Argo Power Control System - ROS2 Node

This package provides a ROS2 node for the Argo power control system, which manages power button functionality, LED indicators, and system health monitoring.

Features

• Power Button Control: Monitors power button presses and initiates graceful shutdown on long press
• LED Status Indicators:
  • Green LED: Heartbeat at 1Hz (normal) or 2Hz (during bagfile recording)
  • Blue LED: SOS pattern when argo nodes are down
• Node Health Monitoring: Monitors other argo nodes and triggers SOS pattern if any critical nodes die
• Bagfile Recording Detection: Increases green LED frequency to 2Hz during recording
• ROS2 Integration: Full ROS2 node with topics, services, and diagnostics

ROS2 Topics

Subscribed Topics

• /argo/recording/bagfile_status (std_msgs/Bool): Bagfile recording status

Published Topics

• /argo/power_control/led_status (std_msgs/String): LED status information
• /argo/power_control/node_health (diagnostic_msgs/DiagnosticArray): Node health diagnostics

Services

• /argo/power_control/set_led (std_srvs/SetBool): Manual LED control

Usage

Running the Node

# Normal operation
ros2 run argo_power_control argo_power_control

# Test mode (safe for testing)
ros2 run argo_power_control argo_power_control --test-mode

# With custom threshold
ros2 run argo_power_control argo_power_control --threshold 3.0

Using the Launch File

# Normal launch
ros2 launch argo_power_control argo_power_control_launch.py

# Test mode launch
ros2 launch argo_power_control argo_power_control_launch.py test_mode:=true

# Custom threshold launch
ros2 launch argo_power_control argo_power_control_launch.py threshold:=3.0

Testing LED Control

# Turn blue LED on
ros2 service call /argo/power_control/set_led std_srvs/srv/SetBool "{data: true}"

# Turn blue LED off
ros2 service call /argo/power_control/set_led std_srvs/srv/SetBool "{data: false}"

Testing Bagfile Recording Detection

# Simulate bagfile recording start
ros2 topic pub /argo/recording/bagfile_status std_msgs/msg/Bool "{data: true}"

# Simulate bagfile recording stop
ros2 topic pub /argo/recording/bagfile_status std_msgs/msg/Bool "{data: false}"

Hardware Configuration

• PI3 (Pin 40): !POW - Open drain output to control power relay
• PI9 (Pin 28): !POW_BUT - Input from power button (external pullup required)
• PH4 (Pin 18): Green LED in power button (system running indicator)
• PI1 (Pin 12): Blue LED in power button (status/warning indicator)
• Red LED: Directly connected to power button (not GPIO controlled)

LED Patterns

Green LED (Heartbeat)

• Normal Operation: 1Hz heartbeat
• Bagfile Recording: 2Hz heartbeat
• Button Press: Gradual frequency increase from 2Hz to 20Hz
• Shutdown: 1Hz with 5% duty cycle

Blue LED (Status/Warning)

• Normal Operation: Off
• Button Press: Same pattern as green LED
• SOS Pattern: Morse code SOS (··· --- ···) when argo nodes are down
• Shutdown: Same pattern as green LED

Red LED

• Note: Red LED is directly connected to power button and not GPIO controlled
• Behavior: Controlled by hardware power button circuit

Node Health Monitoring

The node monitors the following argo nodes:

• argo_navigation
• argo_sensors
• argo_actuators
• argo_communication

If any of these nodes are detected as missing, the blue LED will flash an SOS pattern until all nodes are healthy again.

Building the Package

cd /home/orangepi/argo
colcon build --packages-select argo_power_control
source install/setup.bash

Requirements

• Python 3
• ROS2 (Humble or later)
• python3-gpiod library
• User must be member of 'gpio' group
• External pullup resistor on power button input
• Proper hardware connections as described above

Safety Features

• Open drain configuration prevents damage from multiple control sources
• Graceful shutdown ensures proper system shutdown before cutting power
• GPIO pins automatically revert to input state on halt, de-energizing relay
• External pullup resistor requirement prevents floating inputs
• GPIO group membership requirement for controlled GPIO access