Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/BatteryState.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_sensor_msgs_BatteryState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_BatteryState_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class BatteryState : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 typedef float _voltage_type;
garyservin 0:9e9b7db60fd5 19 _voltage_type voltage;
garyservin 0:9e9b7db60fd5 20 typedef float _current_type;
garyservin 0:9e9b7db60fd5 21 _current_type current;
garyservin 0:9e9b7db60fd5 22 typedef float _charge_type;
garyservin 0:9e9b7db60fd5 23 _charge_type charge;
garyservin 0:9e9b7db60fd5 24 typedef float _capacity_type;
garyservin 0:9e9b7db60fd5 25 _capacity_type capacity;
garyservin 0:9e9b7db60fd5 26 typedef float _design_capacity_type;
garyservin 0:9e9b7db60fd5 27 _design_capacity_type design_capacity;
garyservin 0:9e9b7db60fd5 28 typedef float _percentage_type;
garyservin 0:9e9b7db60fd5 29 _percentage_type percentage;
garyservin 0:9e9b7db60fd5 30 typedef uint8_t _power_supply_status_type;
garyservin 0:9e9b7db60fd5 31 _power_supply_status_type power_supply_status;
garyservin 0:9e9b7db60fd5 32 typedef uint8_t _power_supply_health_type;
garyservin 0:9e9b7db60fd5 33 _power_supply_health_type power_supply_health;
garyservin 0:9e9b7db60fd5 34 typedef uint8_t _power_supply_technology_type;
garyservin 0:9e9b7db60fd5 35 _power_supply_technology_type power_supply_technology;
garyservin 0:9e9b7db60fd5 36 typedef bool _present_type;
garyservin 0:9e9b7db60fd5 37 _present_type present;
garyservin 0:9e9b7db60fd5 38 uint32_t cell_voltage_length;
garyservin 0:9e9b7db60fd5 39 typedef float _cell_voltage_type;
garyservin 0:9e9b7db60fd5 40 _cell_voltage_type st_cell_voltage;
garyservin 0:9e9b7db60fd5 41 _cell_voltage_type * cell_voltage;
garyservin 0:9e9b7db60fd5 42 typedef const char* _location_type;
garyservin 0:9e9b7db60fd5 43 _location_type location;
garyservin 0:9e9b7db60fd5 44 typedef const char* _serial_number_type;
garyservin 0:9e9b7db60fd5 45 _serial_number_type serial_number;
garyservin 0:9e9b7db60fd5 46 enum { POWER_SUPPLY_STATUS_UNKNOWN = 0 };
garyservin 0:9e9b7db60fd5 47 enum { POWER_SUPPLY_STATUS_CHARGING = 1 };
garyservin 0:9e9b7db60fd5 48 enum { POWER_SUPPLY_STATUS_DISCHARGING = 2 };
garyservin 0:9e9b7db60fd5 49 enum { POWER_SUPPLY_STATUS_NOT_CHARGING = 3 };
garyservin 0:9e9b7db60fd5 50 enum { POWER_SUPPLY_STATUS_FULL = 4 };
garyservin 0:9e9b7db60fd5 51 enum { POWER_SUPPLY_HEALTH_UNKNOWN = 0 };
garyservin 0:9e9b7db60fd5 52 enum { POWER_SUPPLY_HEALTH_GOOD = 1 };
garyservin 0:9e9b7db60fd5 53 enum { POWER_SUPPLY_HEALTH_OVERHEAT = 2 };
garyservin 0:9e9b7db60fd5 54 enum { POWER_SUPPLY_HEALTH_DEAD = 3 };
garyservin 0:9e9b7db60fd5 55 enum { POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4 };
garyservin 0:9e9b7db60fd5 56 enum { POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5 };
garyservin 0:9e9b7db60fd5 57 enum { POWER_SUPPLY_HEALTH_COLD = 6 };
garyservin 0:9e9b7db60fd5 58 enum { POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7 };
garyservin 0:9e9b7db60fd5 59 enum { POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8 };
garyservin 0:9e9b7db60fd5 60 enum { POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0 };
garyservin 0:9e9b7db60fd5 61 enum { POWER_SUPPLY_TECHNOLOGY_NIMH = 1 };
garyservin 0:9e9b7db60fd5 62 enum { POWER_SUPPLY_TECHNOLOGY_LION = 2 };
garyservin 0:9e9b7db60fd5 63 enum { POWER_SUPPLY_TECHNOLOGY_LIPO = 3 };
garyservin 0:9e9b7db60fd5 64 enum { POWER_SUPPLY_TECHNOLOGY_LIFE = 4 };
garyservin 0:9e9b7db60fd5 65 enum { POWER_SUPPLY_TECHNOLOGY_NICD = 5 };
garyservin 0:9e9b7db60fd5 66 enum { POWER_SUPPLY_TECHNOLOGY_LIMN = 6 };
garyservin 0:9e9b7db60fd5 67
garyservin 0:9e9b7db60fd5 68 BatteryState():
garyservin 0:9e9b7db60fd5 69 header(),
garyservin 0:9e9b7db60fd5 70 voltage(0),
garyservin 0:9e9b7db60fd5 71 current(0),
garyservin 0:9e9b7db60fd5 72 charge(0),
