1
2 """autogenerated by genpy from create_node/RawTurtlebotSensorState.msg. Do not edit."""
3 import sys
4 python3 = True if sys.hexversion > 0x03000000 else False
5 import genpy
6 import struct
7
8 import std_msgs.msg
9
11 _md5sum = "103d192c45e953c8bb1c3c046e89e2ff"
12 _type = "create_node/RawTurtlebotSensorState"
13 _has_header = True
14 _full_text = """uint8 OI_MODE_OFF = 0
15 uint8 OI_MODE_PASSIVE = 1
16 uint8 OI_MODE_SAFE = 2
17 uint8 OI_MODE_FULL = 3
18
19 uint8 REMOTE_LEFT = 129
20 uint8 REMOTE_FORWARD = 130
21 uint8 REMOTE_RIGHT = 131
22 uint8 REMOTE_SPOT = 132
23 uint8 REMOTE_MAX = 133
24 uint8 REMOTE_SMALL = 134
25 uint8 REMOTE_MEDIUM = 135
26 uint8 REMOTE_LARGE = 136
27 uint8 REMOTE_CLEAN = 136
28 uint8 REMOTE_PAUSE = 137
29 uint8 REMOTE_POWER = 138
30 uint8 REMOTE_ARC_LEFT = 139
31 uint8 REMOTE_ARC_RIGHT = 140
32 uint8 REMOTE_DRIVE_STOP = 141
33 # Scheduling remote
34 uint8 REMOTE_SEND_ALL = 142
35 uint8 REMOTE_SEEK_DOCK = 143
36 # Home base
37 uint8 REMOTE_RESERVED = 240
38 uint8 REMOTE_FORCE_FIELD = 242
39 uint8 REMOTE_GREEN_BUOY = 244
40 uint8 REMOTE_GREEN_BUOY_AND_FORCE_FIELD = 246
41 uint8 REMOTE_RED_BUOY = 248
42 uint8 REMOTE_RED_BUOY_AND_FORCE_FIELD = 250
43 uint8 REMOTE_RED_BUOY_AND_GREEN_BUOY = 252
44 uint8 REMOTE_RED_BUOY_AND_GREEN_BUOY_AND_FORCE_FIELD = 254
45 uint8 REMOTE_NONE = 255
46
47 uint8 CHARGING_NOT_CHARGING = 0
48 uint8 CHARGING_CHARGING_RECOVERY = 1
49 uint8 CHARGING_CHARGING = 2
50 uint8 CHARGING_TRICKLE_CHARGING = 3
51 uint8 CHARGING_WAITING = 4
52 uint8 CHARGING_CHARGING_ERROR = 5
53
54 Header header
55
56 uint8 bumps_wheeldrops
57 bool wall
58 bool cliff_left
59 bool cliff_front_left
60 bool cliff_front_right
61 bool cliff_right
62 bool virtual_wall
63 uint8 motor_overcurrents
64 uint8 dirt_detector_left #roomba_only
65 uint8 dirt_detector_right #roomba_only
66 uint8 remote_opcode
67 uint8 buttons
68 int16 distance # mm
69 int16 angle # degrees
70 uint8 charging_state
71 uint16 voltage # mV
72 int16 current # mA
73 int8 temperature # C
74 uint16 charge # mAh
75 uint16 capacity # mAh
76
77 uint16 wall_signal
78 uint16 cliff_left_signal
79 uint16 cliff_front_left_signal
80 uint16 cliff_front_right_signal
81 uint16 cliff_right_signal
82 uint8 user_digital_inputs
83 uint16 user_analog_input
84 uint8 charging_sources_available
85 uint8 oi_mode
86 uint8 song_number
87 bool song_playing
88
89 uint8 number_of_stream_packets
90 int16 requested_velocity # mm/s
91 int16 requested_radius # mm
92 int16 requested_right_velocity # mm/s
93 int16 requested_left_velocity # mm/s
94
95
96 ================================================================================
97 MSG: std_msgs/Header
98 # Standard metadata for higher-level stamped data types.
