1
2 """autogenerated by genpy from create_node/TurtlebotSensorState.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 = "d8f8ec7fa031fc9cc88e8319cd08a785"
12 _type = "create_node/TurtlebotSensorState"
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 float64 distance # m
69 float64 angle #radians
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_outputs
83 uint8 user_digital_inputs
84 uint16 user_analog_input
85 uint8 charging_sources_available
86 uint8 oi_mode
87 uint8 song_number
88 bool song_playing
89
90 uint8 number_of_stream_packets
91 int32 requested_velocity # m/s
92 int32 requested_radius # m
93 int32 requested_right_velocity # m/s
94 int32 requested_left_velocity # m/s
95
96
97 ================================================================================
98 MSG: std_msgs/Header
99 # Standard metadata for higher-level stamped data types.
100 # This is generally used to communicate timestamped data
101 # in a particular coordinate frame.
102 #
103 # sequence ID: consecutively increasing ID
104 uint32 seq
105 #Two-integer timestamp that is expressed as:
106 # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
107 # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
108 # time-handling sugar is provided by the client library
109 time stamp
110 #Frame this data is associated with
111 # 0: no frame
112 # 1: global frame
113 string frame_id
114 """
115
116 OI_MODE_OFF = 0
117 OI_MODE_PASSIVE = 1
118 OI_MODE_SAFE = 2
119 OI_MODE_FULL = 3
120 REMOTE_LEFT = 129
121 REMOTE_FORWARD = 130
122 REMOTE_RIGHT = 131
123 REMOTE_SPOT = 132
124 REMOTE_MAX = 133
125 REMOTE_SMALL = 134
126 REMOTE_MEDIUM = 135
127 REMOTE_LARGE = 136
128 REMOTE_CLEAN = 136
129 REMOTE_PAUSE = 137
130 REMOTE_POWER = 138
131 REMOTE_ARC_LEFT = 139
132 REMOTE_ARC_RIGHT = 140
133 REMOTE_DRIVE_STOP = 141
134 REMOTE_SEND_ALL = 142
135 REMOTE_SEEK_DOCK = 143
136 REMOTE_RESERVED = 240
137 REMOTE_FORCE_FIELD = 242
138 REMOTE_GREEN_BUOY = 244
139 REMOTE_GREEN_BUOY_AND_FORCE_FIELD = 246
140 REMOTE_RED_BUOY = 248
141 REMOTE_RED_BUOY_AND_FORCE_FIELD = 250
142 REMOTE_RED_BUOY_AND_GREEN_BUOY = 252
143 REMOTE_RED_BUOY_AND_GREEN_BUOY_AND_FORCE_FIELD = 254
144 REMOTE_NONE = 255
145 CHARGING_NOT_CHARGING = 0
146 CHARGING_CHARGING_RECOVERY = 1
147 CHARGING_CHARGING = 2
148 CHARGING_TRICKLE_CHARGING = 3
149 CHARGING_WAITING = 4
150 CHARGING_CHARGING_ERROR = 5
151
152 __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_outputs','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']
153 _slot_types = ['std_msgs/Header','uint8','bool','bool','bool','bool','bool','bool','uint8','uint8','uint8','uint8','uint8','float64','float64','uint8','uint16','int16','int8','uint16','uint16','uint16','uint16','uint16','uint16','uint16','uint8','uint8','uint16','uint8','uint8','uint8','bool','uint8','int32','int32','int32','int32']
154
156 """
157 Constructor. Any message fields that are implicitly/explicitly
158 set to None will be assigned a default value. The recommend
159 use is keyword arguments as this is more robust to future message
160 changes. You cannot mix in-order arguments and keyword arguments.
161
162 The available fields are:
163 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_outputs,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
164
165 :param args: complete set of field values, in .msg order
166 :param kwds: use keyword arguments corresponding to message field names
167 to set specific fields.
