LaptopChargeStatus()

    state = batt_info.get('charging state', 'discharging')
    rv.charge_state = state_to_val.get(state, 0)
    rv.rate     = _strip_A(batt_info.get('present rate',        '-1 mA'))
    if rv.charge_state == LaptopChargeStatus.DISCHARGING:
        rv.rate = math.copysign(rv.rate, -1) # Need to set discharging rate to negative

    rv.charge   = _strip_Ah(batt_info.get('remaining capacity', '-1 mAh'))
    rv.voltage  = _strip_V(batt_info.get('present voltage',     '-1 mV'))
    rv.present  = batt_info.get('present', False)

    rv.header.stamp = rospy.get_rostime()

    return rv