99 # This is generally used to communicate timestamped data
100 # in a particular coordinate frame.
101 #
102 # sequence ID: consecutively increasing ID
103 uint32 seq
104 #Two-integer timestamp that is expressed as:
105 # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
106 # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
107 # time-handling sugar is provided by the client library
108 time stamp
109 #Frame this data is associated with
110 # 0: no frame
111 # 1: global frame
112 string frame_id
113 """
114
115 OI_MODE_OFF = 0
116 OI_MODE_PASSIVE = 1
117 OI_MODE_SAFE = 2
118 OI_MODE_FULL = 3
119 REMOTE_LEFT = 129
120 REMOTE_FORWARD = 130
121 REMOTE_RIGHT = 131
122 REMOTE_SPOT = 132
123 REMOTE_MAX = 133
124 REMOTE_SMALL = 134
125 REMOTE_MEDIUM = 135
126 REMOTE_LARGE = 136
127 REMOTE_CLEAN = 136
128 REMOTE_PAUSE = 137
129 REMOTE_POWER = 138
130 REMOTE_ARC_LEFT = 139
131 REMOTE_ARC_RIGHT = 140
132 REMOTE_DRIVE_STOP = 141
133 REMOTE_SEND_ALL = 142
134 REMOTE_SEEK_DOCK = 143
135 REMOTE_RESERVED = 240
136 REMOTE_FORCE_FIELD = 242
137 REMOTE_GREEN_BUOY = 244
138 REMOTE_GREEN_BUOY_AND_FORCE_FIELD = 246
139 REMOTE_RED_BUOY = 248
140 REMOTE_RED_BUOY_AND_FORCE_FIELD = 250
141 REMOTE_RED_BUOY_AND_GREEN_BUOY = 252
142 REMOTE_RED_BUOY_AND_GREEN_BUOY_AND_FORCE_FIELD = 254
143 REMOTE_NONE = 255
144 CHARGING_NOT_CHARGING = 0
145 CHARGING_CHARGING_RECOVERY = 1
146 CHARGING_CHARGING = 2
147 CHARGING_TRICKLE_CHARGING = 3
148 CHARGING_WAITING = 4
149 CHARGING_CHARGING_ERROR = 5
150
151 __slots__ = ['header','bumps_wheeldrops','wall','cliff_left','cliff_front_left','cliff_front_right','cliff_right','virtual_wall','motor_overcurrents','dirt_detector_left','dirt_detector_right','remote_opcode','buttons','distance','angle','charging_state','voltage','current','temperature','charge','capacity','wall_signal','cliff_left_signal','cliff_front_left_signal','cliff_front_right_signal','cliff_right_signal','user_digital_inputs','user_analog_input','charging_sources_available','oi_mode','song_number','song_playing','number_of_stream_packets','requested_velocity','requested_radius','requested_right_velocity','requested_left_velocity']
152 _slot_types = ['std_msgs/Header','uint8','bool','bool','bool','bool','bool','bool','uint8','uint8','uint8','uint8','uint8','int16','int16','uint8','uint16','int16','int8','uint16','uint16','uint16','uint16','uint16','uint16','uint16','uint8','uint16','uint8','uint8','uint8','bool','uint8','int16','int16','int16','int16']
153
155 """
156 Constructor. Any message fields that are implicitly/explicitly
157 set to None will be assigned a default value. The recommend
158 use is keyword arguments as this is more robust to future message
159 changes. You cannot mix in-order arguments and keyword arguments.
160
161 The available fields are:
162 header,bumps_wheeldrops,wall,cliff_left,cliff_front_left,cliff_front_right,cliff_right,virtual_wall,motor_overcurrents,dirt_detector_left,dirt_detector_right,remote_opcode,buttons,distance,angle,charging_state,voltage,current,temperature,charge,capacity,wall_signal,cliff_left_signal,cliff_front_left_signal,cliff_front_right_signal,cliff_right_signal,user_digital_inputs,user_analog_input,charging_sources_available,oi_mode,song_number,song_playing,number_of_stream_packets,requested_velocity,requested_radius,requested_right_velocity,requested_left_velocity
163
164 :param args: complete set of field values, in .msg order
165 :param kwds: use keyword arguments corresponding to message field names
166 to set specific fields.
