ChargerManager Packet (Single-Direction, Firmware → ROS driver)¶
This packet is generated by the Main Controller firmware and reports the current charging status.
This packet is transmitted from the firmware to the ROS driver via UDP port 49168 at 100 ms intervals.
Parameters¶
- CHARGER_SUPPORT
This parameter specifies the type of charging method supported by the robot.
TheCHARGER_SUPPORTis unsigned char value.
| Value | Name | Description |
|---|---|---|
| 0 | WIRED_ONLY | Indicates that the robot supports wired charging only. |
| 1 | RESERVED | Reserved. Not in use |
| 2 | CONTACT_AND_WIRED | Indicates that the robot supports both wired and contact charging. |
- CHARGING_TYPE
This parameter specifies which type of charger is connected in charging status.
TheCHARGING_TYPEis unsigned char value.
| Value | Name | Description |
|---|---|---|
| 0 | NOT_CONNECTED | Indicates that no charger is connected. |
| 1 | WIRED_CHARGER | Indicates that a wired charger is connected. |
| 2 | CONTACT_CHARGER | Indicates that a contact charger is connected. |
- CHARGING_STATUS
This parameter specifies charging status.
TheCHARGING_STATUSis unsigned char value.
| Value | Name | Description |
|---|---|---|
| 0 | NOT_AVAILABLE | Indicates that charging is not available. |
| 1 | STANDBY | Indicates standby state. Contact charger is not detected. |
| 2 | CHARGING | Indicates charging state with contact charger. |
| 3 | RESERVED | Reserved. Not in use |
| 4 | FAULT | Indicates a fault in the charging system. |
| 5 | DETECTED | Indicates that contact charger is detected. |
Field Layout¶
| Byte Offset | Field Name | Type | Size (Bytes) | Description |
|---|---|---|---|---|
| 0 - 11 | Header | Timestamp Header | 12 | Refer to Timestamp Header |
| 12 | Charger Support | CHARGER_SUPPORT | 1 | Refer to CHARGER_SUPPORT |
| 13 | Charging Type | CHARGING_TYPE | 1 | Refer to CHARGING_TYPE |
| 14 | Charging Status | CHARGING_STATUS | 1 | Refer to CHARGING_STATUS |
Usage¶
The ChargerManager packet provides valid status information only when the contact charger is in use.
During wired charging, this packet shall not report detailed information; instead, the ChargingStatus field is fixed to STANDBY.
Accordingly, consumers of this packet shall treat it as effective only in the context of contact charging operations.
When ChargingStatus is set to CHARGING, the firmware monitors the charging current on the battery line. If the current is not detected for a duration exceeding 1.5 seconds, the firmware shall report the status as FAULT.
If the ChargingStatus is FAULT and the robot moves away from the contact charger such that the charger is no longer detected, the firmware shall reset the status to STANDBY.