00001 """autogenerated by genpy from pr2_msgs/PowerBoardState.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006
00007 import std_msgs.msg
00008
00009 class PowerBoardState(genpy.Message):
00010 _md5sum = "08899b671e6a1a449e7ce0000da8ae7b"
00011 _type = "pr2_msgs/PowerBoardState"
00012 _has_header = True
00013 _full_text = """# This message communicates the state of the PR2's power board.
00014 int8 STATE_NOPOWER=0
00015 int8 STATE_STANDBY=1
00016 int8 STATE_PUMPING=2
00017 int8 STATE_ON=3
00018 int8 STATE_ENABLED=3 # Preferred over STATE_ON, keeping STATE_ON for backcompat
00019 int8 STATE_DISABLED=4
00020
00021 int8 MASTER_NOPOWER=0
00022 int8 MASTER_STANDBY=1
00023 int8 MASTER_ON=2
00024 int8 MASTER_OFF=3
00025 int8 MASTER_SHUTDOWN=4
00026
00027 Header header
00028 string name # Name with serial number
00029 uint32 serial_num # Serial number for this board's message
00030 float64 input_voltage # Input voltage to power board
00031
00032 # Master States:
00033 # MASTER_NOPOWER, MASTER_STANDBY, MASTER_ON, MASTER_OFF, MASTER_SHUTDOWN
00034 int8 master_state # The master state machine's state in the powerboard
00035
00036 # Circuit States:
00037 # STATE_NOPOWER, STATE_STANDBY, STATE_PUMPING, STATE_ON, STATE_DISABLED
00038 int8[3] circuit_state # One of the above states
00039 float64[3] circuit_voltage # Output voltage of each circuit
00040
00041 # True if robot should be enabled
00042 bool run_stop #Note - if the wireless run-stop is hit, this will be unobservable
00043 bool wireless_stop
00044
00045 ================================================================================
00046 MSG: std_msgs/Header
00047 # Standard metadata for higher-level stamped data types.
00048 # This is generally used to communicate timestamped data
00049 # in a particular coordinate frame.
00050 #
00051 # sequence ID: consecutively increasing ID
00052 uint32 seq
00053 #Two-integer timestamp that is expressed as:
00054 # * stamp.secs: seconds (stamp_secs) since epoch
00055 # * stamp.nsecs: nanoseconds since stamp_secs
00056 # time-handling sugar is provided by the client library
00057 time stamp
00058 #Frame this data is associated with
00059 # 0: no frame
00060 # 1: global frame
00061 string frame_id
00062
00063 """
00064
00065 STATE_NOPOWER = 0
00066 STATE_STANDBY = 1
00067 STATE_PUMPING = 2
00068 STATE_ON = 3
00069 STATE_ENABLED = 3
00070 STATE_DISABLED = 4
00071 MASTER_NOPOWER = 0
00072 MASTER_STANDBY = 1
00073 MASTER_ON = 2
00074 MASTER_OFF = 3
00075 MASTER_SHUTDOWN = 4
00076
00077 __slots__ = ['header','name','serial_num','input_voltage','master_state','circuit_state','circuit_voltage','run_stop','wireless_stop']
00078 _slot_types = ['std_msgs/Header','string','uint32','float64','int8','int8[3]','float64[3]','bool','bool']
00079
00080 def __init__(self, *args, **kwds):
00081 """
00082 Constructor. Any message fields that are implicitly/explicitly
00083 set to None will be assigned a default value. The recommend
00084 use is keyword arguments as this is more robust to future message
00085 changes. You cannot mix in-order arguments and keyword arguments.
00086
00087 The available fields are:
00088 header,name,serial_num,input_voltage,master_state,circuit_state,circuit_voltage,run_stop,wireless_stop
00089
00090 :param args: complete set of field values, in .msg order
00091 :param kwds: use keyword arguments corresponding to message field names
00092 to set specific fields.
00093 """
00094 if args or kwds:
00095 super(PowerBoardState, self).__init__(*args, **kwds)
00096
00097 if self.header is None:
00098 self.header = std_msgs.msg.Header()
00099 if self.name is None:
00100 self.name = ''
00101 if self.serial_num is None:
00102 self.serial_num = 0
00103 if self.input_voltage is None:
00104 self.input_voltage = 0.
00105 if self.master_state is None:
00106 self.master_state = 0
00107 if self.circuit_state is None:
00108 self.circuit_state = [0,0,0]
00109 if self.circuit_voltage is None:
00110 self.circuit_voltage = [0.,0.,0.]
00111 if self.run_stop is None:
00112 self.run_stop = False
00113 if self.wireless_stop is None:
00114 self.wireless_stop = False
00115 else:
00116 self.header = std_msgs.msg.Header()
00117 self.name = ''
00118 self.serial_num = 0
00119 self.input_voltage = 0.
00120 self.master_state = 0
00121 self.circuit_state = [0,0,0]
00122 self.circuit_voltage = [0.,0.,0.]
