Dock when rain detected and only dock when mowing

src/mower_logic/cfg/MowerLogic.cfg

@@ -30,5 +30,6 @@ gen.add("add_fake_obstacle", bool_t, 0, "True to add a fake obstacle to hopefull
 gen.add("ignore_gps_errors", bool_t, 0, "True to ignore gps errors. USE ONLY FOR SIMULATION!", False)
 gen.add("max_first_point_attempts", int_t, 0, "Maximum attempts to reach the first point of the mow path before trimming", 3, 1, 10)
 gen.add("max_first_point_trim_attempts", int_t, 0, "After <max_first_point_attempts> we start to trim the path beginning this often", 3, 1, 10)
+gen.add("dock_when_raining", bool_t, 0, "True to dock when rain is detected", False)
 
 exit(gen.generate("mower_logic", "mower_logic", "MowerLogic"))

src/mower_logic/src/mower_logic/behaviors/IdleBehavior.cpp

@@ -31,6 +31,7 @@ extern dynamic_reconfigure::Server<mower_logic::MowerLogicConfig> *reconfigServe
 extern ros::ServiceClient mapClient;
 extern ros::ServiceClient dockingPointClient;
 
+extern bool rain;
 
 IdleBehavior IdleBehavior::INSTANCE;
 
@@ -72,7 +73,7 @@ Behavior *IdleBehavior::execute() {
         const bool automatic_mode = last_config.automatic_mode == eAutoMode::AUTO;
         const bool active_semiautomatic_task = last_config.automatic_mode == eAutoMode::SEMIAUTO && shared_state->active_semiautomatic_task == true;
         const bool mower_ready = last_status.v_battery > last_config.battery_full_voltage && last_status.mow_esc_status.temperature_motor < last_config.motor_cold_temperature &&
-                !last_config.manual_pause_mowing;
+                !last_config.manual_pause_mowing && !(last_config.dock_when_raining && rain);
 
         if (manual_start_mowing || ((automatic_mode || active_semiautomatic_task) && mower_ready)) {
             // set the robot's position to the dock if we're actually docked

src/mower_logic/src/mower_logic/mower_logic.cpp

@@ -51,6 +51,8 @@
 #include "xbot_msgs/RegisterActionsSrv.h"
 #include <mutex>
 #include <atomic>
+#include <sstream>
+#include <ios>
 
 ros::ServiceClient pathClient, mapClient, dockingPointClient, gpsClient, mowClient, emergencyClient, pathProgressClient, setNavPointClient, clearNavPointClient, clearMapClient, positioningClient, actionRegistrationClient;
 
@@ -79,6 +81,10 @@ mower_msgs::HighLevelStatus high_level_status;
 
 std::atomic<bool> mowerEnabled;
 
+ros::Time last_rain_check;
+bool rain = false;
+bool rain_detected_status = true;
+
 Behavior *currentBehavior = &IdleBehavior::INSTANCE;
 
 
@@ -464,8 +470,34 @@ void checkSafety(const ros::TimerEvent &timer_event) {
 
     // we are in non emergency, check if we should pause. This could be empty battery, rain or hot mower motor etc.
     bool dockingNeeded = false;
-    if (last_status.v_battery < last_config.battery_empty_voltage || last_status.mow_esc_status.temperature_motor >= last_config.motor_hot_temperature ||
-        last_config.manual_pause_mowing) {
+    std::stringstream dockingReason("Docking: ", std::ios_base::ate | std::ios_base::in | std::ios_base::out);
+
+    if (last_config.manual_pause_mowing) {
+        dockingReason << "Manual pause";
+        dockingNeeded = true;
+    }
+
+    // rain_detected_status is initialized to true and flips to false if rain is not detected
+    // continuously for 20s. This is to avoid false positives due to noise
+    rain_detected_status = rain_detected_status && last_status.rain_detected;
+    if (ros::Time::now() - last_rain_check > ros::Duration(20.0)) {
+        rain = rain_detected_status;
+        last_rain_check = ros::Time::now();
+        rain_detected_status = true;
+    }
+
+    if(!dockingNeeded && rain && last_config.dock_when_raining) {
+        dockingReason << "Rain detected";
+        dockingNeeded = true;
+    }
+
+    if(!dockingNeeded && last_status.v_battery < last_config.battery_empty_voltage) {
+        dockingReason << "Battery low: " << last_status.v_battery;
+        dockingNeeded = true;
+    }
+
+    if (!dockingNeeded && last_status.mow_esc_status.temperature_motor >= last_config.motor_hot_temperature) {
+        dockingReason << "Over temp: " << last_status.mow_esc_status.temperature_motor;
         dockingNeeded = true;
     }
 
@@ -474,6 +506,7 @@ void checkSafety(const ros::TimerEvent &timer_event) {
             currentBehavior != &DockingBehavior::INSTANCE &&
             currentBehavior != &UndockingBehavior::RETRY_INSTANCE
         ) {
+        ROS_INFO_STREAM(dockingReason.rdbuf());
         abortExecution();
     }
 }
@@ -757,6 +790,7 @@ int main(int argc, char **argv) {
 
 
 
+    last_rain_check = ros::Time::now();
     ros::Timer safety_timer = n->createTimer(ros::Duration(0.5), checkSafety);
     ros::Timer ui_timer = n->createTimer(ros::Duration(1.0), updateUI);
 

src/open_mower/config/mower_config.sh.example

@@ -127,6 +127,9 @@ export OM_AUTOMATIC_MODE=0
 
 export OM_OUTLINE_OFFSET=0.05
 
+# Return to dock when rain detected and pause automatic start until rain sensor is dry
+export OM_DOCK_WHEN_RAINING=False
+
 ################################
 ##    External MQTT Broker    ##
 ################################

src/open_mower/launch/open_mower.launch

@@ -26,6 +26,7 @@
         <param name="motor_cold_temperature" value="$(env OM_MOWING_MOTOR_TEMP_LOW)"/>
         <param name="gps_wait_time" value="$(optenv OM_GPS_WAIT_TIME_SEC 10.0)"/>
         <param name="gps_timeout" value="$(optenv OM_GPS_TIMEOUT_SEC 10.0)"/>
+        <param name="dock_when_raining" value="$(optenv OM_DOCK_WHEN_RAINING False)"/>
     </node>
     <node pkg="slic3r_coverage_planner" type="slic3r_coverage_planner" name="slic3r_coverage_planner" output="screen"/>