garyservin 0:9e9b7db60fd5 73 capacity(0),
garyservin 0:9e9b7db60fd5 74 design_capacity(0),
garyservin 0:9e9b7db60fd5 75 percentage(0),
garyservin 0:9e9b7db60fd5 76 power_supply_status(0),
garyservin 0:9e9b7db60fd5 77 power_supply_health(0),
garyservin 0:9e9b7db60fd5 78 power_supply_technology(0),
garyservin 0:9e9b7db60fd5 79 present(0),
garyservin 0:9e9b7db60fd5 80 cell_voltage_length(0), cell_voltage(NULL),
garyservin 0:9e9b7db60fd5 81 location(""),
garyservin 0:9e9b7db60fd5 82 serial_number("")
garyservin 0:9e9b7db60fd5 83 {
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 87 {
garyservin 0:9e9b7db60fd5 88 int offset = 0;
garyservin 0:9e9b7db60fd5 89 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 90 union {
garyservin 0:9e9b7db60fd5 91 float real;
garyservin 0:9e9b7db60fd5 92 uint32_t base;
garyservin 0:9e9b7db60fd5 93 } u_voltage;
garyservin 0:9e9b7db60fd5 94 u_voltage.real = this->voltage;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 0) = (u_voltage.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 1) = (u_voltage.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 2) = (u_voltage.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 3) = (u_voltage.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 offset += sizeof(this->voltage);
garyservin 0:9e9b7db60fd5 100 union {
garyservin 0:9e9b7db60fd5 101 float real;
garyservin 0:9e9b7db60fd5 102 uint32_t base;
garyservin 0:9e9b7db60fd5 103 } u_current;
garyservin 0:9e9b7db60fd5 104 u_current.real = this->current;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 0) = (u_current.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 *(outbuffer + offset + 1) = (u_current.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 107 *(outbuffer + offset + 2) = (u_current.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 108 *(outbuffer + offset + 3) = (u_current.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 109 offset += sizeof(this->current);
garyservin 0:9e9b7db60fd5 110 union {
garyservin 0:9e9b7db60fd5 111 float real;
garyservin 0:9e9b7db60fd5 112 uint32_t base;
garyservin 0:9e9b7db60fd5 113 } u_charge;
garyservin 0:9e9b7db60fd5 114 u_charge.real = this->charge;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 0) = (u_charge.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 *(outbuffer + offset + 1) = (u_charge.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 117 *(outbuffer + offset + 2) = (u_charge.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 118 *(outbuffer + offset + 3) = (u_charge.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 119 offset += sizeof(this->charge);
garyservin 0:9e9b7db60fd5 120 union {
garyservin 0:9e9b7db60fd5 121 float real;
garyservin 0:9e9b7db60fd5 122 uint32_t base;
garyservin 0:9e9b7db60fd5 123 } u_capacity;
garyservin 0:9e9b7db60fd5 124 u_capacity.real = this->capacity;
garyservin 0:9e9b7db60fd5 125 *(outbuffer + offset + 0) = (u_capacity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 126 *(outbuffer + offset + 1) = (u_capacity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 127 *(outbuffer + offset + 2) = (u_capacity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 128 *(outbuffer + offset + 3) = (u_capacity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 129 offset += sizeof(this->capacity);
garyservin 0:9e9b7db60fd5 130 union {
garyservin 0:9e9b7db60fd5 131 float real;
garyservin 0:9e9b7db60fd5 132 uint32_t base;
garyservin 0:9e9b7db60fd5 133 } u_design_capacity;
garyservin 0:9e9b7db60fd5 134 u_design_capacity.real = this->design_capacity;
garyservin 0:9e9b7db60fd5 135 *(outbuffer + offset + 0) = (u_design_capacity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 136 *(outbuffer + offset + 1) = (u_design_capacity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 137 *(outbuffer + offset + 2) = (u_design_capacity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 138 *(outbuffer + offset + 3) = (u_design_capacity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 139 offset += sizeof(this->design_capacity);
