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BatteryState.h

00001 #ifndef _ROS_sensor_msgs_BatteryState_h
00002 #define _ROS_sensor_msgs_BatteryState_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 
00010 namespace sensor_msgs
00011 {
00012 
00013   class BatteryState : public ros::Msg
00014   {
00015     public:
00016       typedef std_msgs::Header _header_type;
00017       _header_type header;
00018       typedef float _voltage_type;
00019       _voltage_type voltage;
00020       typedef float _current_type;
00021       _current_type current;
00022       typedef float _charge_type;
00023       _charge_type charge;
00024       typedef float _capacity_type;
00025       _capacity_type capacity;
00026       typedef float _design_capacity_type;
00027       _design_capacity_type design_capacity;
00028       typedef float _percentage_type;
00029       _percentage_type percentage;
00030       typedef uint8_t _power_supply_status_type;
00031       _power_supply_status_type power_supply_status;
00032       typedef uint8_t _power_supply_health_type;
00033       _power_supply_health_type power_supply_health;
00034       typedef uint8_t _power_supply_technology_type;
00035       _power_supply_technology_type power_supply_technology;
00036       typedef bool _present_type;
00037       _present_type present;
00038       uint32_t cell_voltage_length;
00039       typedef float _cell_voltage_type;
00040       _cell_voltage_type st_cell_voltage;
00041       _cell_voltage_type * cell_voltage;
00042       typedef const char* _location_type;
00043       _location_type location;
00044       typedef const char* _serial_number_type;
00045       _serial_number_type serial_number;
00046       enum { POWER_SUPPLY_STATUS_UNKNOWN =  0 };
00047       enum { POWER_SUPPLY_STATUS_CHARGING =  1 };
00048       enum { POWER_SUPPLY_STATUS_DISCHARGING =  2 };
00049       enum { POWER_SUPPLY_STATUS_NOT_CHARGING =  3 };
00050       enum { POWER_SUPPLY_STATUS_FULL =  4 };
00051       enum { POWER_SUPPLY_HEALTH_UNKNOWN =  0 };
00052       enum { POWER_SUPPLY_HEALTH_GOOD =  1 };
00053       enum { POWER_SUPPLY_HEALTH_OVERHEAT =  2 };
00054       enum { POWER_SUPPLY_HEALTH_DEAD =  3 };
00055       enum { POWER_SUPPLY_HEALTH_OVERVOLTAGE =  4 };
00056       enum { POWER_SUPPLY_HEALTH_UNSPEC_FAILURE =  5 };
00057       enum { POWER_SUPPLY_HEALTH_COLD =  6 };
00058       enum { POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE =  7 };
00059       enum { POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE =  8 };
00060       enum { POWER_SUPPLY_TECHNOLOGY_UNKNOWN =  0 };
00061       enum { POWER_SUPPLY_TECHNOLOGY_NIMH =  1 };
00062       enum { POWER_SUPPLY_TECHNOLOGY_LION =  2 };
00063       enum { POWER_SUPPLY_TECHNOLOGY_LIPO =  3 };
00064       enum { POWER_SUPPLY_TECHNOLOGY_LIFE =  4 };
00065       enum { POWER_SUPPLY_TECHNOLOGY_NICD =  5 };
00066       enum { POWER_SUPPLY_TECHNOLOGY_LIMN =  6 };
00067 
00068     BatteryState():
00069       header(),
00070       voltage(0),
00071       current(0),
00072       charge(0),
00073       capacity(0),
00074       design_capacity(0),
00075       percentage(0),
00076       power_supply_status(0),
00077       power_supply_health(0),
00078       power_supply_technology(0),
00079       present(0),
00080       cell_voltage_length(0), cell_voltage(NULL),
00081       location(""),
00082       serial_number("")
00083     {
00084     }
00085 
00086     virtual int serialize(unsigned char *outbuffer) const
00087     {
00088       int offset = 0;
00089       offset += this->header.serialize(outbuffer + offset);
00090       union {
00091         float real;
00092         uint32_t base;
00093       } u_voltage;
00094       u_voltage.real = this->voltage;
00095       *(outbuffer + offset + 0) = (u_voltage.base >> (8 * 0)) & 0xFF;
00096       *(outbuffer + offset + 1) = (u_voltage.base >> (8 * 1)) & 0xFF;
00097       *(outbuffer + offset + 2) = (u_voltage.base >> (8 * 2)) & 0xFF;
00098       *(outbuffer + offset + 3) = (u_voltage.base >> (8 * 3)) & 0xFF;
00099       offset += sizeof(this->voltage);
00100       union {
00101         float real;
00102         uint32_t base;
00103       } u_current;
00104       u_current.real = this->current;
00105       *(outbuffer + offset + 0) = (u_current.base >> (8 * 0)) & 0xFF;
00106       *(outbuffer + offset + 1) = (u_current.base >> (8 * 1)) & 0xFF;
00107       *(outbuffer + offset + 2) = (u_current.base >> (8 * 2)) & 0xFF;
00108       *(outbuffer + offset + 3) = (u_current.base >> (8 * 3)) & 0xFF;
00109       offset += sizeof(this->current);
00110       union {
00111         float real;
00112         uint32_t base;
00113       } u_charge;
00114       u_charge.real = this->charge;
00115       *(outbuffer + offset + 0) = (u_charge.base >> (8 * 0)) & 0xFF;
00116       *(outbuffer + offset + 1) = (u_charge.base >> (8 * 1)) & 0xFF;
00117       *(outbuffer + offset + 2) = (u_charge.base >> (8 * 2)) & 0xFF;
00118       *(outbuffer + offset + 3) = (u_charge.base >> (8 * 3)) & 0xFF;
00119       offset += sizeof(this->charge);
