rcgenmsg

The message definition transpiler for ROS.

Usage

cargo run --  --namespace ros::std_msgs test_messages/BatteryInfo.msg

Caveats

• The generator will generate a message ID deterministically.
• Inline comments are preserved, however, due to the inherent arbitrary nature of ROS message definitions, it is not possible to reliably determine the association of out-of-line comments to values.

Example

Input

# 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
uint8 POWER_SUPPLY_STATUS_UNKNOWN = 0
uint8 POWER_SUPPLY_STATUS_CHARGING = 1
uint8 POWER_SUPPLY_STATUS_DISCHARGING = 2
uint8 POWER_SUPPLY_STATUS_NOT_CHARGING = 3
uint8 POWER_SUPPLY_STATUS_FULL = 4

# Power supply health constants
uint8 POWER_SUPPLY_HEALTH_UNKNOWN = 0
uint8 POWER_SUPPLY_HEALTH_GOOD = 1
uint8 POWER_SUPPLY_HEALTH_OVERHEAT = 2 # test
uint8 POWER_SUPPLY_HEALTH_DEAD = 3
uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4
uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5
uint8 POWER_SUPPLY_HEALTH_COLD = 6
uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7
uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8

# Power supply technology (chemistry) constants
uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0
uint8 POWER_SUPPLY_TECHNOLOGY_NIMH = 1
uint8 POWER_SUPPLY_TECHNOLOGY_LION = 2
uint8 POWER_SUPPLY_TECHNOLOGY_LIPO = 3
uint8 POWER_SUPPLY_TECHNOLOGY_LIFE = 4
uint8 POWER_SUPPLY_TECHNOLOGY_NICD = 5
uint8 POWER_SUPPLY_TECHNOLOGY_LIMN = 6

Header  header
float32 voltage          # Voltage in Volts (Mandatory)
float32 current          # Negative when discharging (A)  (If unmeasured NaN)
float32 charge           # Current charge in Ah  (If unmeasured NaN)
float32 capacity         # Capacity in Ah (last full capacity)  (If unmeasured NaN)
float32 design_capacity  # Capacity in Ah (design capacity)  (If unmeasured NaN)
float32 percentage       # Charge percentage on 0 to 1 range  (If unmeasured NaN)
uint8   power_supply_status     # The charging status as reported. Values defined above
uint8   power_supply_health     # The battery health metric. Values defined above
uint8   power_supply_technology # The battery chemistry. Values defined above
bool    present          # True if the battery is present

float32[] cell_voltage   # An array of individual cell voltages for each cell in the pack
                         # If individual voltages unknown but number of cells known set each to NaN
string location          # The location into which the battery is inserted. (slot number or plug)
string serial_number     # The best approximation of the battery serial number

Output

# Automatically generated by rcgenmsg for test_messages/BatteryInfo.msg
@0xb182ad93e3657cff;


using Cxx = import "/capnp/c++.capnp";
$Cxx.namespace("ros::std_msgs");


struct BatteryInfo {
const powerSupplyStatusUnknown : UInt8 = 0;
const powerSupplyStatusCharging : UInt8 = 1;
const powerSupplyStatusDischarging : UInt8 = 2;
const powerSupplyStatusNotCharging : UInt8 = 3;
const powerSupplyStatusFull : UInt8 = 4;
const powerSupplyHealthUnknown : UInt8 = 0;
const powerSupplyHealthGood : UInt8 = 1;
const powerSupplyHealthOverheat : UInt8 = 2;# test
const powerSupplyHealthDead : UInt8 = 3;
const powerSupplyHealthOvervoltage : UInt8 = 4;
const powerSupplyHealthUnspecFailure : UInt8 = 5;
const powerSupplyHealthCold : UInt8 = 6;
const powerSupplyHealthWatchdogTimerExpire : UInt8 = 7;
const powerSupplyHealthSafetyTimerExpire : UInt8 = 8;
const powerSupplyTechnologyUnknown : UInt8 = 0;
const powerSupplyTechnologyNimh : UInt8 = 1;
const powerSupplyTechnologyLion : UInt8 = 2;
const powerSupplyTechnologyLipo : UInt8 = 3;
const powerSupplyTechnologyLife : UInt8 = 4;
const powerSupplyTechnologyNicd : UInt8 = 5;
const powerSupplyTechnologyLimn : UInt8 = 6;
header @0 : import "/std_msgs/Header.capnp".Header;
voltage @1 : Float32;# Voltage in Volts (Mandatory)
current @2 : Float32;# Negative when discharging (A)  (If unmeasured NaN)
charge @3 : Float32;# Current charge in Ah  (If unmeasured NaN)
capacity @4 : Float32;# Capacity in Ah (last full capacity)  (If unmeasured NaN)
designCapacity @5 : Float32;# Capacity in Ah (design capacity)  (If unmeasured NaN)
percentage @6 : Float32;# Charge percentage on 0 to 1 range  (If unmeasured NaN)
powerSupplyStatus @7 : UInt8;# The charging status as reported. Values defined above
powerSupplyHealth @8 : UInt8;# The battery health metric. Values defined above
powerSupplyTechnology @9 : UInt8;# The battery chemistry. Values defined above
present @10 : Bool;# True if the battery is present
cellVoltage @11 : List(Float32);# An array of individual cell voltages for each cell in the pack
location @12 : Text;# The location into which the battery is inserted. (slot number or plug)
serialNumber @13 : Text;# The best approximation of the battery serial number
}

LICENSE

MIT/Apache 2.0