From 6682714c9d8b95f79942880763d2fcf66bd06b8c Mon Sep 17 00:00:00 2001 From: Goodarz Mehr Date: Thu, 16 Dec 2021 22:30:37 -0500 Subject: [PATCH] Add files via upload --- dbw_mkz_msgs/CHANGELOG.rst | 168 ++++++++++ dbw_mkz_msgs/CMakeLists.txt | 57 ++++ .../bmr/1.0.11-1.0.12/BrakeReport.bmr | 181 +++++++++++ .../bmr/1.0.11-1.0.12/BrakeReport.saved | 74 +++++ .../bmr/1.0.11-1.0.12/SteeringReport.bmr | 110 +++++++ .../bmr/1.0.11-1.0.12/SteeringReport.saved | 42 +++ .../bmr/1.0.11-1.0.12/ThrottleReport.bmr | 151 +++++++++ .../bmr/1.0.11-1.0.12/ThrottleReport.saved | 62 ++++ .../bmr/1.0.12-1.0.13/Misc1Report.bmr | 271 ++++++++++++++++ .../bmr/1.0.12-1.0.13/Misc1Report.saved | 110 +++++++ .../bmr/1.0.16-1.0.17/Misc1Report.bmr | 277 ++++++++++++++++ .../bmr/1.0.16-1.0.17/Misc1Report.saved | 112 +++++++ dbw_mkz_msgs/bmr/1.0.17-1.1.0/BrakeCmd.bmr | 75 +++++ dbw_mkz_msgs/bmr/1.0.17-1.1.0/BrakeCmd.saved | 30 ++ dbw_mkz_msgs/bmr/1.0.2-1.0.3/SteeringCmd.bmr | 48 +++ .../bmr/1.0.2-1.0.3/SteeringCmd.saved | 14 + dbw_mkz_msgs/bmr/1.0.5-1.0.6/BrakeCmd.bmr | 73 +++++ dbw_mkz_msgs/bmr/1.0.5-1.0.6/BrakeCmd.saved | 26 ++ dbw_mkz_msgs/bmr/1.0.5-1.0.6/GearCmd.bmr | 47 +++ dbw_mkz_msgs/bmr/1.0.5-1.0.6/GearCmd.saved | 15 + dbw_mkz_msgs/bmr/1.0.5-1.0.6/SteeringCmd.bmr | 55 ++++ .../bmr/1.0.5-1.0.6/SteeringCmd.saved | 17 + dbw_mkz_msgs/bmr/1.0.5-1.0.6/ThrottleCmd.bmr | 58 ++++ .../bmr/1.0.5-1.0.6/ThrottleCmd.saved | 19 ++ dbw_mkz_msgs/bmr/1.0.6-1.0.7/BrakeReport.bmr | 181 +++++++++++ .../bmr/1.0.6-1.0.7/BrakeReport.saved | 74 +++++ dbw_mkz_msgs/bmr/1.0.6-1.0.7/GearReport.bmr | 121 +++++++ dbw_mkz_msgs/bmr/1.0.6-1.0.7/GearReport.saved | 44 +++ dbw_mkz_msgs/bmr/1.0.6-1.0.7/Misc1Report.bmr | 262 +++++++++++++++ .../bmr/1.0.6-1.0.7/Misc1Report.saved | 105 ++++++ .../bmr/1.0.6-1.0.7/SteeringReport.bmr | 109 +++++++ .../bmr/1.0.6-1.0.7/SteeringReport.saved | 43 +++ .../bmr/1.0.6-1.0.7/ThrottleReport.bmr | 149 +++++++++ .../bmr/1.0.6-1.0.7/ThrottleReport.saved | 62 ++++ .../bmr/1.1.2-1.2.0/FuelLevelReport.bmr | 71 ++++ .../bmr/1.1.2-1.2.0/FuelLevelReport.saved | 22 ++ dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringCmd.bmr | 71 ++++ .../bmr/1.1.2-1.2.0/SteeringCmd.saved | 20 ++ .../bmr/1.1.2-1.2.0/SteeringReport.bmr | 115 +++++++ .../bmr/1.1.2-1.2.0/SteeringReport.saved | 41 +++ .../bmr/1.2.0-1.2.1/BrakeInfoReport.bmr | 193 +++++++++++ .../bmr/1.2.0-1.2.1/BrakeInfoReport.saved | 76 +++++ dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeReport.bmr | 185 +++++++++++ .../bmr/1.2.0-1.2.1/BrakeReport.saved | 72 +++++ .../bmr/1.2.0-1.2.1/ThrottleInfoReport.bmr | 105 ++++++ .../bmr/1.2.0-1.2.1/ThrottleInfoReport.saved | 26 ++ dbw_mkz_msgs/bmr/1.2.11-1.3.0/BrakeReport.bmr | 183 +++++++++++ .../bmr/1.2.11-1.3.0/BrakeReport.saved | 76 +++++ .../bmr/1.2.11-1.3.0/ThrottleInfoReport.bmr | 143 ++++++++ .../bmr/1.2.11-1.3.0/ThrottleInfoReport.saved | 58 ++++ dbw_mkz_msgs/bmr/1.2.4-1.2.5/Misc1Report.bmr | 306 ++++++++++++++++++ .../bmr/1.2.4-1.2.5/Misc1Report.saved | 114 +++++++ dbw_mkz_msgs/bmr/1.4.0-1.4.1/SteeringCmd.bmr | 84 +++++ .../bmr/1.4.0-1.4.1/SteeringCmd.saved | 31 ++ .../bmr/1.4.0-1.4.1/ThrottleInfoReport.bmr | 156 +++++++++ .../bmr/1.4.0-1.4.1/ThrottleInfoReport.saved | 61 ++++ dbw_mkz_msgs/bmr/README.md | 39 +++ dbw_mkz_msgs/msg/AmbientLight.msg | 8 + dbw_mkz_msgs/msg/BrakeCmd.msg | 26 ++ dbw_mkz_msgs/msg/BrakeInfoReport.msg | 33 ++ dbw_mkz_msgs/msg/BrakeReport.msg | 35 ++ dbw_mkz_msgs/msg/DriverAssistReport.msg | 23 ++ dbw_mkz_msgs/msg/FuelLevelReport.msg | 14 + dbw_mkz_msgs/msg/Gear.msg | 8 + dbw_mkz_msgs/msg/GearCmd.msg | 5 + dbw_mkz_msgs/msg/GearNum.msg | 17 + dbw_mkz_msgs/msg/GearReject.msg | 10 + dbw_mkz_msgs/msg/GearReport.msg | 16 + dbw_mkz_msgs/msg/HillStartAssist.msg | 16 + dbw_mkz_msgs/msg/Ignition.msg | 6 + dbw_mkz_msgs/msg/Misc1Report.msg | 69 ++++ dbw_mkz_msgs/msg/ParkingBrake.msg | 6 + dbw_mkz_msgs/msg/QualityFactor.msg | 6 + dbw_mkz_msgs/msg/SteeringCmd.msg | 30 ++ dbw_mkz_msgs/msg/SteeringReport.msg | 28 ++ dbw_mkz_msgs/msg/SurroundReport.msg | 34 ++ dbw_mkz_msgs/msg/ThrottleCmd.msg | 20 ++ dbw_mkz_msgs/msg/ThrottleInfoReport.msg | 18 ++ dbw_mkz_msgs/msg/ThrottleReport.msg | 22 ++ dbw_mkz_msgs/msg/TirePressureReport.msg | 7 + dbw_mkz_msgs/msg/TurnSignal.msg | 6 + dbw_mkz_msgs/msg/TurnSignalCmd.msg | 2 + dbw_mkz_msgs/msg/TwistCmd.msg | 3 + dbw_mkz_msgs/msg/WatchdogCounter.msg | 18 ++ dbw_mkz_msgs/msg/WheelPositionReport.msg | 10 + dbw_mkz_msgs/msg/WheelSpeedReport.msg | 7 + dbw_mkz_msgs/msg/Wiper.msg | 18 ++ dbw_mkz_msgs/package.xml | 56 ++++ 88 files changed, 6067 insertions(+) create mode 100644 dbw_mkz_msgs/CHANGELOG.rst create mode 100644 dbw_mkz_msgs/CMakeLists.txt create mode 100644 dbw_mkz_msgs/bmr/1.0.11-1.0.12/BrakeReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.11-1.0.12/BrakeReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.11-1.0.12/SteeringReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.11-1.0.12/SteeringReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.11-1.0.12/ThrottleReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.11-1.0.12/ThrottleReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.12-1.0.13/Misc1Report.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.12-1.0.13/Misc1Report.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.16-1.0.17/Misc1Report.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.16-1.0.17/Misc1Report.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.17-1.1.0/BrakeCmd.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.17-1.1.0/BrakeCmd.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.2-1.0.3/SteeringCmd.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.2-1.0.3/SteeringCmd.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.5-1.0.6/BrakeCmd.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.5-1.0.6/BrakeCmd.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.5-1.0.6/GearCmd.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.5-1.0.6/GearCmd.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.5-1.0.6/SteeringCmd.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.5-1.0.6/SteeringCmd.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.5-1.0.6/ThrottleCmd.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.5-1.0.6/ThrottleCmd.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.6-1.0.7/BrakeReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.6-1.0.7/BrakeReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.6-1.0.7/GearReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.6-1.0.7/GearReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.6-1.0.7/Misc1Report.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.6-1.0.7/Misc1Report.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.6-1.0.7/SteeringReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.6-1.0.7/SteeringReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.0.6-1.0.7/ThrottleReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.0.6-1.0.7/ThrottleReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.1.2-1.2.0/FuelLevelReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.1.2-1.2.0/FuelLevelReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringCmd.bmr create mode 100644 dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringCmd.saved create mode 100644 dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeInfoReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeInfoReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.2.0-1.2.1/ThrottleInfoReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.2.0-1.2.1/ThrottleInfoReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.2.11-1.3.0/BrakeReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.2.11-1.3.0/BrakeReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.2.11-1.3.0/ThrottleInfoReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.2.11-1.3.0/ThrottleInfoReport.saved create mode 100644 dbw_mkz_msgs/bmr/1.2.4-1.2.5/Misc1Report.bmr