string _serial_number; // The best approximation of the battery serial number
public BatteryStateMsg(JSONNode msg)
{
_header = new std_msgs.HeaderMsg(msg["header"]);
_voltage = msg["voltage"].AsFloat;
_current = msg["current"].AsFloat;
_charge = msg["charge"].AsFloat;
_capacity = msg["capacity"].AsFloat;
_design_capacity = msg["design_capacity"].AsFloat;
_percentage = msg["percentage"].AsFloat;
_power_supply_status = (PowerSupplyStatus)msg["power_supply_status"].AsInt;
_power_supply_health = (PowerSupplyHealth)msg["power_supply_health"].AsInt;
_power_supply_technology = (PowerSupplyTechnology)msg["power_supply_technology"].AsInt;
_present = msg["present"].AsBool;
JSONArray cell_voltages_temp = msg["cell_voltage"].AsArray;
_cell_voltage = new float[cell_voltages_temp.Count];
for (int i = 0; i < _cell_voltage.Length; i++)
{
_cell_voltage[i] = cell_voltages_temp[i].AsFloat;
}
_location = msg["location"].Value;
_serial_number = msg["serial_number"].Value;
}
double[] _linear_velocity_covariance; // Row major x, y, z
public IMUMsg(JSONNode msg)
{
_header = new std_msgs.HeaderMsg(msg["header"]);
_orientation = new geometry_msgs.QuaternionMsg(msg["orientation"]);
_angular_velocity = new geometry_msgs.Vector3Msg(msg["angular_velocity"]);
_linear_acceleration = new geometry_msgs.Vector3Msg(msg["linear_acceleration"]);
JSONArray temp = msg["orientation_covariance"].AsArray;
_orientation_covariance = new double[temp.Count];
for (int i = 0; i < _orientation_covariance.Length; i++)
{
_orientation_covariance[i] = temp[i].AsDouble;
}
temp = msg["angular_velocity_covariance"].AsArray;
_angular_velocity_covariance = new double[temp.Count];
for (int i = 0; i < _angular_velocity_covariance.Length; i++)
{
_angular_velocity_covariance[i] = temp[i].AsDouble;
}
temp = msg["linear_acceleration_covariance"].AsArray;
_linear_velocity_covariance = new double[temp.Count];
for (int i = 0; i < _linear_velocity_covariance.Length; i++)
{
_linear_velocity_covariance[i] = temp[i].AsDouble;
}
}
public PCFaceMsg(JSONNode msg)
{
_header = new std_msgs.HeaderMsg(msg["header"]);
JSONArray temp = msg["vert_x"].AsArray;
Vert_x = new float[temp.Count];
for (int i = 0; i < Vert_x.Length; i++)
{
Vert_x[i] = temp[i].AsFloat;
}
temp = msg["vert_y"].AsArray;
Vert_y = new float[temp.Count];
for (int i = 0; i < Vert_y.Length; i++)
{
Vert_y[i] = temp[i].AsFloat;
}
temp = msg["vert_z"].AsArray;
Vert_z = new float[temp.Count];
for (int i = 0; i < Vert_z.Length; i++)
{
Vert_z[i] = temp[i].AsFloat;
}
String tempColor = msg["color_r"].Value;
Color_r = Convert.FromBase64String(tempColor);
tempColor = msg["color_b"].Value;
Color_b = Convert.FromBase64String(tempColor);
tempColor = msg["color_g"].Value;
Color_g = Convert.FromBase64String(tempColor);
tempColor = msg["color_a"].Value;
Color_a = Convert.FromBase64String(tempColor);
temp = msg["face_0"].AsArray;
Face_0 = new UInt16[temp.Count];
for (int i = 0; i < Face_0.Length; i++)
{
Face_0[i] = (UInt16)temp[i].AsInt;
}
temp = msg["face_1"].AsArray;
Face_1 = new UInt16[temp.Count];
for (int i = 0; i < Face_1.Length; i++)
{
Face_1[i] = (UInt16)temp[i].AsInt;
}
temp = msg["face_2"].AsArray;
Face_2 = new UInt16[temp.Count];
for (int i = 0; i < Face_2.Length; i++)
{
Face_2[i] = (UInt16)temp[i].AsInt;
}
}
//our changes:
public NavSatFixMsg(double lat, double lng, double alt)
{
_header = new std_msgs.HeaderMsg(0, new std_msgs.TimeMsg(0, 0), "hello");
_status = (NavSatStatus)(-2);
_service = (NavSatService)0;
_latitude = lat;
_longitude = lng;
_altitude = alt;
//JSONArray temp_covar_array = new JSONArray();
_position_covariance = new double[1];
_position_covariance_type = (PositionCovarianceType)(-1);
}
public NavSatFixMsg(JSONNode msg)
{
_header = new std_msgs.HeaderMsg(msg["header"]);
_status = (NavSatStatus)msg["status"]["status"].AsInt;
_service = (NavSatService)msg["status"]["service"].AsInt;
_latitude = msg["latitude"].AsFloat;
_longitude = msg["longitude"].AsFloat;
_altitude = msg["altitude"].AsFloat;
JSONArray temp_covar_array = msg["position_covariance"].AsArray;
_position_covariance = new double[temp_covar_array.Count];
for (int i = 0; i < _position_covariance.Length; i++)
{
_position_covariance[i] = temp_covar_array[i].AsDouble;
}
_position_covariance_type = (PositionCovarianceType)msg["position_covariance_type"].AsInt;
}
public JoyMsg(JSONNode msg)
{
_header = new std_msgs.HeaderMsg(msg["header"]);
JSONArray temp = msg["axes"].AsArray;
_axes = new float[temp.Count];
for (int i = 0; i < _axes.Length; i++)
{
_axes[i] = temp[i].AsFloat;
}
temp = msg["buttons"].AsArray;
_buttons = new int[temp.Count];
for (int i = 0; i < _buttons.Length; i++)
{
_buttons[i] = temp[i].AsInt;
}
}
public MeshMsg(JSONNode msg)
{
DateTime startTime = DateTime.Now;
DateTime stageTime = startTime;
_header = new std_msgs.HeaderMsg(msg["header"]);
// Debug.Log("Header Generation: " + DateTime.Now.Subtract(stageTime).TotalMilliseconds.ToString() + "ms");
stageTime = DateTime.Now;
_block_edge_length = float.Parse(msg["block_edge_length"]);
// Debug.Log("Block Edge Length Generation: " + DateTime.Now.Subtract(stageTime).TotalMilliseconds.ToString() + "ms");
stageTime = DateTime.Now;
JSONArray temp = msg["mesh_blocks"].AsArray;
// Debug.Log("Mesh Block Array Generation: " + DateTime.Now.Subtract(stageTime).TotalMilliseconds.ToString() + "ms");
stageTime = DateTime.Now;
_mesh_blocks = new voxblox_msgs.MeshBlockMsg[temp.Count];
for (int i = 0; i < _mesh_blocks.Length; i++)
{
_mesh_blocks[i] = new voxblox_msgs.MeshBlockMsg(temp[i]);
}
Debug.Log("Mesh Block Generation Total: " + DateTime.Now.Subtract(stageTime).TotalMilliseconds.ToString() + "ms");
Debug.Log("Mesh Block Generation Average: " + (DateTime.Now.Subtract(stageTime).TotalMilliseconds / _mesh_blocks.Length).ToString() + "ms");
}
public JoyMsg(std_msgs.HeaderMsg header, float[] axes, int[] buttons)
{
_header = header;
_axes = axes;
_buttons = buttons;
}
