battery_state.hpp

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namespace sensor_msgs::msg {
class BatteryState {
public:
 
    // Constants are chosen to match the enums in the linux kernel
    // defined in include/linux/power_supply.h as of version 3.7
    // The one difference is for style reasons the constants are
    // all uppercase not mixed case.
 
    // Power supply status constants
    static const uint8_t POWER_SUPPLY_STATUS_UNKNOWN = 0;
    static const uint8_t POWER_SUPPLY_STATUS_CHARGING = 1;
    static const uint8_t POWER_SUPPLY_STATUS_DISCHARGING = 2;
    static const uint8_t POWER_SUPPLY_STATUS_NOT_CHARGING = 3;
    static const uint8_t POWER_SUPPLY_STATUS_FULL = 4;
 
    // Power supply health constants
    static const uint8_t POWER_SUPPLY_HEALTH_UNKNOWN = 0;
    static const uint8_t POWER_SUPPLY_HEALTH_GOOD = 1;
    static const uint8_t POWER_SUPPLY_HEALTH_OVERHEAT = 2;
    static const uint8_t POWER_SUPPLY_HEALTH_DEAD = 3;
    static const uint8_t POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4;
    static const uint8_t POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5;
    static const uint8_t POWER_SUPPLY_HEALTH_COLD = 6;
    static const uint8_t POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7;
    static const uint8_t POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8;
 
    // Power supply technology (chemistry) constants
    static const uint8_t POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0;
    static const uint8_t POWER_SUPPLY_TECHNOLOGY_NIMH = 1;
    static const uint8_t POWER_SUPPLY_TECHNOLOGY_LION = 2;
    static const uint8_t POWER_SUPPLY_TECHNOLOGY_LIPO = 3;
    static const uint8_t POWER_SUPPLY_TECHNOLOGY_LIFE = 4;
    static const uint8_t POWER_SUPPLY_TECHNOLOGY_NICD = 5;
    static const uint8_t POWER_SUPPLY_TECHNOLOGY_LIMN = 6;
 
    std_msgs::msg::Header header;
    float voltage;  
    float temperature;  
    float current;  
    float charge;  
    float capacity;  
    float design_capacity;  
    float percentage;  
    uint8_t power_supply_status;  
    uint8_t power_supply_health;  
    uint8_t power_supply_technology;  
    bool present;  
 
    std::vector<float> cell_voltage;  
    // If individual voltages unknown but number of cells known set each to NaN
    std::vector<float> cell_temperature;  
    // If individual temperatures unknown but number of cells known set each to NaN
    std::string location;  
    std::string serial_number;  
};
} // namespace sensor_msgs::msg