create mode 100644 dbw_mkz_msgs/bmr/1.2.4-1.2.5/Misc1Report.saved create mode 100644 dbw_mkz_msgs/bmr/1.4.0-1.4.1/SteeringCmd.bmr create mode 100644 dbw_mkz_msgs/bmr/1.4.0-1.4.1/SteeringCmd.saved create mode 100644 dbw_mkz_msgs/bmr/1.4.0-1.4.1/ThrottleInfoReport.bmr create mode 100644 dbw_mkz_msgs/bmr/1.4.0-1.4.1/ThrottleInfoReport.saved create mode 100644 dbw_mkz_msgs/bmr/README.md create mode 100644 dbw_mkz_msgs/msg/AmbientLight.msg create mode 100644 dbw_mkz_msgs/msg/BrakeCmd.msg create mode 100644 dbw_mkz_msgs/msg/BrakeInfoReport.msg create mode 100644 dbw_mkz_msgs/msg/BrakeReport.msg create mode 100644 dbw_mkz_msgs/msg/DriverAssistReport.msg create mode 100644 dbw_mkz_msgs/msg/FuelLevelReport.msg create mode 100644 dbw_mkz_msgs/msg/Gear.msg create mode 100644 dbw_mkz_msgs/msg/GearCmd.msg create mode 100644 dbw_mkz_msgs/msg/GearNum.msg create mode 100644 dbw_mkz_msgs/msg/GearReject.msg create mode 100644 dbw_mkz_msgs/msg/GearReport.msg create mode 100644 dbw_mkz_msgs/msg/HillStartAssist.msg create mode 100644 dbw_mkz_msgs/msg/Ignition.msg create mode 100644 dbw_mkz_msgs/msg/Misc1Report.msg create mode 100644 dbw_mkz_msgs/msg/ParkingBrake.msg create mode 100644 dbw_mkz_msgs/msg/QualityFactor.msg create mode 100644 dbw_mkz_msgs/msg/SteeringCmd.msg create mode 100644 dbw_mkz_msgs/msg/SteeringReport.msg create mode 100644 dbw_mkz_msgs/msg/SurroundReport.msg create mode 100644 dbw_mkz_msgs/msg/ThrottleCmd.msg create mode 100644 dbw_mkz_msgs/msg/ThrottleInfoReport.msg create mode 100644 dbw_mkz_msgs/msg/ThrottleReport.msg create mode 100644 dbw_mkz_msgs/msg/TirePressureReport.msg create mode 100644 dbw_mkz_msgs/msg/TurnSignal.msg create mode 100644 dbw_mkz_msgs/msg/TurnSignalCmd.msg create mode 100644 dbw_mkz_msgs/msg/TwistCmd.msg create mode 100644 dbw_mkz_msgs/msg/WatchdogCounter.msg create mode 100644 dbw_mkz_msgs/msg/WheelPositionReport.msg create mode 100644 dbw_mkz_msgs/msg/WheelSpeedReport.msg create mode 100644 dbw_mkz_msgs/msg/Wiper.msg create mode 100644 dbw_mkz_msgs/package.xml diff --git a/dbw_mkz_msgs/CHANGELOG.rst b/dbw_mkz_msgs/CHANGELOG.rst new file mode 100644 index 0000000..d85dd12 --- /dev/null +++ b/dbw_mkz_msgs/CHANGELOG.rst @@ -0,0 +1,168 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package dbw_mkz_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.4.1 (2021-09-20) +------------------ +* Add ignition status to ThrottleInfoReport +* Add user control of alert +* Contributors: Kevin Hallenbeck + +1.4.0 (2021-05-12) +------------------ + +1.3.2 (2021-03-09) +------------------ + +1.3.1 (2021-01-14) +------------------ +* Add hazard light enumeration to turn signal status +* Contributors: Kevin Hallenbeck + +1.3.0 (2020-11-18) +------------------ +* Add brake pedal actuator brake type +* Add battery current measurement +* Contributors: Kevin Hallenbeck, Sun Hwang + +1.2.11 (2020-08-17) +------------------- + +1.2.10 (2020-08-05) +------------------- + +1.2.9 (2020-07-09) +------------------ +* Add gear reject enumerations +* Increase CMake minimum version to 3.0.2 to avoid warning about CMP0048 + http://wiki.ros.org/noetic/Migration#Increase_required_CMake_version_to_avoid_author_warning +* Contributors: Kevin Hallenbeck + +1.2.8 (2020-02-20) +------------------ + +1.2.7 (2020-02-14) +------------------ + +1.2.6 (2019-11-11) +------------------ + +1.2.5 (2019-10-30) +------------------ +* Add steering wheel buttons in Misc1Report +* Contributors: Kevin Hallenbeck, Sun Hwang + +1.2.4 (2019-09-13) +------------------ + +1.2.3 (2019-08-13) +------------------ + +1.2.2 (2019-07-24) +------------------ + +1.2.1 (2019-07-11) +------------------ +* Added support for non-hybrid brake report values +* Added gear number to throttle info message +* Added throttle and brake limp-home statuses +* Contributors: Kevin Hallenbeck, Sun Hwang + +1.2.0 (2019-05-03) +------------------ +* Added angle/torque steering command modes (not supported on all platforms) +* Added odometer and battery voltage to fuel level report +* Contributors: Kevin Hallenbeck + +1.1.2 (2019-03-14) +------------------ + +1.1.1 (2019-03-01) +------------------ + +1.1.0 (2018-11-30) +------------------ +* Removed boo_cmd from BrakeCommand message +* Fixed old bag migration rule +* Added CMD_DECEL brake command type (only for non-hybrid platforms) +* Added DriverAssistReport message +* Contributors: Kevin Hallenbeck + +1.0.17 (2018-10-27) +------------------- +* Added outside air temperature to Misc1Report +* Fixed copy-paste mistake in old bag migration rule +* Contributors: Kevin Hallenbeck + +1.0.16 (2018-08-29) +------------------- + +1.0.15 (2018-08-21) +------------------- + +1.0.14 (2018-08-20) +------------------- +* Added brake pedal CMD_TORQUE_RQ command type for closed loop brake torque request +* Contributors: Kevin Hallenbeck + +1.0.13 (2018-06-06) +------------------- +* Added support for the RES+ and RES- buttons +* Contributors: Kevin Hallenbeck + +1.0.12 (2018-01-30) +------------------- +* Added power fault bit to report when modules lose power +* Added bag migration rules for converting bag files with old message types +* Contributors: Kevin Hallenbeck + +1.0.11 (2017-10-19) +------------------- + +1.0.10 (2017-10-03) +------------------- + +1.0.9 (2017-09-19) +------------------ + +1.0.8 (2017-09-07) +------------------ + +1.0.7 (2017-08-21) +------------------ +* Removed steering report driver activity bit +* Replaced connector fault with timeout, and warn on timeout +* Added gear rejection enumeration to gear report +* Added wheel positions report (replaces suspension report) +* Added steering wheel left D-Pad buttons +* Contributors: Kevin Hallenbeck + +1.0.6 (2017-06-21) +------------------ +* Removed SuspensionReport (data was unintelligible) +* Added clear bit to command messages +* Contributors: Kevin Hallenbeck + +1.0.5 (2017-04-25) +------------------ +* Updated package.xml format to version 2 +* Contributors: Kevin Hallenbeck + +1.0.4 (2016-12-06) +------------------ + +1.0.3 (2016-11-17) +------------------ +* Added QUIET bit to disable driver override audible warning +* Contributors: Kevin Hallenbeck + +1.0.2 (2016-11-07) +------------------ + +1.0.1 (2016-10-10) +------------------ + +1.0.0 (2016-09-28) +------------------ +* Initial release +* Contributors: Kevin Hallenbeck diff --git a/dbw_mkz_msgs/CMakeLists.txt b/dbw_mkz_msgs/CMakeLists.txt new file mode 100644 index 0000000..bcb43bf --- /dev/null +++ b/dbw_mkz_msgs/CMakeLists.txt @@ -0,0 +1,57 @@ +cmake_minimum_required(VERSION 3.0.2) +project(dbw_mkz_msgs) + +find_package(catkin REQUIRED COMPONENTS + message_generation + std_msgs + geometry_msgs +) + +add_message_files(DIRECTORY msg FILES + AmbientLight.msg + BrakeCmd.msg + BrakeInfoReport.msg + BrakeReport.msg + DriverAssistReport.msg + FuelLevelReport.msg + Gear.msg + GearCmd.msg + GearNum.msg + GearReject.msg + GearReport.msg + HillStartAssist.msg + Ignition.msg + Misc1Report.msg + ParkingBrake.msg + QualityFactor.msg + SteeringCmd.msg + SteeringReport.msg + SurroundReport.msg + ThrottleCmd.msg + ThrottleInfoReport.msg + ThrottleReport.msg + TirePressureReport.msg + TurnSignal.msg + TurnSignalCmd.msg + TwistCmd.msg + WatchdogCounter.msg + WheelPositionReport.msg + WheelSpeedReport.msg + Wiper.msg +) + +generate_messages(DEPENDENCIES + std_msgs + geometry_msgs +) + +catkin_package(CATKIN_DEPENDS + message_runtime + std_msgs + geometry_msgs +) + +install(DIRECTORY bmr + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + FILES_MATCHING PATTERN "*.bmr" +) diff --git a/dbw_mkz_msgs/bmr/1.0.11-1.0.12/BrakeReport.bmr b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/BrakeReport.bmr new file mode 100644 index 0000000..b646f52 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/BrakeReport.bmr @@ -0,0 +1,181 @@ +class update_dbw_mkz_msgs_BrakeReport_5716c7ce378fb5a251e0ff30ac24500e(MessageUpdateRule): + old_type = "dbw_mkz_msgs/BrakeReport" + old_full_text = """ +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_boo + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + new_type = "dbw_mkz_msgs/BrakeReport" + new_full_text = """ +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + order = 3 + migrated_types = [ + ("Header","Header"), + ("WatchdogCounter","WatchdogCounter"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.pedal_input = old_msg.pedal_input + new_msg.pedal_cmd = old_msg.pedal_cmd + new_msg.pedal_output = old_msg.pedal_output + new_msg.torque_input = old_msg.torque_input + new_msg.torque_cmd = old_msg.torque_cmd + new_msg.torque_output = old_msg.torque_output + new_msg.boo_input = old_msg.boo_input + new_msg.boo_cmd = old_msg.boo_cmd + new_msg.boo_output = old_msg.boo_output + new_msg.enabled = old_msg.enabled + new_msg.override = old_msg.override + new_msg.driver = old_msg.driver + new_msg.timeout = old_msg.timeout + self.migrate(old_msg.watchdog_counter, new_msg.watchdog_counter) + new_msg.watchdog_braking = old_msg.watchdog_braking + new_msg.fault_wdc = old_msg.fault_wdc + new_msg.fault_ch1 = old_msg.fault_ch1 + new_msg.fault_ch2 = old_msg.fault_ch2 + new_msg.fault_power = old_msg.fault_boo diff --git a/dbw_mkz_msgs/bmr/1.0.11-1.0.12/BrakeReport.saved b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/BrakeReport.saved new file mode 100644 index 0000000..bbab448 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/BrakeReport.saved @@ -0,0 +1,74 @@ +[dbw_mkz_msgs/BrakeReport]: +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_boo + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms + diff --git a/dbw_mkz_msgs/bmr/1.0.11-1.0.12/SteeringReport.bmr b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/SteeringReport.bmr new file mode 100644 index 0000000..784b7d8 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/SteeringReport.bmr @@ -0,0 +1,110 @@ +class update_dbw_mkz_msgs_SteeringReport_435efc512abdd87ef2f942c0e8ed296d(MessageUpdateRule): + old_type = "dbw_mkz_msgs/SteeringReport" + old_full_text = """ +Header header + +# Steering Wheel +float32 steering_wheel_angle # rad +float32 steering_wheel_angle_cmd # rad +float32 steering_wheel_torque # Nm + +# Vehicle Speed +float32 speed # m/s + +# Status +bool enabled # Enabled +bool override # Driver override +bool timeout # Command timeout + +# Watchdog Counter +bool fault_wdc + +# Faults +bool fault_bus1 +bool fault_bus2 +bool fault_calibration + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id +""" + + new_type = "dbw_mkz_msgs/SteeringReport" + new_full_text = """ +Header header + +# Steering Wheel +float32 steering_wheel_angle # rad +float32 steering_wheel_angle_cmd # rad +float32 steering_wheel_torque # Nm + +# Vehicle Speed +float32 speed # m/s + +# Status +bool enabled # Enabled +bool override # Driver override +bool timeout # Command timeout + +# Watchdog Counter +bool fault_wdc + +# Faults +bool fault_bus1 +bool fault_bus2 +bool fault_calibration +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id +""" + + order = 3 + migrated_types = [ + ("Header","Header"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.steering_wheel_angle = old_msg.steering_wheel_angle + new_msg.steering_wheel_angle_cmd = old_msg.steering_wheel_angle_cmd + new_msg.steering_wheel_torque = old_msg.steering_wheel_torque + new_msg.speed = old_msg.speed + new_msg.enabled = old_msg.enabled + new_msg.override = old_msg.override + new_msg.timeout = old_msg.timeout + new_msg.fault_wdc = old_msg.fault_wdc + new_msg.fault_bus1 = old_msg.fault_bus1 + new_msg.fault_bus2 = old_msg.fault_bus2 + new_msg.fault_calibration = old_msg.fault_calibration + new_msg.fault_power = False diff --git a/dbw_mkz_msgs/bmr/1.0.11-1.0.12/SteeringReport.saved b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/SteeringReport.saved new file mode 100644 index 0000000..f224f1b --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/SteeringReport.saved @@ -0,0 +1,42 @@ +[dbw_mkz_msgs/SteeringReport]: +Header header + +# Steering Wheel +float32 steering_wheel_angle # rad +float32 steering_wheel_angle_cmd # rad +float32 steering_wheel_torque # Nm + +# Vehicle Speed +float32 speed # m/s + +# Status +bool enabled # Enabled +bool override # Driver override +bool timeout # Command timeout + +# Watchdog Counter +bool fault_wdc + +# Faults +bool fault_bus1 +bool fault_bus2 +bool fault_calibration + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + diff --git a/dbw_mkz_msgs/bmr/1.0.11-1.0.12/ThrottleReport.bmr b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/ThrottleReport.bmr new file mode 100644 index 0000000..c9ba5dd --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/ThrottleReport.bmr @@ -0,0 +1,151 @@ +class update_dbw_mkz_msgs_ThrottleReport_dc371d36db36a47de2ffaa1302bf4aec(MessageUpdateRule): + old_type = "dbw_mkz_msgs/ThrottleReport" + old_full_text = """ +Header header + +# Throttle pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + new_type = "dbw_mkz_msgs/ThrottleReport" + new_full_text = """ +Header header + +# Throttle pedal +# Unitless, range 0.15 to 0.80 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + order = 3 + migrated_types = [ + ("Header","Header"), + ("WatchdogCounter","WatchdogCounter"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.pedal_input = old_msg.pedal_input + new_msg.pedal_cmd = old_msg.pedal_cmd + new_msg.pedal_output = old_msg.pedal_output + new_msg.enabled = old_msg.enabled + new_msg.override = old_msg.override + new_msg.driver = old_msg.driver + new_msg.timeout = old_msg.timeout + self.migrate(old_msg.watchdog_counter, new_msg.watchdog_counter) + new_msg.fault_wdc = old_msg.fault_wdc + new_msg.fault_ch1 = old_msg.fault_ch1 + new_msg.fault_ch2 = old_msg.fault_ch2 + new_msg.fault_power = False diff --git a/dbw_mkz_msgs/bmr/1.0.11-1.0.12/ThrottleReport.saved b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/ThrottleReport.saved new file mode 100644 index 0000000..839eff0 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.11-1.0.12/ThrottleReport.saved @@ -0,0 +1,62 @@ +[dbw_mkz_msgs/ThrottleReport]: +Header header + +# Throttle pedal +# Unitless, range 0.15 to 0.80 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms + diff --git a/dbw_mkz_msgs/bmr/1.0.12-1.0.13/Misc1Report.bmr b/dbw_mkz_msgs/bmr/1.0.12-1.0.13/Misc1Report.bmr new file mode 100644 index 0000000..ea5ae9c --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.12-1.0.13/Misc1Report.bmr @@ -0,0 +1,271 @@ +class update_dbw_mkz_msgs_Misc1Report_c5c1e0d6ba52586919873bf9b0355143(MessageUpdateRule): + old_type = "dbw_mkz_msgs/Misc1Report" + old_full_text = """ +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 +""" + + new_type = "dbw_mkz_msgs/Misc1Report" + new_full_text = """ +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_res_inc # Cruise Control Resume+ +bool btn_cc_res_dec # Cruise Control Resume- +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 +""" + + order = 4 + migrated_types = [ + ("Header","Header"), + ("TurnSignal","TurnSignal"), + ("Wiper","Wiper"), + ("AmbientLight","AmbientLight"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + self.migrate(old_msg.turn_signal, new_msg.turn_signal) + new_msg.high_beam_headlights = old_msg.high_beam_headlights + self.migrate(old_msg.wiper, new_msg.wiper) + self.migrate(old_msg.ambient_light, new_msg.ambient_light) + new_msg.btn_cc_on = old_msg.btn_cc_on + new_msg.btn_cc_off = old_msg.btn_cc_off + new_msg.btn_cc_on_off = old_msg.btn_cc_on_off + new_msg.btn_cc_res = old_msg.btn_cc_res + new_msg.btn_cc_cncl = old_msg.btn_cc_cncl + new_msg.btn_cc_res_cncl = old_msg.btn_cc_res_cncl + new_msg.btn_cc_res_inc = False + new_msg.btn_cc_res_dec = False + new_msg.btn_cc_set_inc = old_msg.btn_cc_set_inc + new_msg.btn_cc_set_dec = old_msg.btn_cc_set_dec + new_msg.btn_cc_gap_inc = old_msg.btn_cc_gap_inc + new_msg.btn_cc_gap_dec = old_msg.btn_cc_gap_dec + new_msg.btn_la_on_off = old_msg.btn_la_on_off + new_msg.btn_ld_ok = old_msg.btn_ld_ok + new_msg.btn_ld_up = old_msg.btn_ld_up + new_msg.btn_ld_down = old_msg.btn_ld_down + new_msg.btn_ld_left = old_msg.btn_ld_left + new_msg.btn_ld_right = old_msg.btn_ld_right + new_msg.fault_bus = old_msg.fault_bus + new_msg.door_driver = old_msg.door_driver + new_msg.door_passenger = old_msg.door_passenger + new_msg.door_rear_left = old_msg.door_rear_left + new_msg.door_rear_right = old_msg.door_rear_right + new_msg.door_hood = old_msg.door_hood + new_msg.door_trunk = old_msg.door_trunk + new_msg.passenger_detect = old_msg.passenger_detect + new_msg.passenger_airbag = old_msg.passenger_airbag + new_msg.buckle_driver = old_msg.buckle_driver + new_msg.buckle_passenger = old_msg.buckle_passenger diff --git a/dbw_mkz_msgs/bmr/1.0.12-1.0.13/Misc1Report.saved b/dbw_mkz_msgs/bmr/1.0.12-1.0.13/Misc1Report.saved new file mode 100644 index 0000000..8c0551d --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.12-1.0.13/Misc1Report.saved @@ -0,0 +1,110 @@ +[dbw_mkz_msgs/Misc1Report]: +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 + diff --git a/dbw_mkz_msgs/bmr/1.0.16-1.0.17/Misc1Report.bmr b/dbw_mkz_msgs/bmr/1.0.16-1.0.17/Misc1Report.bmr new file mode 100644 index 0000000..f4a35ca --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.16-1.0.17/Misc1Report.bmr @@ -0,0 +1,277 @@ +class update_dbw_mkz_msgs_Misc1Report_5e430a9996eeb7a76d2abf0e360213d3(MessageUpdateRule): + old_type = "dbw_mkz_msgs/Misc1Report" + old_full_text = """ +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_res_inc # Cruise Control Resume+ +bool btn_cc_res_dec # Cruise Control Resume- +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 +""" + + new_type = "dbw_mkz_msgs/Misc1Report" + new_full_text = """ +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Outside air temperature +float32 outside_temperature # Degrees Celsius + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_res_inc # Cruise Control Resume+ +bool btn_cc_res_dec # Cruise Control Resume- +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 +""" + + order = 5 + migrated_types = [ + ("Header","Header"), + ("TurnSignal","TurnSignal"), + ("Wiper","Wiper"), + ("AmbientLight","AmbientLight"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + self.migrate(old_msg.turn_signal, new_msg.turn_signal) + new_msg.high_beam_headlights = old_msg.high_beam_headlights + self.migrate(old_msg.wiper, new_msg.wiper) + self.migrate(old_msg.ambient_light, new_msg.ambient_light) + new_msg.outside_temperature = float('NAN') + new_msg.btn_cc_on = old_msg.btn_cc_on + new_msg.btn_cc_off = old_msg.btn_cc_off + new_msg.btn_cc_on_off = old_msg.btn_cc_on_off + new_msg.btn_cc_res = old_msg.btn_cc_res + new_msg.btn_cc_cncl = old_msg.btn_cc_cncl + new_msg.btn_cc_res_cncl = old_msg.btn_cc_res_cncl + new_msg.btn_cc_res_inc = old_msg.btn_cc_res_inc + new_msg.btn_cc_res_dec = old_msg.btn_cc_res_dec + new_msg.btn_cc_set_inc = old_msg.btn_cc_set_inc + new_msg.btn_cc_set_dec = old_msg.btn_cc_set_dec + new_msg.btn_cc_gap_inc = old_msg.btn_cc_gap_inc + new_msg.btn_cc_gap_dec = old_msg.btn_cc_gap_dec + new_msg.btn_la_on_off = old_msg.btn_la_on_off + new_msg.btn_ld_ok = old_msg.btn_ld_ok + new_msg.btn_ld_up = old_msg.btn_ld_up + new_msg.btn_ld_down = old_msg.btn_ld_down + new_msg.btn_ld_left = old_msg.btn_ld_left + new_msg.btn_ld_right = old_msg.btn_ld_right + new_msg.fault_bus = old_msg.fault_bus + new_msg.door_driver = old_msg.door_driver + new_msg.door_passenger = old_msg.door_passenger + new_msg.door_rear_left = old_msg.door_rear_left + new_msg.door_rear_right = old_msg.door_rear_right + new_msg.door_hood = old_msg.door_hood + new_msg.door_trunk = old_msg.door_trunk + new_msg.passenger_detect = old_msg.passenger_detect + new_msg.passenger_airbag = old_msg.passenger_airbag + new_msg.buckle_driver = old_msg.buckle_driver + new_msg.buckle_passenger = old_msg.buckle_passenger diff --git a/dbw_mkz_msgs/bmr/1.0.16-1.0.17/Misc1Report.saved b/dbw_mkz_msgs/bmr/1.0.16-1.0.17/Misc1Report.saved new file mode 100644 index 0000000..e3fbee0 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.16-1.0.17/Misc1Report.saved @@ -0,0 +1,112 @@ +[dbw_mkz_msgs/Misc1Report]: +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_res_inc # Cruise Control Resume+ +bool btn_cc_res_dec # Cruise Control Resume- +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 + diff --git a/dbw_mkz_msgs/bmr/1.0.17-1.1.0/BrakeCmd.bmr b/dbw_mkz_msgs/bmr/1.0.17-1.1.0/BrakeCmd.bmr new file mode 100644 index 0000000..bfc7f16 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.17-1.1.0/BrakeCmd.bmr @@ -0,0 +1,75 @@ +class update_dbw_mkz_msgs_BrakeCmd_c0d20e1056976680942e85ab0959826c(MessageUpdateRule): + old_type = "dbw_mkz_msgs/BrakeCmd" + old_full_text = """ +# Brake pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Brake On Off (BOO), brake lights +bool boo_cmd + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.50 +uint8 CMD_PERCENT=2 # Percent of maximum torque, range 0 to 1 +uint8 CMD_TORQUE=3 # Nm, range 0 to 3250 + +float32 TORQUE_BOO=520 # Nm, brake lights threshold +float32 TORQUE_MAX=3412 # Nm, maximum torque +""" + + new_type = "dbw_mkz_msgs/BrakeCmd" + new_full_text = """ +# Brake pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.50 +uint8 CMD_PERCENT=2 # Percent of maximum torque, range 0 to 1 +uint8 CMD_TORQUE=3 # Nm, range 0 to 3412, open-loop +uint8 CMD_TORQUE_RQ=4 # Nm, range 0 to 3412, closed-loop +uint8 CMD_DECEL=6 # m/s^2, range 0 to 10 + +float32 TORQUE_BOO=520 # Nm, brake lights threshold +float32 TORQUE_MAX=3412 # Nm, maximum torque +""" + + order = 6 + migrated_types = [] + + valid = True + + def update(self, old_msg, new_msg): + new_msg.pedal_cmd = old_msg.pedal_cmd + new_msg.pedal_cmd_type = old_msg.pedal_cmd_type + new_msg.enable = old_msg.enable + new_msg.clear = old_msg.clear + new_msg.ignore = old_msg.ignore + new_msg.count = old_msg.count + #No field to match field boo_cmd from old message diff --git a/dbw_mkz_msgs/bmr/1.0.17-1.1.0/BrakeCmd.saved b/dbw_mkz_msgs/bmr/1.0.17-1.1.0/BrakeCmd.saved new file mode 100644 index 0000000..3172c92 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.17-1.1.0/BrakeCmd.saved @@ -0,0 +1,30 @@ +[dbw_mkz_msgs/BrakeCmd]: +# Brake pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Brake On Off (BOO), brake lights +bool boo_cmd + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.50 +uint8 CMD_PERCENT=2 # Percent of maximum torque, range 0 to 1 +uint8 CMD_TORQUE=3 # Nm, range 0 to 3250, open-loop +uint8 CMD_TORQUE_RQ=4 # Nm, range 0 to 3250, closed-loop + +float32 TORQUE_BOO=520 # Nm, brake lights threshold +float32 TORQUE_MAX=3412 # Nm, maximum torque + diff --git a/dbw_mkz_msgs/bmr/1.0.2-1.0.3/SteeringCmd.bmr b/dbw_mkz_msgs/bmr/1.0.2-1.0.3/SteeringCmd.bmr new file mode 100644 index 0000000..ed939d5 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.2-1.0.3/SteeringCmd.bmr @@ -0,0 +1,48 @@ +class update_dbw_mkz_msgs_SteeringCmd_192505495735324fef007a93555f08a9(MessageUpdateRule): + old_type = "dbw_mkz_msgs/SteeringCmd" + old_full_text = """ +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -8.2 to 8.2 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 8.7, 0 = maximum + +# Enable +bool enable + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count +""" + + new_type = "dbw_mkz_msgs/SteeringCmd" + new_full_text = """ +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -8.2 to 8.2 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 8.7, 0 = maximum + +# Enable +bool enable + +# Ignore driver overrides +bool ignore + +# Disable the driver override audible warning +bool quiet + +# Watchdog counter (optional) +uint8 count +""" + + order = 0 + migrated_types = [] + + valid = True + + def update(self, old_msg, new_msg): + new_msg.steering_wheel_angle_cmd = old_msg.steering_wheel_angle_cmd + new_msg.steering_wheel_angle_velocity = old_msg.steering_wheel_angle_velocity + new_msg.enable = old_msg.enable + new_msg.ignore = old_msg.ignore + new_msg.quiet = False + new_msg.count = old_msg.count diff --git a/dbw_mkz_msgs/bmr/1.0.2-1.0.3/SteeringCmd.saved b/dbw_mkz_msgs/bmr/1.0.2-1.0.3/SteeringCmd.saved new file mode 100644 index 0000000..e2f7d1e --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.2-1.0.3/SteeringCmd.saved @@ -0,0 +1,14 @@ +[dbw_mkz_msgs/SteeringCmd]: +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -8.2 to 8.2 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 8.7, 0 = maximum + +# Enable +bool enable + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + diff --git a/dbw_mkz_msgs/bmr/1.0.5-1.0.6/BrakeCmd.bmr b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/BrakeCmd.bmr new file mode 100644 index 0000000..19d9869 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/BrakeCmd.bmr @@ -0,0 +1,73 @@ +class update_dbw_mkz_msgs_BrakeCmd_4b6c57c74f8e12f7f2af7f00a7897290(MessageUpdateRule): + old_type = "dbw_mkz_msgs/BrakeCmd" + old_full_text = """ +# Brake pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Brake On Off (BOO), brake lights +bool boo_cmd + +# Enable +bool enable + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.50 +uint8 CMD_PERCENT=2 # Percent of maximum torque, range 0 to 1 +uint8 CMD_TORQUE=3 # Nm, range 0 to 3250 + +float32 TORQUE_BOO=520 # Nm, brake lights threshold +float32 TORQUE_MAX=3412 # Nm, maximum torque +""" + + new_type = "dbw_mkz_msgs/BrakeCmd" + new_full_text = """ +# Brake pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Brake On Off (BOO), brake lights +bool boo_cmd + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.50 +uint8 CMD_PERCENT=2 # Percent of maximum torque, range 0 to 1 +uint8 CMD_TORQUE=3 # Nm, range 0 to 3250 + +float32 TORQUE_BOO=520 # Nm, brake lights threshold +float32 TORQUE_MAX=3412 # Nm, maximum torque +""" + + order = 1 + migrated_types = [] + + valid = True + + def update(self, old_msg, new_msg): + new_msg.pedal_cmd = old_msg.pedal_cmd + new_msg.pedal_cmd_type = old_msg.pedal_cmd_type + new_msg.boo_cmd = old_msg.boo_cmd + new_msg.enable = old_msg.enable + new_msg.clear = False + new_msg.ignore = old_msg.ignore + new_msg.count = old_msg.count diff --git a/dbw_mkz_msgs/bmr/1.0.5-1.0.6/BrakeCmd.saved b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/BrakeCmd.saved new file mode 100644 index 0000000..408043c --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/BrakeCmd.saved @@ -0,0 +1,26 @@ +[dbw_mkz_msgs/BrakeCmd]: +# Brake pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Brake On Off (BOO), brake lights +bool boo_cmd + +# Enable +bool enable + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.50 +uint8 CMD_PERCENT=2 # Percent of maximum torque, range 0 to 1 +uint8 CMD_TORQUE=3 # Nm, range 0 to 3250 + +float32 TORQUE_BOO=520 # Nm, brake lights threshold +float32 TORQUE_MAX=3412 # Nm, maximum torque + diff --git a/dbw_mkz_msgs/bmr/1.0.5-1.0.6/GearCmd.bmr b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/GearCmd.bmr new file mode 100644 index 0000000..b73f28d --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/GearCmd.bmr @@ -0,0 +1,47 @@ +class update_dbw_mkz_msgs_GearCmd_e4d2b0484c21e028e30e3c34f7f76ad3(MessageUpdateRule): + old_type = "dbw_mkz_msgs/GearCmd" + old_full_text = """ +# Gear command enumeration +Gear cmd + +================================================================================ +MSG: dbw_mkz_msgs/Gear +uint8 gear + +uint8 NONE=0 +uint8 PARK=1 +uint8 REVERSE=2 +uint8 NEUTRAL=3 +uint8 DRIVE=4 +uint8 LOW=5 +""" + + new_type = "dbw_mkz_msgs/GearCmd" + new_full_text = """ +# Gear command enumeration +Gear cmd + +# Clear driver overrides +bool clear + +================================================================================ +MSG: dbw_mkz_msgs/Gear +uint8 gear + +uint8 NONE=0 +uint8 PARK=1 +uint8 REVERSE=2 +uint8 NEUTRAL=3 +uint8 DRIVE=4 +uint8 LOW=5 +""" + + order = 1 + migrated_types = [ + ("Gear","Gear"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.cmd, new_msg.cmd) + new_msg.clear = False diff --git a/dbw_mkz_msgs/bmr/1.0.5-1.0.6/GearCmd.saved b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/GearCmd.saved new file mode 100644 index 0000000..d3259ac --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/GearCmd.saved @@ -0,0 +1,15 @@ +[dbw_mkz_msgs/GearCmd]: +# Gear command enumeration +Gear cmd + +================================================================================ +MSG: dbw_mkz_msgs/Gear +uint8 gear + +uint8 NONE=0 +uint8 PARK=1 +uint8 REVERSE=2 +uint8 NEUTRAL=3 +uint8 DRIVE=4 +uint8 LOW=5 + diff --git a/dbw_mkz_msgs/bmr/1.0.5-1.0.6/SteeringCmd.bmr b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/SteeringCmd.bmr new file mode 100644 index 0000000..84561a2 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/SteeringCmd.bmr @@ -0,0 +1,55 @@ +class update_dbw_mkz_msgs_SteeringCmd_042926cddf5be8099d43692732201784(MessageUpdateRule): + old_type = "dbw_mkz_msgs/SteeringCmd" + old_full_text = """ +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -8.2 to 8.2 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 8.7, 0 = maximum + +# Enable +bool enable + +# Ignore driver overrides +bool ignore + +# Disable the driver override audible warning +bool quiet + +# Watchdog counter (optional) +uint8 count +""" + + new_type = "dbw_mkz_msgs/SteeringCmd" + new_full_text = """ +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -8.2 to 8.2 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 8.7, 0 = maximum + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Disable the driver override audible warning +bool quiet + +# Watchdog counter (optional) +uint8 count +""" + + order = 1 + migrated_types = [] + + valid = True + + def update(self, old_msg, new_msg): + new_msg.steering_wheel_angle_cmd = old_msg.steering_wheel_angle_cmd + new_msg.steering_wheel_angle_velocity = old_msg.steering_wheel_angle_velocity + new_msg.enable = old_msg.enable + new_msg.clear = False + new_msg.ignore = old_msg.ignore + new_msg.quiet = old_msg.quiet + new_msg.count = old_msg.count diff --git a/dbw_mkz_msgs/bmr/1.0.5-1.0.6/SteeringCmd.saved b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/SteeringCmd.saved new file mode 100644 index 0000000..1a771f3 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/SteeringCmd.saved @@ -0,0 +1,17 @@ +[dbw_mkz_msgs/SteeringCmd]: +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -8.2 to 8.2 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 8.7, 0 = maximum + +# Enable +bool enable + +# Ignore driver overrides +bool ignore + +# Disable the driver override audible warning +bool quiet + +# Watchdog counter (optional) +uint8 count + diff --git a/dbw_mkz_msgs/bmr/1.0.5-1.0.6/ThrottleCmd.bmr b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/ThrottleCmd.bmr new file mode 100644 index 0000000..64fdf1d --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/ThrottleCmd.bmr @@ -0,0 +1,58 @@ +class update_dbw_mkz_msgs_ThrottleCmd_dbda92d4b5ebb3cb2a081198c88bc62f(MessageUpdateRule): + old_type = "dbw_mkz_msgs/ThrottleCmd" + old_full_text = """ +# Throttle pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Enable +bool enable + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.80 +uint8 CMD_PERCENT=2 # Percent of maximum throttle, range 0 to 1 +""" + + new_type = "dbw_mkz_msgs/ThrottleCmd" + new_full_text = """ +# Throttle pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.80 +uint8 CMD_PERCENT=2 # Percent of maximum throttle, range 0 to 1 +""" + + order = 1 + migrated_types = [] + + valid = True + + def update(self, old_msg, new_msg): + new_msg.pedal_cmd = old_msg.pedal_cmd + new_msg.pedal_cmd_type = old_msg.pedal_cmd_type + new_msg.enable = old_msg.enable + new_msg.clear = False + new_msg.ignore = old_msg.ignore + new_msg.count = old_msg.count diff --git a/dbw_mkz_msgs/bmr/1.0.5-1.0.6/ThrottleCmd.saved b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/ThrottleCmd.saved new file mode 100644 