garyservin 0:9e9b7db60fd5 140 union {
garyservin 0:9e9b7db60fd5 141 float real;
garyservin 0:9e9b7db60fd5 142 uint32_t base;
garyservin 0:9e9b7db60fd5 143 } u_percentage;
garyservin 0:9e9b7db60fd5 144 u_percentage.real = this->percentage;
garyservin 0:9e9b7db60fd5 145 *(outbuffer + offset + 0) = (u_percentage.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 146 *(outbuffer + offset + 1) = (u_percentage.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 147 *(outbuffer + offset + 2) = (u_percentage.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 148 *(outbuffer + offset + 3) = (u_percentage.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 149 offset += sizeof(this->percentage);
garyservin 0:9e9b7db60fd5 150 *(outbuffer + offset + 0) = (this->power_supply_status >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 151 offset += sizeof(this->power_supply_status);
garyservin 0:9e9b7db60fd5 152 *(outbuffer + offset + 0) = (this->power_supply_health >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 153 offset += sizeof(this->power_supply_health);
garyservin 0:9e9b7db60fd5 154 *(outbuffer + offset + 0) = (this->power_supply_technology >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 155 offset += sizeof(this->power_supply_technology);
garyservin 0:9e9b7db60fd5 156 union {
garyservin 0:9e9b7db60fd5 157 bool real;
garyservin 0:9e9b7db60fd5 158 uint8_t base;
garyservin 0:9e9b7db60fd5 159 } u_present;
garyservin 0:9e9b7db60fd5 160 u_present.real = this->present;
garyservin 0:9e9b7db60fd5 161 *(outbuffer + offset + 0) = (u_present.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 162 offset += sizeof(this->present);
garyservin 0:9e9b7db60fd5 163 *(outbuffer + offset + 0) = (this->cell_voltage_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 164 *(outbuffer + offset + 1) = (this->cell_voltage_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 165 *(outbuffer + offset + 2) = (this->cell_voltage_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 166 *(outbuffer + offset + 3) = (this->cell_voltage_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 167 offset += sizeof(this->cell_voltage_length);
garyservin 0:9e9b7db60fd5 168 for( uint32_t i = 0; i < cell_voltage_length; i++){
garyservin 0:9e9b7db60fd5 169 union {
garyservin 0:9e9b7db60fd5 170 float real;
garyservin 0:9e9b7db60fd5 171 uint32_t base;
garyservin 0:9e9b7db60fd5 172 } u_cell_voltagei;
garyservin 0:9e9b7db60fd5 173 u_cell_voltagei.real = this->cell_voltage[i];
garyservin 0:9e9b7db60fd5 174 *(outbuffer + offset + 0) = (u_cell_voltagei.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 175 *(outbuffer + offset + 1) = (u_cell_voltagei.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 176 *(outbuffer + offset + 2) = (u_cell_voltagei.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 177 *(outbuffer + offset + 3) = (u_cell_voltagei.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 178 offset += sizeof(this->cell_voltage[i]);
garyservin 0:9e9b7db60fd5 179 }
garyservin 0:9e9b7db60fd5 180 uint32_t length_location = strlen(this->location);
garyservin 0:9e9b7db60fd5 181 varToArr(outbuffer + offset, length_location);
garyservin 0:9e9b7db60fd5 182 offset += 4;
garyservin 0:9e9b7db60fd5 183 memcpy(outbuffer + offset, this->location, length_location);
garyservin 0:9e9b7db60fd5 184 offset += length_location;
garyservin 0:9e9b7db60fd5 185 uint32_t length_serial_number = strlen(this->serial_number);
garyservin 0:9e9b7db60fd5 186 varToArr(outbuffer + offset, length_serial_number);
garyservin 0:9e9b7db60fd5 187 offset += 4;
garyservin 0:9e9b7db60fd5 188 memcpy(outbuffer + offset, this->serial_number, length_serial_number);
garyservin 0:9e9b7db60fd5 189 offset += length_serial_number;
garyservin 0:9e9b7db60fd5 190 return offset;