168 """
169 if args or kwds:
170 super(TurtlebotSensorState, self).__init__(*args, **kwds)
171
172 if self.header is None:
173 self.header = std_msgs.msg.Header()
174 if self.bumps_wheeldrops is None:
175 self.bumps_wheeldrops = 0
176 if self.wall is None:
177 self.wall = False
178 if self.cliff_left is None:
179 self.cliff_left = False
180 if self.cliff_front_left is None:
181 self.cliff_front_left = False
182 if self.cliff_front_right is None:
183 self.cliff_front_right = False
184 if self.cliff_right is None:
185 self.cliff_right = False
186 if self.virtual_wall is None:
187 self.virtual_wall = False
188 if self.motor_overcurrents is None:
189 self.motor_overcurrents = 0
190 if self.dirt_detector_left is None:
191 self.dirt_detector_left = 0
192 if self.dirt_detector_right is None:
193 self.dirt_detector_right = 0
194 if self.remote_opcode is None:
195 self.remote_opcode = 0
196 if self.buttons is None:
197 self.buttons = 0
198 if self.distance is None:
199 self.distance = 0.
200 if self.angle is None:
201 self.angle = 0.
202 if self.charging_state is None:
203 self.charging_state = 0
204 if self.voltage is None:
205 self.voltage = 0
206 if self.current is None:
207 self.current = 0
208 if self.temperature is None:
209 self.temperature = 0
210 if self.charge is None:
211 self.charge = 0
212 if self.capacity is None:
213 self.capacity = 0
214 if self.wall_signal is None:
215 self.wall_signal = 0
216 if self.cliff_left_signal is None:
217 self.cliff_left_signal = 0
218 if self.cliff_front_left_signal is None:
219 self.cliff_front_left_signal = 0
220 if self.cliff_front_right_signal is None:
221 self.cliff_front_right_signal = 0
222 if self.cliff_right_signal is None:
223 self.cliff_right_signal = 0
224 if self.user_digital_outputs is None:
225 self.user_digital_outputs = 0
226 if self.user_digital_inputs is None:
227 self.user_digital_inputs = 0
228 if self.user_analog_input is None:
229 self.user_analog_input = 0
230 if self.charging_sources_available is None:
231 self.charging_sources_available = 0
232 if self.oi_mode is None:
233 self.oi_mode = 0
234 if self.song_number is None:
235 self.song_number = 0
236 if self.song_playing is None:
237 self.song_playing = False
238 if self.number_of_stream_packets is None:
239 self.number_of_stream_packets = 0
240 if self.requested_velocity is None:
241 self.requested_velocity = 0
242 if self.requested_radius is None:
243 self.requested_radius = 0
244 if self.requested_right_velocity is None:
245 self.requested_right_velocity = 0
246 if self.requested_left_velocity is None:
247 self.requested_left_velocity = 0
248 else:
249 self.header = std_msgs.msg.Header()
250 self.bumps_wheeldrops = 0
251 self.wall = False
252 self.cliff_left = False
253 self.cliff_front_left = False
254 self.cliff_front_right = False
255 self.cliff_right = False
256 self.virtual_wall = False
257 self.motor_overcurrents = 0
258 self.dirt_detector_left = 0
259 self.dirt_detector_right = 0
260 self.remote_opcode = 0
261 self.buttons = 0
262 self.distance = 0.
263 self.angle = 0.