index 0000000..ce45aaf --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.5-1.0.6/ThrottleCmd.saved @@ -0,0 +1,19 @@ +[dbw_mkz_msgs/ThrottleCmd]: +# Throttle pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Enable +bool enable + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.80 +uint8 CMD_PERCENT=2 # Percent of maximum throttle, range 0 to 1 + diff --git a/dbw_mkz_msgs/bmr/1.0.6-1.0.7/BrakeReport.bmr b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/BrakeReport.bmr new file mode 100644 index 0000000..5ef4874 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/BrakeReport.bmr @@ -0,0 +1,181 @@ +class update_dbw_mkz_msgs_BrakeReport_a306c167d365176ae6159e3c4e3f3197(MessageUpdateRule): + old_type = "dbw_mkz_msgs/BrakeReport" + old_full_text = """ +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_boo +bool fault_connector # This fault can be ignored + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + new_type = "dbw_mkz_msgs/BrakeReport" + new_full_text = """ +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_boo + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + order = 2 + migrated_types = [ + ("Header","Header"), + ("WatchdogCounter","WatchdogCounter"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.pedal_input = old_msg.pedal_input + new_msg.pedal_cmd = old_msg.pedal_cmd + new_msg.pedal_output = old_msg.pedal_output + new_msg.torque_input = old_msg.torque_input + new_msg.torque_cmd = old_msg.torque_cmd + new_msg.torque_output = old_msg.torque_output + new_msg.boo_input = old_msg.boo_input + new_msg.boo_cmd = old_msg.boo_cmd + new_msg.boo_output = old_msg.boo_output + new_msg.enabled = old_msg.enabled + new_msg.override = old_msg.override + new_msg.driver = old_msg.driver + new_msg.timeout = False + self.migrate(old_msg.watchdog_counter, new_msg.watchdog_counter) + new_msg.watchdog_braking = old_msg.watchdog_braking + new_msg.fault_wdc = old_msg.fault_wdc + new_msg.fault_ch1 = old_msg.fault_ch1 + new_msg.fault_ch2 = old_msg.fault_ch2 + new_msg.fault_boo = old_msg.fault_boo diff --git a/dbw_mkz_msgs/bmr/1.0.6-1.0.7/BrakeReport.saved b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/BrakeReport.saved new file mode 100644 index 0000000..1e87fe5 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/BrakeReport.saved @@ -0,0 +1,74 @@ +[dbw_mkz_msgs/BrakeReport]: +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_boo +bool fault_connector # This fault can be ignored + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms + diff --git a/dbw_mkz_msgs/bmr/1.0.6-1.0.7/GearReport.bmr b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/GearReport.bmr new file mode 100644 index 0000000..7d57df7 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/GearReport.bmr @@ -0,0 +1,121 @@ +class update_dbw_mkz_msgs_GearReport_f33342dfeb80c29d8fe4b31e22519594(MessageUpdateRule): + old_type = "dbw_mkz_msgs/GearReport" + old_full_text = """ +Header header + +# Current gear enumeration +Gear state + +# Gear command enumeration +Gear cmd + +# Status +bool override + +# Faults +bool fault_bus + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/Gear +uint8 gear + +uint8 NONE=0 +uint8 PARK=1 +uint8 REVERSE=2 +uint8 NEUTRAL=3 +uint8 DRIVE=4 +uint8 LOW=5 +""" + + new_type = "dbw_mkz_msgs/GearReport" + new_full_text = """ +Header header + +# Current gear enumeration +Gear state + +# Gear command enumeration +Gear cmd + +# Gear reject enumeration +GearReject reject + +# Status +bool override + +# Faults +bool fault_bus + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/Gear +uint8 gear + +uint8 NONE=0 +uint8 PARK=1 +uint8 REVERSE=2 +uint8 NEUTRAL=3 +uint8 DRIVE=4 +uint8 LOW=5 + +================================================================================ +MSG: dbw_mkz_msgs/GearReject +uint8 value + +uint8 NONE=0 # Not rejected +uint8 SHIFT_IN_PROGRESS=1 # Shift in progress +uint8 OVERRIDE=2 # Override on brake, throttle, or steering +uint8 ROTARY_LOW=3 # Rotary shifter can't shift to Low +uint8 ROTARY_PARK=4 # Rotary shifter can't shift out of Park +uint8 VEHICLE=5 # Rejected by vehicle (try pressing the brakes) +""" + + order = 2 + migrated_types = [ + ("Header","Header"), + ("Gear","Gear"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + self.migrate(old_msg.state, new_msg.state) + self.migrate(old_msg.cmd, new_msg.cmd) + new_msg.reject = self.get_new_class('dbw_mkz_msgs/GearReject')() + new_msg.override = old_msg.override + new_msg.fault_bus = old_msg.fault_bus diff --git a/dbw_mkz_msgs/bmr/1.0.6-1.0.7/GearReport.saved b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/GearReport.saved new file mode 100644 index 0000000..1529332 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/GearReport.saved @@ -0,0 +1,44 @@ +[dbw_mkz_msgs/GearReport]: +Header header + +# Current gear enumeration +Gear state + +# Gear command enumeration +Gear cmd + +# Status +bool override + +# Faults +bool fault_bus + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/Gear +uint8 gear + +uint8 NONE=0 +uint8 PARK=1 +uint8 REVERSE=2 +uint8 NEUTRAL=3 +uint8 DRIVE=4 +uint8 LOW=5 + diff --git a/dbw_mkz_msgs/bmr/1.0.6-1.0.7/Misc1Report.bmr b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/Misc1Report.bmr new file mode 100644 index 0000000..b86aa9e --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/Misc1Report.bmr @@ -0,0 +1,262 @@ +class update_dbw_mkz_msgs_Misc1Report_9ecd16fb81815b3e46e0550feea1da2f(MessageUpdateRule): + old_type = "dbw_mkz_msgs/Misc1Report" + old_full_text = """ +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 +""" + + new_type = "dbw_mkz_msgs/Misc1Report" + new_full_text = """ +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 +""" + + order = 2 + migrated_types = [ + ("Header","Header"), + ("TurnSignal","TurnSignal"), + ("Wiper","Wiper"), + ("AmbientLight","AmbientLight"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + self.migrate(old_msg.turn_signal, new_msg.turn_signal) + new_msg.high_beam_headlights = old_msg.high_beam_headlights + self.migrate(old_msg.wiper, new_msg.wiper) + self.migrate(old_msg.ambient_light, new_msg.ambient_light) + new_msg.btn_cc_on = old_msg.btn_cc_on + new_msg.btn_cc_off = old_msg.btn_cc_off + new_msg.btn_cc_on_off = old_msg.btn_cc_on_off + new_msg.btn_cc_res = old_msg.btn_cc_res + new_msg.btn_cc_cncl = old_msg.btn_cc_cncl + new_msg.btn_cc_res_cncl = old_msg.btn_cc_res_cncl + new_msg.btn_cc_set_inc = old_msg.btn_cc_set_inc + new_msg.btn_cc_set_dec = old_msg.btn_cc_set_dec + new_msg.btn_cc_gap_inc = old_msg.btn_cc_gap_inc + new_msg.btn_cc_gap_dec = old_msg.btn_cc_gap_dec + new_msg.btn_la_on_off = old_msg.btn_la_on_off + new_msg.btn_ld_ok = False + new_msg.btn_ld_up = False + new_msg.btn_ld_down = False + new_msg.btn_ld_left = False + new_msg.btn_ld_right = False + new_msg.fault_bus = old_msg.fault_bus + new_msg.door_driver = old_msg.door_driver + new_msg.door_passenger = old_msg.door_passenger + new_msg.door_rear_left = old_msg.door_rear_left + new_msg.door_rear_right = old_msg.door_rear_right + new_msg.door_hood = old_msg.door_hood + new_msg.door_trunk = old_msg.door_trunk + new_msg.passenger_detect = old_msg.passenger_detect + new_msg.passenger_airbag = old_msg.passenger_airbag + new_msg.buckle_driver = old_msg.buckle_driver + new_msg.buckle_passenger = old_msg.buckle_passenger diff --git a/dbw_mkz_msgs/bmr/1.0.6-1.0.7/Misc1Report.saved b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/Misc1Report.saved new file mode 100644 index 0000000..bd0c48a --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/Misc1Report.saved @@ -0,0 +1,105 @@ +[dbw_mkz_msgs/Misc1Report]: +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 + diff --git a/dbw_mkz_msgs/bmr/1.0.6-1.0.7/SteeringReport.bmr b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/SteeringReport.bmr new file mode 100644 index 0000000..c39aceb --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/SteeringReport.bmr @@ -0,0 +1,109 @@ +class update_dbw_mkz_msgs_SteeringReport_25bf2c220d904531d8bc16ab5271325d(MessageUpdateRule): + old_type = "dbw_mkz_msgs/SteeringReport" + old_full_text = """ +Header header + +# Steering Wheel +float32 steering_wheel_angle # rad +float32 steering_wheel_angle_cmd # rad +float32 steering_wheel_torque # Nm + +# Vehicle Speed +float32 speed # m/s + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity + +# Watchdog Counter +bool fault_wdc + +# Faults +bool fault_bus1 +bool fault_bus2 +bool fault_calibration +bool fault_connector # This fault can be ignored + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id +""" + + new_type = "dbw_mkz_msgs/SteeringReport" + new_full_text = """ +Header header + +# Steering Wheel +float32 steering_wheel_angle # rad +float32 steering_wheel_angle_cmd # rad +float32 steering_wheel_torque # Nm + +# Vehicle Speed +float32 speed # m/s + +# Status +bool enabled # Enabled +bool override # Driver override +bool timeout # Command timeout + +# Watchdog Counter +bool fault_wdc + +# Faults +bool fault_bus1 +bool fault_bus2 +bool fault_calibration + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id +""" + + order = 2 + migrated_types = [ + ("Header","Header"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.steering_wheel_angle = old_msg.steering_wheel_angle + new_msg.steering_wheel_angle_cmd = old_msg.steering_wheel_angle_cmd + new_msg.steering_wheel_torque = old_msg.steering_wheel_torque + new_msg.speed = old_msg.speed + new_msg.enabled = old_msg.enabled + new_msg.override = old_msg.override + new_msg.timeout = False + new_msg.fault_wdc = old_msg.fault_wdc + new_msg.fault_bus1 = old_msg.fault_bus1 + new_msg.fault_bus2 = old_msg.fault_bus2 + new_msg.fault_calibration = old_msg.fault_calibration diff --git a/dbw_mkz_msgs/bmr/1.0.6-1.0.7/SteeringReport.saved b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/SteeringReport.saved new file mode 100644 index 0000000..13af3d6 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/SteeringReport.saved @@ -0,0 +1,43 @@ +[dbw_mkz_msgs/SteeringReport]: +Header header + +# Steering Wheel +float32 steering_wheel_angle # rad +float32 steering_wheel_angle_cmd # rad +float32 steering_wheel_torque # Nm + +# Vehicle Speed +float32 speed # m/s + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity + +# Watchdog Counter +bool fault_wdc + +# Faults +bool fault_bus1 +bool fault_bus2 +bool fault_calibration +bool fault_connector # This fault can be ignored + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + diff --git a/dbw_mkz_msgs/bmr/1.0.6-1.0.7/ThrottleReport.bmr b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/ThrottleReport.bmr new file mode 100644 index 0000000..273511a --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/ThrottleReport.bmr @@ -0,0 +1,149 @@ +class update_dbw_mkz_msgs_ThrottleReport_a7fd7b93c8549e83c319e38a18f6dbdc(MessageUpdateRule): + old_type = "dbw_mkz_msgs/ThrottleReport" + old_full_text = """ +Header header + +# Throttle pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_connector # This fault can be ignored + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + new_type = "dbw_mkz_msgs/ThrottleReport" + new_full_text = """ +Header header + +# Throttle pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + order = 2 + migrated_types = [ + ("Header","Header"), + ("WatchdogCounter","WatchdogCounter"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.pedal_input = old_msg.pedal_input + new_msg.pedal_cmd = old_msg.pedal_cmd + new_msg.pedal_output = old_msg.pedal_output + new_msg.enabled = old_msg.enabled + new_msg.override = old_msg.override + new_msg.driver = old_msg.driver + new_msg.timeout = False + self.migrate(old_msg.watchdog_counter, new_msg.watchdog_counter) + new_msg.fault_wdc = old_msg.fault_wdc + new_msg.fault_ch1 = old_msg.fault_ch1 + new_msg.fault_ch2 = old_msg.fault_ch2 diff --git a/dbw_mkz_msgs/bmr/1.0.6-1.0.7/ThrottleReport.saved b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/ThrottleReport.saved new file mode 100644 index 0000000..d030251 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.0.6-1.0.7/ThrottleReport.saved @@ -0,0 +1,62 @@ +[dbw_mkz_msgs/ThrottleReport]: +Header header + +# Throttle pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_connector # This fault can be ignored + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms + diff --git a/dbw_mkz_msgs/bmr/1.1.2-1.2.0/FuelLevelReport.bmr b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/FuelLevelReport.bmr new file mode 100644 index 0000000..7b1e292 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/FuelLevelReport.bmr @@ -0,0 +1,71 @@ +class update_dbw_mkz_msgs_FuelLevelReport_f5ec1964dbda02fda82785b8035744e4(MessageUpdateRule): + old_type = "dbw_mkz_msgs/FuelLevelReport" + old_full_text = """ +Header header + +# Fuel level (%, 0 to 100) +float32 fuel_level + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id +""" + + new_type = "dbw_mkz_msgs/FuelLevelReport" + new_full_text = """ +Header header + +# Fuel level (%, 0 to 100) +float32 fuel_level + +# 12V battery voltage +float32 battery_12v + +# Hybrid battery voltage +float32 battery_hev + +# Odometer (km, 0.1km resolution) +float32 odometer + + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id +""" + + order = 7 + migrated_types = [ + ("Header","Header"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.fuel_level = old_msg.fuel_level + new_msg.battery_12v = 0. + new_msg.battery_hev = 0. + new_msg.odometer = 0. diff --git a/dbw_mkz_msgs/bmr/1.1.2-1.2.0/FuelLevelReport.saved b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/FuelLevelReport.saved new file mode 100644 index 0000000..b840771 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/FuelLevelReport.saved @@ -0,0 +1,22 @@ +[dbw_mkz_msgs/FuelLevelReport]: +Header header + +# Fuel level (%, 0 to 100) +float32 fuel_level + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + diff --git a/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringCmd.bmr b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringCmd.bmr new file mode 100644 index 0000000..2e4f118 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringCmd.bmr @@ -0,0 +1,71 @@ +class update_dbw_mkz_msgs_SteeringCmd_ff1fa11624bdc2aff2aeee5aa6014057(MessageUpdateRule): + old_type = "dbw_mkz_msgs/SteeringCmd" + old_full_text = """ +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -8.2 to 8.2 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 8.7, 0 = maximum + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Disable the driver override audible warning +bool quiet + +# Watchdog counter (optional) +uint8 count +""" + + new_type = "dbw_mkz_msgs/SteeringCmd" + new_full_text = """ +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -9.6 to 9.6 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 17.5, 0 = maximum +float32 steering_wheel_torque_cmd # Nm, range -8.0 to 8.0 +uint8 cmd_type + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Disable the driver override audible warning +bool quiet + +# Watchdog counter (optional) +uint8 count + +# Command types +uint8 CMD_ANGLE=0 +uint8 CMD_TORQUE=1 + +# Maximum values +float32 ANGLE_MAX=9.6 # rad, maximum angle +float32 VELOCITY_MAX=17.5 # rad/s, maximum velocity +float32 TORQUE_MAX=8.0 # Nm, maximum torque +""" + + order = 7 + migrated_types = [] + + valid = True + + def update(self, old_msg, new_msg): + new_msg.steering_wheel_angle_cmd = old_msg.steering_wheel_angle_cmd + new_msg.steering_wheel_angle_velocity = old_msg.steering_wheel_angle_velocity + new_msg.steering_wheel_torque_cmd = 0. + new_msg.cmd_type = 0 + new_msg.enable = old_msg.enable + new_msg.clear = old_msg.clear + new_msg.ignore = old_msg.ignore + new_msg.quiet = old_msg.quiet + new_msg.count = old_msg.count diff --git a/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringCmd.saved b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringCmd.saved new file mode 