00123 self.run_stop = False
00124 self.wireless_stop = False
00125
00126 def _get_types(self):
00127 """
00128 internal API method
00129 """
00130 return self._slot_types
00131
00132 def serialize(self, buff):
00133 """
00134 serialize message into buffer
00135 :param buff: buffer, ``StringIO``
00136 """
00137 try:
00138 _x = self
00139 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00140 _x = self.header.frame_id
00141 length = len(_x)
00142 if python3 or type(_x) == unicode:
00143 _x = _x.encode('utf-8')
00144 length = len(_x)
00145 buff.write(struct.pack('<I%ss'%length, length, _x))
00146 _x = self.name
00147 length = len(_x)
00148 if python3 or type(_x) == unicode:
00149 _x = _x.encode('utf-8')
00150 length = len(_x)
00151 buff.write(struct.pack('<I%ss'%length, length, _x))
00152 _x = self
00153 buff.write(_struct_Idb.pack(_x.serial_num, _x.input_voltage, _x.master_state))
00154 buff.write(_struct_3b.pack(*self.circuit_state))
00155 buff.write(_struct_3d.pack(*self.circuit_voltage))
00156 _x = self
00157 buff.write(_struct_2B.pack(_x.run_stop, _x.wireless_stop))
00158 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00159 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00160
00161 def deserialize(self, str):
00162 """
00163 unpack serialized message in str into this message instance
00164 :param str: byte array of serialized message, ``str``
00165 """
00166 try:
00167 if self.header is None:
00168 self.header = std_msgs.msg.Header()
00169 end = 0
00170 _x = self
00171 start = end
00172 end += 12
00173 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00174 start = end
00175 end += 4
00176 (length,) = _struct_I.unpack(str[start:end])
00177 start = end
00178 end += length
00179 if python3:
00180 self.header.frame_id = str[start:end].decode('utf-8')
00181 else:
00182 self.header.frame_id = str[start:end]
00183 start = end
00184 end += 4
00185 (length,) = _struct_I.unpack(str[start:end])
00186 start = end
00187 end += length
00188 if python3:
00189 self.name = str[start:end].decode('utf-8')
00190 else:
00191 self.name = str[start:end]
00192 _x = self
00193 start = end
00194 end += 13
00195 (_x.serial_num, _x.input_voltage, _x.master_state,) = _struct_Idb.unpack(str[start:end])
00196 start = end
00197 end += 3
00198 self.circuit_state = _struct_3b.unpack(str[start:end])
00199 start = end
00200 end += 24
00201 self.circuit_voltage = _struct_3d.unpack(str[start:end])
00202 _x = self
00203 start = end
00204 end += 2
00205 (_x.run_stop, _x.wireless_stop,) = _struct_2B.unpack(str[start:end])
00206 self.run_stop = bool(self.run_stop)
00207 self.wireless_stop = bool(self.wireless_stop)
00208 return self
00209 except struct.error as e:
00210 raise genpy.DeserializationError(e)
00211
00212
00213 def serialize_numpy(self, buff, numpy):
00214 """
00215 serialize message with numpy array types into buffer
00216 :param buff: buffer, ``StringIO``
00217 :param numpy: numpy python module
00218 """
00219 try:
00220 _x = self
00221 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00222 _x = self.header.frame_id
00223 length = len(_x)
00224 if python3 or type(_x) == unicode:
00225 _x = _x.encode('utf-8')
00226 length = len(_x)
00227 buff.write(struct.pack('<I%ss'%length, length, _x))
00228 _x = self.name
00229 length = len(_x)
00230 if python3 or type(_x) == unicode:
00231 _x = _x.encode('utf-8')
00232 length = len(_x)
00233 buff.write(struct.pack('<I%ss'%length, length, _x))
00234 _x = self
00235 buff.write(_struct_Idb.pack(_x.serial_num, _x.input_voltage, _x.master_state))
00236 buff.write(self.circuit_state.tostring())
00237 buff.write(self.circuit_voltage.tostring())
00238 _x = self
00239 buff.write(_struct_2B.pack(_x.run_stop, _x.wireless_stop))
00240 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00241 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00242
00243 def deserialize_numpy(self, str, numpy):
00244 """
00245 unpack serialized message in str into this message instance using numpy for array types
00246 :param str: byte array of serialized message, ``str``
00247 :param numpy: numpy python module
00248 """
00249 try:
00250 if self.header is None:
00251 self.header = std_msgs.msg.Header()
00252 end = 0
00253 _x = self
00254 start = end
00255 end += 12
00256 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00257 start = end
00258 end += 4
00259 (length,) = _struct_I.unpack(str[start:end])
00260 start = end
00261 end += length
00262 if python3:
00263 self.header.frame_id = str[start:end].decode('utf-8')
00264 else:
00265 self.header.frame_id = str[start:end]
00266 start = end
00267 end += 4
00268 (length,) = _struct_I.unpack(str[start:end])
00269 start = end
00270 end += length
00271 if python3:
00272 self.name = str[start:end].decode('utf-8')
00273 else:
00274 self.name = str[start:end]
00275 _x = self
00276 start = end
00277 end += 13
00278 (_x.serial_num, _x.input_voltage, _x.master_state,) = _struct_Idb.unpack(str[start:end])
00279 start = end
00280 end += 3
00281 self.circuit_state = numpy.frombuffer(str[start:end], dtype=numpy.int8, count=3)
00282 start = end
00283 end += 24
00284 self.circuit_voltage = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
00285 _x = self
00286 start = end
00287 end += 2
00288 (_x.run_stop, _x.wireless_stop,) = _struct_2B.unpack(str[start:end])
00289 self.run_stop = bool(self.run_stop)
00290 self.wireless_stop = bool(self.wireless_stop)
00291 return self
00292 except struct.error as e:
00293 raise genpy.DeserializationError(e)
00294
00295 _struct_I = genpy.struct_I
00296 _struct_3b = struct.Struct("<3b")
00297 _struct_3I = struct.Struct("<3I")
00298 _struct_Idb = struct.Struct("<Idb")
00299 _struct_2B = struct.Struct("<2B")
00300 _struct_3d = struct.Struct("<3d")