167 """
168 if args or kwds:
169 super(RawTurtlebotSensorState, self).__init__(*args, **kwds)
170
171 if self.header is None:
172 self.header = std_msgs.msg.Header()
173 if self.bumps_wheeldrops is None:
174 self.bumps_wheeldrops = 0
175 if self.wall is None:
176 self.wall = False
177 if self.cliff_left is None:
178 self.cliff_left = False
179 if self.cliff_front_left is None:
180 self.cliff_front_left = False
181 if self.cliff_front_right is None:
182 self.cliff_front_right = False
183 if self.cliff_right is None:
184 self.cliff_right = False
185 if self.virtual_wall is None:
186 self.virtual_wall = False
187 if self.motor_overcurrents is None:
188 self.motor_overcurrents = 0
189 if self.dirt_detector_left is None:
190 self.dirt_detector_left = 0
191 if self.dirt_detector_right is None:
192 self.dirt_detector_right = 0
193 if self.remote_opcode is None:
194 self.remote_opcode = 0
195 if self.buttons is None:
196 self.buttons = 0
197 if self.distance is None:
198 self.distance = 0
199 if self.angle is None:
200 self.angle = 0
201 if self.charging_state is None:
202 self.charging_state = 0
203 if self.voltage is None:
204 self.voltage = 0
205 if self.current is None:
206 self.current = 0
207 if self.temperature is None:
208 self.temperature = 0
209 if self.charge is None:
210 self.charge = 0
211 if self.capacity is None:
212 self.capacity = 0
213 if self.wall_signal is None:
214 self.wall_signal = 0
215 if self.cliff_left_signal is None:
216 self.cliff_left_signal = 0
217 if self.cliff_front_left_signal is None:
218 self.cliff_front_left_signal = 0
219 if self.cliff_front_right_signal is None:
220 self.cliff_front_right_signal = 0
221 if self.cliff_right_signal is None:
222 self.cliff_right_signal = 0
223 if self.user_digital_inputs is None:
224 self.user_digital_inputs = 0
225 if self.user_analog_input is None:
226 self.user_analog_input = 0
227 if self.charging_sources_available is None:
228 self.charging_sources_available = 0
229 if self.oi_mode is None:
230 self.oi_mode = 0
231 if self.song_number is None:
232 self.song_number = 0
233 if self.song_playing is None:
234 self.song_playing = False
235 if self.number_of_stream_packets is None:
236 self.number_of_stream_packets = 0
237 if self.requested_velocity is None:
238 self.requested_velocity = 0
239 if self.requested_radius is None:
240 self.requested_radius = 0
241 if self.requested_right_velocity is None:
242 self.requested_right_velocity = 0
243 if self.requested_left_velocity is None:
244 self.requested_left_velocity = 0
245 else:
246 self.header = std_msgs.msg.Header()
247 self.bumps_wheeldrops = 0
248 self.wall = False
249 self.cliff_left = False
250 self.cliff_front_left = False
251 self.cliff_front_right = False
252 self.cliff_right = False
253 self.virtual_wall = False
254 self.motor_overcurrents = 0
255 self.dirt_detector_left = 0
256 self.dirt_detector_right = 0
257 self.remote_opcode = 0
258 self.buttons = 0
259 self.distance = 0
260 self.angle = 0
261 self.charging_state = 0
262 self.voltage = 0
263 self.current = 0
264 self.temperature = 0
265 self.charge = 0
266 self.capacity = 0
267 self.wall_signal = 0
268 self.cliff_left_signal = 0
269 self.cliff_front_left_signal = 0
270 self.cliff_front_right_signal = 0
271 self.cliff_right_signal = 0
272 self.user_digital_inputs = 0
273 self.user_analog_input = 0
274 self.charging_sources_available = 0
275 self.oi_mode = 0
