Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Sensor/BatteryState.cs

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+namespace RobotNet10.Shared.Sensor;
+
+/// <summary>
+/// BatteryState message (sensor_msgs/BatteryState)
+/// Describes the state of a battery
+/// </summary>
+public struct BatteryState
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Voltage in Volts (Mandatory)
+    /// </summary>
+    public double Voltage { get; set; }
+
+    /// <summary>
+    /// Current in Amperes (If not available: NaN)
+    /// </summary>
+    public double Current { get; set; }
+
+    /// <summary>
+    /// Charge in Ah (If not available: NaN)
+    /// </summary>
+    public double Charge { get; set; }
+
+    /// <summary>
+    /// Capacity in Ah (last full capacity) (If not available: NaN)
+    /// </summary>
+    public double Capacity { get; set; }
+
+    /// <summary>
+    /// Design capacity in Ah (If not available: NaN)
+    /// </summary>
+    public double DesignCapacity { get; set; }
+
+    /// <summary>
+    /// Percentage (0-100) (If not available: NaN)
+    /// </summary>
+    public double Percentage { get; set; }
+
+    /// <summary>
+    /// Power supply status constants
+    /// </summary>
+    public const byte PowerSupplyStatusUnknown = 0;
+    public const byte PowerSupplyStatusCharging = 1;
+    public const byte PowerSupplyStatusDischarging = 2;
+    public const byte PowerSupplyStatusNotCharging = 3;
+    public const byte PowerSupplyStatusFull = 4;
+
+    /// <summary>
+    /// Power supply status (PowerSupplyStatus constants)
+    /// </summary>
+    public byte PowerSupplyStatus { get; set; }
+
+    /// <summary>
+    /// Power supply health constants
+    /// </summary>
+    public const byte PowerSupplyHealthUnknown = 0;
+    public const byte PowerSupplyHealthGood = 1;
+    public const byte PowerSupplyHealthOverheat = 2;
+    public const byte PowerSupplyHealthDead = 3;
+    public const byte PowerSupplyHealthOvervoltage = 4;
+    public const byte PowerSupplyHealthUnspecifiedFailure = 5;
+    public const byte PowerSupplyHealthCold = 6;
+
+    /// <summary>
+    /// Power supply health (PowerSupplyHealth constants)
+    /// </summary>
+    public byte PowerSupplyHealth { get; set; }
+
+    /// <summary>
+    /// Power supply technology (chemistry) constants
+    /// </summary>
+    public const byte PowerSupplyTechnologyUnknown = 0;
+    public const byte PowerSupplyTechnologyNiMh = 1;
+    public const byte PowerSupplyTechnologyLion = 2;
+    public const byte PowerSupplyTechnologyLipo = 3;
+    public const byte PowerSupplyTechnologyLife = 4;
+    public const byte PowerSupplyTechnologyNiCd = 5;
+    public const byte PowerSupplyTechnologyLiMn = 6;
+
+    /// <summary>
+    /// Power supply technology (PowerSupplyTechnology constants)
+    /// </summary>
+    public byte PowerSupplyTechnology { get; set; }
+
+    /// <summary>
+    /// True if the battery is present
+    /// </summary>
+    public bool Present { get; set; }
+
+    /// <summary>
+    /// An array of individual cell voltages. Each individual cell voltage should be > 0.0.
+    /// If not available: empty array
+    /// </summary>
+    public double[] CellVoltage { get; set; }
+
+    /// <summary>
+    /// An array of individual cell temperatures. Each individual cell temperature should be > 0.0.
+    /// If not available: empty array
+    /// </summary>
+    public double[] CellTemperature { get; set; }
+
+    /// <summary>
+    /// The location into which the battery is inserted. (slot number or plug)
+    /// </summary>
+    public string Location { get; set; }
+
+    /// <summary>
+    /// The serial number of the battery pack.
+    /// </summary>
+    public string SerialNumber { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public BatteryState()
+    {
+        Header = new Header();
+        Voltage = 0.0;
+        Current = double.NaN;
+        Charge = double.NaN;
+        Capacity = double.NaN;
+        DesignCapacity = double.NaN;
+        Percentage = double.NaN;
+        PowerSupplyStatus = PowerSupplyStatusUnknown;
+        PowerSupplyHealth = PowerSupplyHealthUnknown;
+        PowerSupplyTechnology = PowerSupplyTechnologyUnknown;
+        Present = false;
+        CellVoltage = [];
+        CellTemperature = [];
+        Location = string.Empty;
+        SerialNumber = string.Empty;
+    }
+}
+