00120       union {
00121         float real;
00122         uint32_t base;
00123       } u_capacity;
00124       u_capacity.real = this->capacity;
00125       *(outbuffer + offset + 0) = (u_capacity.base >> (8 * 0)) & 0xFF;
00126       *(outbuffer + offset + 1) = (u_capacity.base >> (8 * 1)) & 0xFF;
00127       *(outbuffer + offset + 2) = (u_capacity.base >> (8 * 2)) & 0xFF;
00128       *(outbuffer + offset + 3) = (u_capacity.base >> (8 * 3)) & 0xFF;
00129       offset += sizeof(this->capacity);
00130       union {
00131         float real;
00132         uint32_t base;
00133       } u_design_capacity;
00134       u_design_capacity.real = this->design_capacity;
00135       *(outbuffer + offset + 0) = (u_design_capacity.base >> (8 * 0)) & 0xFF;
00136       *(outbuffer + offset + 1) = (u_design_capacity.base >> (8 * 1)) & 0xFF;
00137       *(outbuffer + offset + 2) = (u_design_capacity.base >> (8 * 2)) & 0xFF;
00138       *(outbuffer + offset + 3) = (u_design_capacity.base >> (8 * 3)) & 0xFF;
00139       offset += sizeof(this->design_capacity);
00140       union {
00141         float real;
00142         uint32_t base;
00143       } u_percentage;
00144       u_percentage.real = this->percentage;
00145       *(outbuffer + offset + 0) = (u_percentage.base >> (8 * 0)) & 0xFF;
00146       *(outbuffer + offset + 1) = (u_percentage.base >> (8 * 1)) & 0xFF;
00147       *(outbuffer + offset + 2) = (u_percentage.base >> (8 * 2)) & 0xFF;
00148       *(outbuffer + offset + 3) = (u_percentage.base >> (8 * 3)) & 0xFF;
00149       offset += sizeof(this->percentage);
00150       *(outbuffer + offset + 0) = (this->power_supply_status >> (8 * 0)) & 0xFF;
00151       offset += sizeof(this->power_supply_status);
00152       *(outbuffer + offset + 0) = (this->power_supply_health >> (8 * 0)) & 0xFF;
00153       offset += sizeof(this->power_supply_health);
00154       *(outbuffer + offset + 0) = (this->power_supply_technology >> (8 * 0)) & 0xFF;
00155       offset += sizeof(this->power_supply_technology);
00156       union {
00157         bool real;
00158         uint8_t base;
00159       } u_present;
00160       u_present.real = this->present;
00161       *(outbuffer + offset + 0) = (u_present.base >> (8 * 0)) & 0xFF;
00162       offset += sizeof(this->present);
00163       *(outbuffer + offset + 0) = (this->cell_voltage_length >> (8 * 0)) & 0xFF;
00164       *(outbuffer + offset + 1) = (this->cell_voltage_length >> (8 * 1)) & 0xFF;
00165       *(outbuffer + offset + 2) = (this->cell_voltage_length >> (8 * 2)) & 0xFF;
00166       *(outbuffer + offset + 3) = (this->cell_voltage_length >> (8 * 3)) & 0xFF;
00167       offset += sizeof(this->cell_voltage_length);
00168       for( uint32_t i = 0; i < cell_voltage_length; i++){
00169       union {
00170         float real;
00171         uint32_t base;
00172       } u_cell_voltagei;
00173       u_cell_voltagei.real = this->cell_voltage[i];
00174       *(outbuffer + offset + 0) = (u_cell_voltagei.base >> (8 * 0)) & 0xFF;
00175       *(outbuffer + offset + 1) = (u_cell_voltagei.base >> (8 * 1)) & 0xFF;
00176       *(outbuffer + offset + 2) = (u_cell_voltagei.base >> (8 * 2)) & 0xFF;
00177       *(outbuffer + offset + 3) = (u_cell_voltagei.base >> (8 * 3)) & 0xFF;
00178       offset += sizeof(this->cell_voltage[i]);
00179       }
00180       uint32_t length_location = strlen(this->location);
00181       varToArr(outbuffer + offset, length_location);
00182       offset += 4;
00183       memcpy(outbuffer + offset, this->location, length_location);
00184       offset += length_location;
00185       uint32_t length_serial_number = strlen(this->serial_number);
00186       varToArr(outbuffer + offset, length_serial_number);
00187       offset += 4;
00188       memcpy(outbuffer + offset, this->serial_number, length_serial_number);
00189       offset += length_serial_number;
00190       return offset;
00191     }
00192 
00193     virtual int deserialize(unsigned char *inbuffer)
00194     {
00195       int offset = 0;
00196       offset += this->header.deserialize(inbuffer + offset);
00197       union {
00198         float real;
00199         uint32_t base;
00200       } u_voltage;
00201       u_voltage.base = 0;
00202       u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00203       u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00204       u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00205       u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00206       this->voltage = u_voltage.real;
00207       offset += sizeof(this->voltage);
00208       union {
00209         float real;
00210         uint32_t base;
00211       } u_current;
00212       u_current.base = 0;
00213       u_current.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00214       u_current.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00215       u_current.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00216       u_current.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00217       this->current = u_current.real;
00218       offset += sizeof(this->current);