garyservin 0:9e9b7db60fd5 191 }
garyservin 0:9e9b7db60fd5 192
garyservin 0:9e9b7db60fd5 193 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 194 {
garyservin 0:9e9b7db60fd5 195 int offset = 0;
garyservin 0:9e9b7db60fd5 196 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 197 union {
garyservin 0:9e9b7db60fd5 198 float real;
garyservin 0:9e9b7db60fd5 199 uint32_t base;
garyservin 0:9e9b7db60fd5 200 } u_voltage;
garyservin 0:9e9b7db60fd5 201 u_voltage.base = 0;
garyservin 0:9e9b7db60fd5 202 u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 203 u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 204 u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 205 u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 206 this->voltage = u_voltage.real;
garyservin 0:9e9b7db60fd5 207 offset += sizeof(this->voltage);
garyservin 0:9e9b7db60fd5 208 union {
garyservin 0:9e9b7db60fd5 209 float real;
garyservin 0:9e9b7db60fd5 210 uint32_t base;
garyservin 0:9e9b7db60fd5 211 } u_current;
garyservin 0:9e9b7db60fd5 212 u_current.base = 0;
garyservin 0:9e9b7db60fd5 213 u_current.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 214 u_current.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 215 u_current.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 216 u_current.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 217 this->current = u_current.real;
garyservin 0:9e9b7db60fd5 218 offset += sizeof(this->current);
garyservin 0:9e9b7db60fd5 219 union {
garyservin 0:9e9b7db60fd5 220 float real;
garyservin 0:9e9b7db60fd5 221 uint32_t base;
garyservin 0:9e9b7db60fd5 222 } u_charge;
garyservin 0:9e9b7db60fd5 223 u_charge.base = 0;
garyservin 0:9e9b7db60fd5 224 u_charge.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 225 u_charge.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 226 u_charge.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 227 u_charge.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 228 this->charge = u_charge.real;
garyservin 0:9e9b7db60fd5 229 offset += sizeof(this->charge);
garyservin 0:9e9b7db60fd5 230 union {
garyservin 0:9e9b7db60fd5 231 float real;
garyservin 0:9e9b7db60fd5 232 uint32_t base;
garyservin 0:9e9b7db60fd5 233 } u_capacity;
garyservin 0:9e9b7db60fd5 234 u_capacity.base = 0;
garyservin 0:9e9b7db60fd5 235 u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 236 u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 237 u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 238 u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 239 this->capacity = u_capacity.real;
garyservin 0:9e9b7db60fd5 240 offset += sizeof(this->capacity);
garyservin 0:9e9b7db60fd5 241 union {
garyservin 0:9e9b7db60fd5 242 float real;
garyservin 0:9e9b7db60fd5 243 uint32_t base;
garyservin 0:9e9b7db60fd5 244 } u_design_capacity;
garyservin 0:9e9b7db60fd5 245 u_design_capacity.base = 0;
garyservin 0:9e9b7db60fd5 246 u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 247 u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 248 u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 249 u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 250 this->design_capacity = u_design_capacity.real;
garyservin 0:9e9b7db60fd5 251 offset += sizeof(this->design_capacity);
garyservin 0:9e9b7db60fd5 252 union {
garyservin 0:9e9b7db60fd5 253 float real;
garyservin 0:9e9b7db60fd5 254 uint32_t base;
garyservin 0:9e9b7db60fd5 255 } u_percentage;
garyservin 0:9e9b7db60fd5 256 u_percentage.base = 0;
garyservin 0:9e9b7db60fd5 257 u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 258 u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 259 u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 260 u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 261 this->percentage = u_percentage.real;
garyservin 0:9e9b7db60fd5 262 offset += sizeof(this->percentage);
