Increased buffer size
Fork of ros_lib_kinetic by
sensor_msgs/BatteryState.h@2:2e7b61982dd2, 2018-11-02 (annotated)
- Committer:
- jvfausto
- Date:
- Fri Nov 02 21:52:23 2018 +0000
- Revision:
- 2:2e7b61982dd2
- Parent:
- 0:9e9b7db60fd5
Working towards recieving twists
Who changed what in which revision?
User | Revision | Line number | New 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 |