00219       union {
00220         float real;
00221         uint32_t base;
00222       } u_charge;
00223       u_charge.base = 0;
00224       u_charge.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00225       u_charge.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00226       u_charge.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00227       u_charge.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00228       this->charge = u_charge.real;
00229       offset += sizeof(this->charge);
00230       union {
00231         float real;
00232         uint32_t base;
00233       } u_capacity;
00234       u_capacity.base = 0;
00235       u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00236       u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00237       u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00238       u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00239       this->capacity = u_capacity.real;
00240       offset += sizeof(this->capacity);
00241       union {
00242         float real;
00243         uint32_t base;
00244       } u_design_capacity;
00245       u_design_capacity.base = 0;
00246       u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00247       u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00248       u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00249       u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00250       this->design_capacity = u_design_capacity.real;
00251       offset += sizeof(this->design_capacity);
00252       union {
00253         float real;
00254         uint32_t base;
00255       } u_percentage;
00256       u_percentage.base = 0;
00257       u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00258       u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00259       u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00260       u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00261       this->percentage = u_percentage.real;
00262       offset += sizeof(this->percentage);
00263       this->power_supply_status =  ((uint8_t) (*(inbuffer + offset)));
00264       offset += sizeof(this->power_supply_status);
00265       this->power_supply_health =  ((uint8_t) (*(inbuffer + offset)));
00266       offset += sizeof(this->power_supply_health);
00267       this->power_supply_technology =  ((uint8_t) (*(inbuffer + offset)));
00268       offset += sizeof(this->power_supply_technology);
00269       union {
00270         bool real;
00271         uint8_t base;
00272       } u_present;
00273       u_present.base = 0;
00274       u_present.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00275       this->present = u_present.real;
00276       offset += sizeof(this->present);
00277       uint32_t cell_voltage_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00278       cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00279       cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00280       cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00281       offset += sizeof(this->cell_voltage_length);
00282       if(cell_voltage_lengthT > cell_voltage_length)
00283         this->cell_voltage = (float*)realloc(this->cell_voltage, cell_voltage_lengthT * sizeof(float));
00284       cell_voltage_length = cell_voltage_lengthT;
00285       for( uint32_t i = 0; i < cell_voltage_length; i++){
00286       union {
00287         float real;
00288         uint32_t base;
00289       } u_st_cell_voltage;
00290       u_st_cell_voltage.base = 0;
00291       u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00292       u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00293       u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00294       u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00295       this->st_cell_voltage = u_st_cell_voltage.real;
00296       offset += sizeof(this->st_cell_voltage);
00297         memcpy( &(this->cell_voltage[i]), &(this->st_cell_voltage), sizeof(float));
00298       }
00299       uint32_t length_location;
00300       arrToVar(length_location, (inbuffer + offset));
00301       offset += 4;
00302       for(unsigned int k= offset; k< offset+length_location; ++k){
00303           inbuffer[k-1]=inbuffer[k];
00304       }
00305       inbuffer[offset+length_location-1]=0;
00306       this->location = (char *)(inbuffer + offset-1);
00307       offset += length_location;
00308       uint32_t length_serial_number;
00309       arrToVar(length_serial_number, (inbuffer + offset));
00310       offset += 4;
00311       for(unsigned int k= offset; k< offset+length_serial_number; ++k){
00312           inbuffer[k-1]=inbuffer[k];
00313       }
00314       inbuffer[offset+length_serial_number-1]=0;
00315       this->serial_number = (char *)(inbuffer + offset-1);
00316       offset += length_serial_number;
00317      return offset;
00318     }
00319 
00320     const char * getType(){ return "sensor_msgs/BatteryState"; };
00321     const char * getMD5(){ return "476f837fa6771f6e16e3bf4ef96f8770"; };
00322 
00323   };
00324 
00325 }
00326 #endif