276 self.song_number = 0
277 self.song_playing = False
278 self.number_of_stream_packets = 0
279 self.requested_velocity = 0
280 self.requested_radius = 0
281 self.requested_right_velocity = 0
282 self.requested_left_velocity = 0
283
285 """
286 internal API method
287 """
288 return self._slot_types
289
291 """
292 serialize message into buffer
293 :param buff: buffer, ``StringIO``
294 """
295 try:
296 _x = self
297 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
298 _x = self.header.frame_id
299 length = len(_x)
300 if python3 or type(_x) == unicode:
301 _x = _x.encode('utf-8')
302 length = len(_x)
303 if python3:
304 buff.write(struct.pack('<I%sB'%length, length, *_x))
305 else:
306 buff.write(struct.pack('<I%ss'%length, length, _x))
307 _x = self
308 buff.write(_struct_12B2hBHhb7HBH5B4h.pack(_x.bumps_wheeldrops, _x.wall, _x.cliff_left, _x.cliff_front_left, _x.cliff_front_right, _x.cliff_right, _x.virtual_wall, _x.motor_overcurrents, _x.dirt_detector_left, _x.dirt_detector_right, _x.remote_opcode, _x.buttons, _x.distance, _x.angle, _x.charging_state, _x.voltage, _x.current, _x.temperature, _x.charge, _x.capacity, _x.wall_signal, _x.cliff_left_signal, _x.cliff_front_left_signal, _x.cliff_front_right_signal, _x.cliff_right_signal, _x.user_digital_inputs, _x.user_analog_input, _x.charging_sources_available, _x.oi_mode, _x.song_number, _x.song_playing, _x.number_of_stream_packets, _x.requested_velocity, _x.requested_radius, _x.requested_right_velocity, _x.requested_left_velocity))
309 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
310 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
311
313 """
314 unpack serialized message in str into this message instance
315 :param str: byte array of serialized message, ``str``
316 """
317 try:
318 if self.header is None:
319 self.header = std_msgs.msg.Header()
320 end = 0
321 _x = self
322 start = end
323 end += 12
324 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
325 start = end
326 end += 4
327 (length,) = _struct_I.unpack(str[start:end])
328 start = end
329 end += length
330 if python3:
331 self.header.frame_id = str[start:end].decode('utf-8')
332 else:
333 self.header.frame_id = str[start:end]
334 _x = self
335 start = end
336 end += 52
337 (_x.bumps_wheeldrops, _x.wall, _x.cliff_left, _x.cliff_front_left, _x.cliff_front_right, _x.cliff_right, _x.virtual_wall, _x.motor_overcurrents, _x.dirt_detector_left, _x.dirt_detector_right, _x.remote_opcode, _x.buttons, _x.distance, _x.angle, _x.charging_state, _x.voltage, _x.current, _x.temperature, _x.charge, _x.capacity, _x.wall_signal, _x.cliff_left_signal, _x.cliff_front_left_signal, _x.cliff_front_right_signal, _x.cliff_right_signal, _x.user_digital_inputs, _x.user_analog_input, _x.charging_sources_available, _x.oi_mode, _x.song_number, _x.song_playing, _x.number_of_stream_packets, _x.requested_velocity, _x.requested_radius, _x.requested_right_velocity, _x.requested_left_velocity,) = _struct_12B2hBHhb7HBH5B4h.unpack(str[start:end])
338 self.wall = bool(self.wall)
339 self.cliff_left = bool(self.cliff_left)
340 self.cliff_front_left = bool(self.cliff_front_left)
341 self.cliff_front_right = bool(self.cliff_front_right)
342 self.cliff_right = bool(self.cliff_right)
343 self.virtual_wall = bool(self.virtual_wall)
344 self.song_playing = bool(self.song_playing)
345 return self
346 except struct.error as e:
347 raise genpy.DeserializationError(e)