264 self.charging_state = 0
265 self.voltage = 0
266 self.current = 0
267 self.temperature = 0
268 self.charge = 0
269 self.capacity = 0
270 self.wall_signal = 0
271 self.cliff_left_signal = 0
272 self.cliff_front_left_signal = 0
273 self.cliff_front_right_signal = 0
274 self.cliff_right_signal = 0
275 self.user_digital_outputs = 0
276 self.user_digital_inputs = 0
277 self.user_analog_input = 0
278 self.charging_sources_available = 0
279 self.oi_mode = 0
280 self.song_number = 0
281 self.song_playing = False
282 self.number_of_stream_packets = 0
283 self.requested_velocity = 0
284 self.requested_radius = 0
285 self.requested_right_velocity = 0
286 self.requested_left_velocity = 0
287
289 """
290 internal API method
291 """
292 return self._slot_types
293
295 """
296 serialize message into buffer
297 :param buff: buffer, ``StringIO``
298 """
299 try:
300 _x = self
301 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
302 _x = self.header.frame_id
303 length = len(_x)
304 if python3 or type(_x) == unicode:
305 _x = _x.encode('utf-8')
306 length = len(_x)
307 if python3:
308 buff.write(struct.pack('<I%sB'%length, length, *_x))
309 else:
310 buff.write(struct.pack('<I%ss'%length, length, _x))
311 _x = self
312 buff.write(_struct_12B2dBHhb7H2BH5B4i.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_outputs, _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))
313 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
314 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
315
317 """
318 unpack serialized message in str into this message instance
319 :param str: byte array of serialized message, ``str``
320 """
321 try:
322 if self.header is None:
323 self.header = std_msgs.msg.Header()
324 end = 0
325 _x = self
326 start = end
327 end += 12
328 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
329 start = end
330 end += 4
331 (length,) = _struct_I.unpack(str[start:end])
332 start = end
333 end += length
334 if python3:
335 self.header.frame_id = str[start:end].decode('utf-8')
336 else:
337 self.header.frame_id = str[start:end]
338 _x = self
339 start = end
340 end += 73
341 (_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_outputs, _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_12B2dBHhb7H2BH5B4i.unpack(str[start:end])
342 self.wall = bool(self.wall)
343 self.cliff_left = bool(self.cliff_left)
344 self.cliff_front_left = bool(self.cliff_front_left)
345 self.cliff_front_right = bool(self.cliff_front_right)
346 self.cliff_right = bool(self.cliff_right)
347 self.virtual_wall = bool(self.virtual_wall)
348 self.song_playing = bool(self.song_playing)
349 return self
350 except struct.error as e:
351 raise genpy.DeserializationError(e)
352
353
355 """
356 serialize message with numpy array types into buffer
357 :param buff: buffer, ``StringIO``
358 :param numpy: numpy python module
359 """
360 try:
361 _x = self
362 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
363 _x = self.header.frame_id
364 length = len(_x)
365 if python3 or type(_x) == unicode:
366 _x = _x.encode('utf-8')
367 length = len(_x)
368 if python3:
369 buff.write(struct.pack('<I%sB'%length, length, *_x))
370 else:
371 buff.write(struct.pack('<I%ss'%length, length, _x))
372 _x = self
373 buff.write(_struct_12B2dBHhb7H2BH5B4i.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_outputs, _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))
374 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
375 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
376
378 """
379 unpack serialized message in str into this message instance using numpy for array types
380 :param str: byte array of serialized message, ``str``
381 :param numpy: numpy python module
382 """
383 try:
384 if self.header is None:
385 self.header = std_msgs.msg.Header()
386 end = 0
387 _x = self
388 start = end
389 end += 12
390 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
391 start = end
392 end += 4
393 (length,) = _struct_I.unpack(str[start:end])
394 start = end
395 end += length
396 if python3:
397 self.header.frame_id = str[start:end].decode('utf-8')
398 else:
399 self.header.frame_id = str[start:end]
400 _x = self
401 start = end
402 end += 73
403 (_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_outputs, _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_12B2dBHhb7H2BH5B4i.unpack(str[start:end])
404 self.wall = bool(self.wall)
405 self.cliff_left = bool(self.cliff_left)
406 self.cliff_front_left = bool(self.cliff_front_left)
407 self.cliff_front_right = bool(self.cliff_front_right)
408 self.cliff_right = bool(self.cliff_right)
409 self.virtual_wall = bool(self.virtual_wall)
410 self.song_playing = bool(self.song_playing)
411 return self
412 except struct.error as e:
413 raise genpy.DeserializationError(e)
414
415 _struct_I = genpy.struct_I
416 _struct_12B2dBHhb7H2BH5B4i = struct.Struct("<12B2dBHhb7H2BH5B4i")
417 _struct_3I = struct.Struct("<3I")
418