e1b06a1b99
* Edit BatteryState.idl * Add BatteryState to AP_DDS_Topic_table.h * Add BatteryState to the DDS Client * Add voltage * Add temperature * Add current * Add charge * Add capacity with NAN value * Add design_capacity * Add percentage * Add power_supply_status * Add power_supply_health * Add power_supply_technology with 0 value * Add present * Cell_voltage and Serial_number need to be implemented in the future * Did not add cell_temperature as AP_BattMonitor doesn't support it * Did not add location as this is a generic implementation * Parameterize battery instance number
107 lines
4.1 KiB
Plaintext
107 lines
4.1 KiB
Plaintext
// generated from rosidl_adapter/resource/msg.idl.em
|
|
// with input from sensor_msgs/msg/BatteryState.msg
|
|
// generated code does not contain a copyright notice
|
|
|
|
#include "std_msgs/msg/Header.idl"
|
|
|
|
module sensor_msgs {
|
|
module msg {
|
|
typedef float float__14[14];
|
|
module BatteryState_Constants {
|
|
@verbatim (language="comment", text=
|
|
"Constants are chosen to match the enums in the linux kernel" "\n" "defined in include/linux/power_supply.h as of version 3.7" "\n" "The one difference is for style reasons the constants are" "\n" "all uppercase not mixed case." "\n" "Power supply status constants")
|
|
const uint8 POWER_SUPPLY_STATUS_UNKNOWN = 0;
|
|
const uint8 POWER_SUPPLY_STATUS_CHARGING = 1;
|
|
const uint8 POWER_SUPPLY_STATUS_DISCHARGING = 2;
|
|
const uint8 POWER_SUPPLY_STATUS_NOT_CHARGING = 3;
|
|
const uint8 POWER_SUPPLY_STATUS_FULL = 4;
|
|
@verbatim (language="comment", text=
|
|
"Power supply health constants")
|
|
const uint8 POWER_SUPPLY_HEALTH_UNKNOWN = 0;
|
|
const uint8 POWER_SUPPLY_HEALTH_GOOD = 1;
|
|
const uint8 POWER_SUPPLY_HEALTH_OVERHEAT = 2;
|
|
const uint8 POWER_SUPPLY_HEALTH_DEAD = 3;
|
|
const uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4;
|
|
const uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5;
|
|
const uint8 POWER_SUPPLY_HEALTH_COLD = 6;
|
|
const uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7;
|
|
const uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8;
|
|
@verbatim (language="comment", text=
|
|
"Power supply technology (chemistry) constants")
|
|
const uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0;
|
|
const uint8 POWER_SUPPLY_TECHNOLOGY_NIMH = 1;
|
|
const uint8 POWER_SUPPLY_TECHNOLOGY_LION = 2;
|
|
const uint8 POWER_SUPPLY_TECHNOLOGY_LIPO = 3;
|
|
const uint8 POWER_SUPPLY_TECHNOLOGY_LIFE = 4;
|
|
const uint8 POWER_SUPPLY_TECHNOLOGY_NICD = 5;
|
|
const uint8 POWER_SUPPLY_TECHNOLOGY_LIMN = 6;
|
|
};
|
|
struct BatteryState {
|
|
std_msgs::msg::Header header;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Voltage in Volts (Mandatory)")
|
|
float voltage;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Temperature in Degrees Celsius (If unmeasured NaN)")
|
|
float temperature;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Negative when discharging (A) (If unmeasured NaN)")
|
|
float current;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Current charge in Ah (If unmeasured NaN)")
|
|
float charge;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Capacity in Ah (last full capacity) (If unmeasured NaN)")
|
|
float capacity;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Capacity in Ah (design capacity) (If unmeasured NaN)")
|
|
float design_capacity;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Charge percentage on 0 to 1 range (If unmeasured NaN)")
|
|
float percentage;
|
|
|
|
@verbatim (language="comment", text=
|
|
"The charging status as reported. Values defined above")
|
|
uint8 power_supply_status;
|
|
|
|
@verbatim (language="comment", text=
|
|
"The battery health metric. Values defined above")
|
|
uint8 power_supply_health;
|
|
|
|
@verbatim (language="comment", text=
|
|
"The battery chemistry. Values defined above")
|
|
uint8 power_supply_technology;
|
|
|
|
@verbatim (language="comment", text=
|
|
"True if the battery is present")
|
|
boolean present;
|
|
|
|
@verbatim (language="comment", text=
|
|
"An array of individual cell voltages for each cell in the pack" "\n"
|
|
"If individual voltages unknown but number of cells known set each to NaN")
|
|
float__14 cell_voltage;
|
|
|
|
@verbatim (language="comment", text=
|
|
"An array of individual cell temperatures for each cell in the pack" "\n"
|
|
"If individual temperatures unknown but number of cells known set each to NaN")
|
|
float__14 cell_temperature;
|
|
|
|
@verbatim (language="comment", text=
|
|
"The location into which the battery is inserted. (slot number or plug)")
|
|
string location;
|
|
|
|
@verbatim (language="comment", text=
|
|
"The best approximation of the battery serial number")
|
|
string serial_number;
|
|
};
|
|
};
|
|
};
|
|
|