348
349
351 """
352 serialize message with numpy array types into buffer
353 :param buff: buffer, ``StringIO``
354 :param numpy: numpy python module
355 """
356 try:
357 _x = self
358 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
359 _x = self.header.frame_id
360 length = len(_x)
361 if python3 or type(_x) == unicode:
362 _x = _x.encode('utf-8')
363 length = len(_x)
364 if python3:
365 buff.write(struct.pack('<I%sB'%length, length, *_x))
366 else:
367 buff.write(struct.pack('<I%ss'%length, length, _x))
368 _x = self
369 buff.write(_struct_12B2hBHhb7HBH5B4h.pack(_x.bumps_wheeldrops, _x.wall, _x.cliff_left, _x.cliff_front_left, _x.cliff_front_right, _x.cliff_right, _x.virtual_wall, _x.motor_overcurrents, _x.dirt_detector_left, _x.dirt_detector_right, _x.remote_opcode, _x.buttons, _x.distance, _x.angle, _x.charging_state, _x.voltage, _x.current, _x.temperature, _x.charge, _x.capacity, _x.wall_signal, _x.cliff_left_signal, _x.cliff_front_left_signal, _x.cliff_front_right_signal, _x.cliff_right_signal, _x.user_digital_inputs, _x.user_analog_input, _x.charging_sources_available, _x.oi_mode, _x.song_number, _x.song_playing, _x.number_of_stream_packets, _x.requested_velocity, _x.requested_radius, _x.requested_right_velocity, _x.requested_left_velocity))
370 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
371 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
372
374 """
375 unpack serialized message in str into this message instance using numpy for array types
376 :param str: byte array of serialized message, ``str``
377 :param numpy: numpy python module
378 """
379 try:
380 if self.header is None:
381 self.header = std_msgs.msg.Header()
382 end = 0
383 _x = self
384 start = end
385 end += 12
386 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
387 start = end
388 end += 4
389 (length,) = _struct_I.unpack(str[start:end])
390 start = end
391 end += length
392 if python3:
393 self.header.frame_id = str[start:end].decode('utf-8')
394 else:
395 self.header.frame_id = str[start:end]
396 _x = self
397 start = end
398 end += 52
399 (_x.bumps_wheeldrops, _x.wall, _x.cliff_left, _x.cliff_front_left, _x.cliff_front_right, _x.cliff_right, _x.virtual_wall, _x.motor_overcurrents, _x.dirt_detector_left, _x.dirt_detector_right, _x.remote_opcode, _x.buttons, _x.distance, _x.angle, _x.charging_state, _x.voltage, _x.current, _x.temperature, _x.charge, _x.capacity, _x.wall_signal, _x.cliff_left_signal, _x.cliff_front_left_signal, _x.cliff_front_right_signal, _x.cliff_right_signal, _x.user_digital_inputs, _x.user_analog_input, _x.charging_sources_available, _x.oi_mode, _x.song_number, _x.song_playing, _x.number_of_stream_packets, _x.requested_velocity, _x.requested_radius, _x.requested_right_velocity, _x.requested_left_velocity,) = _struct_12B2hBHhb7HBH5B4h.unpack(str[start:end])
400 self.wall = bool(self.wall)
401 self.cliff_left = bool(self.cliff_left)
402 self.cliff_front_left = bool(self.cliff_front_left)
403 self.cliff_front_right = bool(self.cliff_front_right)
404 self.cliff_right = bool(self.cliff_right)
405 self.virtual_wall = bool(self.virtual_wall)
406 self.song_playing = bool(self.song_playing)
407 return self
408 except struct.error as e:
409 raise genpy.DeserializationError(e)
410
411 _struct_I = genpy.struct_I
412 _struct_3I = struct.Struct("<3I")
413 _struct_12B2hBHhb7HBH5B4h = struct.Struct("<12B2hBHhb7HBH5B4h")
414