garyservin 0:9e9b7db60fd5 263 this->power_supply_status = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 264 offset += sizeof(this->power_supply_status);
garyservin 0:9e9b7db60fd5 265 this->power_supply_health = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 266 offset += sizeof(this->power_supply_health);
garyservin 0:9e9b7db60fd5 267 this->power_supply_technology = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 268 offset += sizeof(this->power_supply_technology);
garyservin 0:9e9b7db60fd5 269 union {
garyservin 0:9e9b7db60fd5 270 bool real;
garyservin 0:9e9b7db60fd5 271 uint8_t base;
garyservin 0:9e9b7db60fd5 272 } u_present;
garyservin 0:9e9b7db60fd5 273 u_present.base = 0;
garyservin 0:9e9b7db60fd5 274 u_present.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 275 this->present = u_present.real;
garyservin 0:9e9b7db60fd5 276 offset += sizeof(this->present);
garyservin 0:9e9b7db60fd5 277 uint32_t cell_voltage_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 278 cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 279 cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 280 cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 281 offset += sizeof(this->cell_voltage_length);
garyservin 0:9e9b7db60fd5 282 if(cell_voltage_lengthT > cell_voltage_length)
garyservin 0:9e9b7db60fd5 283 this->cell_voltage = (float*)realloc(this->cell_voltage, cell_voltage_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 284 cell_voltage_length = cell_voltage_lengthT;
garyservin 0:9e9b7db60fd5 285 for( uint32_t i = 0; i < cell_voltage_length; i++){
garyservin 0:9e9b7db60fd5 286 union {
garyservin 0:9e9b7db60fd5 287 float real;
garyservin 0:9e9b7db60fd5 288 uint32_t base;
garyservin 0:9e9b7db60fd5 289 } u_st_cell_voltage;
garyservin 0:9e9b7db60fd5 290 u_st_cell_voltage.base = 0;
garyservin 0:9e9b7db60fd5 291 u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 292 u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 293 u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 294 u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 295 this->st_cell_voltage = u_st_cell_voltage.real;
garyservin 0:9e9b7db60fd5 296 offset += sizeof(this->st_cell_voltage);
garyservin 0:9e9b7db60fd5 297 memcpy( &(this->cell_voltage[i]), &(this->st_cell_voltage), sizeof(float));
garyservin 0:9e9b7db60fd5 298 }
garyservin 0:9e9b7db60fd5 299 uint32_t length_location;
garyservin 0:9e9b7db60fd5 300 arrToVar(length_location, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 301 offset += 4;
garyservin 0:9e9b7db60fd5 302 for(unsigned int k= offset; k< offset+length_location; ++k){
garyservin 0:9e9b7db60fd5 303 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 304 }
garyservin 0:9e9b7db60fd5 305 inbuffer[offset+length_location-1]=0;
garyservin 0:9e9b7db60fd5 306 this->location = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 307 offset += length_location;
garyservin 0:9e9b7db60fd5 308 uint32_t length_serial_number;
garyservin 0:9e9b7db60fd5 309 arrToVar(length_serial_number, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 310 offset += 4;
garyservin 0:9e9b7db60fd5 311 for(unsigned int k= offset; k< offset+length_serial_number; ++k){
garyservin 0:9e9b7db60fd5 312 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 313 }
garyservin 0:9e9b7db60fd5 314 inbuffer[offset+length_serial_number-1]=0;
garyservin 0:9e9b7db60fd5 315 this->serial_number = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 316 offset += length_serial_number;
garyservin 0:9e9b7db60fd5 317 return offset;
garyservin 0:9e9b7db60fd5 318 }
garyservin 0:9e9b7db60fd5 319
garyservin 0:9e9b7db60fd5 320 const char * getType(){ return "sensor_msgs/BatteryState"; };
garyservin 0:9e9b7db60fd5 321 const char * getMD5(){ return "476f837fa6771f6e16e3bf4ef96f8770"; };
garyservin 0:9e9b7db60fd5 322
garyservin 0:9e9b7db60fd5 323 };
garyservin 0:9e9b7db60fd5 324
garyservin 0:9e9b7db60fd5 325 }
garyservin 0:9e9b7db60fd5 326 #endif