100644 index 0000000..708d783 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringCmd.saved @@ -0,0 +1,20 @@ +[dbw_mkz_msgs/SteeringCmd]: +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -8.2 to 8.2 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 8.7, 0 = maximum + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Disable the driver override audible warning +bool quiet + +# Watchdog counter (optional) +uint8 count + diff --git a/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringReport.bmr b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringReport.bmr new file mode 100644 index 0000000..8355b03 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringReport.bmr @@ -0,0 +1,115 @@ +class update_dbw_mkz_msgs_SteeringReport_6f32c1fc98edaf75e24a770b2ae3abfc(MessageUpdateRule): + old_type = "dbw_mkz_msgs/SteeringReport" + old_full_text = """ +Header header + +# Steering Wheel +float32 steering_wheel_angle # rad +float32 steering_wheel_angle_cmd # rad +float32 steering_wheel_torque # Nm + +# Vehicle Speed +float32 speed # m/s + +# Status +bool enabled # Enabled +bool override # Driver override +bool timeout # Command timeout + +# Watchdog Counter +bool fault_wdc + +# Faults +bool fault_bus1 +bool fault_bus2 +bool fault_calibration +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id +""" + + new_type = "dbw_mkz_msgs/SteeringReport" + new_full_text = """ +Header header + +# Steering Wheel +float32 steering_wheel_angle # rad +float32 steering_wheel_cmd # rad or Nm +float32 steering_wheel_torque # Nm +uint8 steering_wheel_cmd_type + +# Command types +uint8 CMD_ANGLE=0 +uint8 CMD_TORQUE=1 + +# Vehicle Speed +float32 speed # m/s + +# Status +bool enabled # Enabled +bool override # Driver override +bool timeout # Command timeout + +# Watchdog Counter +bool fault_wdc + +# Faults +bool fault_bus1 +bool fault_bus2 +bool fault_calibration +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id +""" + + order = 7 + migrated_types = [ + ("Header","Header"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.steering_wheel_angle = old_msg.steering_wheel_angle + new_msg.steering_wheel_cmd = old_msg.steering_wheel_angle_cmd + new_msg.steering_wheel_torque = old_msg.steering_wheel_torque + new_msg.steering_wheel_cmd_type = 0 + new_msg.speed = old_msg.speed + new_msg.enabled = old_msg.enabled + new_msg.override = old_msg.override + new_msg.timeout = old_msg.timeout + new_msg.fault_wdc = old_msg.fault_wdc + new_msg.fault_bus1 = old_msg.fault_bus1 + new_msg.fault_bus2 = old_msg.fault_bus2 + new_msg.fault_calibration = old_msg.fault_calibration + new_msg.fault_power = old_msg.fault_power diff --git a/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringReport.saved b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringReport.saved new file mode 100644 index 0000000..0106c5e --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.1.2-1.2.0/SteeringReport.saved @@ -0,0 +1,41 @@ +[dbw_mkz_msgs/SteeringReport]: +Header header + +# Steering Wheel +float32 steering_wheel_angle # rad +float32 steering_wheel_angle_cmd # rad +float32 steering_wheel_torque # Nm + +# Vehicle Speed +float32 speed # m/s + +# Status +bool enabled # Enabled +bool override # Driver override +bool timeout # Command timeout + +# Watchdog Counter +bool fault_wdc + +# Faults +bool fault_bus1 +bool fault_bus2 +bool fault_calibration +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + diff --git a/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeInfoReport.bmr b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeInfoReport.bmr new file mode 100644 index 0000000..a0ce647 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeInfoReport.bmr @@ -0,0 +1,193 @@ +class update_dbw_mkz_msgs_BrakeInfoReport_fc88af128b5b3213ea25ab325a9b3bbb(MessageUpdateRule): + old_type = "dbw_mkz_msgs/BrakeInfoReport" + old_full_text = """ +Header header + +# Wheel torques (Nm) +float32 brake_torque_request +float32 brake_torque_actual +float32 wheel_torque_actual + +# Vehicle Acceleration (m/s^2) +float32 accel_over_ground + +# Hill Start Assist +HillStartAssist hsa + +# Anti-lock Brakes +bool abs_active +bool abs_enabled + +# Stability Control +bool stab_active +bool stab_enabled + +# Traction Control +bool trac_active +bool trac_enabled + +# Parking Brake +ParkingBrake parking_brake + +# Misc +bool stationary + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/HillStartAssist +uint8 status +uint8 mode + +uint8 STAT_INACTIVE=0 +uint8 STAT_FINDING_GRADIENT=1 +uint8 STAT_ACTIVE_PRESSED=2 +uint8 STAT_ACTIVE_RELEASED=3 +uint8 STAT_FAST_RELEASE=4 +uint8 STAT_SLOW_RELEASE=5 +uint8 STAT_FAILED=6 +uint8 STAT_UNDEFINED=7 + +uint8 MODE_OFF=0 +uint8 MODE_AUTO=1 +uint8 MODE_MANUAL=2 +uint8 MODE_UNDEFINED=3 + +================================================================================ +MSG: dbw_mkz_msgs/ParkingBrake +uint8 status + +uint8 OFF=0 +uint8 TRANS=1 +uint8 ON=2 +uint8 FAULT=3 +""" + + new_type = "dbw_mkz_msgs/BrakeInfoReport" + new_full_text = """ +Header header + +# Wheel torques (Nm) +float32 brake_torque_request +float32 brake_torque_actual +float32 wheel_torque_actual + +# Vehicle Acceleration (m/s^2) +float32 accel_over_ground + +# Brake Pedal +QualityFactor brake_pedal_qf + +# Hill Start Assist +HillStartAssist hsa + +# Anti-lock Brakes +bool abs_active +bool abs_enabled + +# Stability Control +bool stab_active +bool stab_enabled + +# Traction Control +bool trac_active +bool trac_enabled + +# Parking Brake +ParkingBrake parking_brake + +# Misc +bool stationary + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/QualityFactor +uint8 value + +uint8 OK=0 +uint8 EMPTY=1 +uint8 CORRUPT=2 +uint8 FAULT=3 + +================================================================================ +MSG: dbw_mkz_msgs/HillStartAssist +uint8 status +uint8 mode + +uint8 STAT_INACTIVE=0 +uint8 STAT_FINDING_GRADIENT=1 +uint8 STAT_ACTIVE_PRESSED=2 +uint8 STAT_ACTIVE_RELEASED=3 +uint8 STAT_FAST_RELEASE=4 +uint8 STAT_SLOW_RELEASE=5 +uint8 STAT_FAILED=6 +uint8 STAT_UNDEFINED=7 + +uint8 MODE_OFF=0 +uint8 MODE_AUTO=1 +uint8 MODE_MANUAL=2 +uint8 MODE_UNDEFINED=3 + +================================================================================ +MSG: dbw_mkz_msgs/ParkingBrake +uint8 status + +uint8 OFF=0 +uint8 TRANS=1 +uint8 ON=2 +uint8 FAULT=3 +""" + + order = 8 + migrated_types = [ + ("Header","Header"), + ("HillStartAssist","HillStartAssist"), + ("ParkingBrake","ParkingBrake"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.brake_torque_request = old_msg.brake_torque_request + new_msg.brake_torque_actual = old_msg.brake_torque_actual + new_msg.wheel_torque_actual = old_msg.wheel_torque_actual + new_msg.accel_over_ground = old_msg.accel_over_ground + new_msg.brake_pedal_qf = self.get_new_class('dbw_mkz_msgs/QualityFactor')() + self.migrate(old_msg.hsa, new_msg.hsa) + new_msg.abs_active = old_msg.abs_active + new_msg.abs_enabled = old_msg.abs_enabled + new_msg.stab_active = old_msg.stab_active + new_msg.stab_enabled = old_msg.stab_enabled + new_msg.trac_active = old_msg.trac_active + new_msg.trac_enabled = old_msg.trac_enabled + self.migrate(old_msg.parking_brake, new_msg.parking_brake) + new_msg.stationary = old_msg.stationary diff --git a/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeInfoReport.saved b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeInfoReport.saved new file mode 100644 index 0000000..d24b157 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeInfoReport.saved @@ -0,0 +1,76 @@ +[dbw_mkz_msgs/BrakeInfoReport]: +Header header + +# Wheel torques (Nm) +float32 brake_torque_request +float32 brake_torque_actual +float32 wheel_torque_actual + +# Vehicle Acceleration (m/s^2) +float32 accel_over_ground + +# Hill Start Assist +HillStartAssist hsa + +# Anti-lock Brakes +bool abs_active +bool abs_enabled + +# Stability Control +bool stab_active +bool stab_enabled + +# Traction Control +bool trac_active +bool trac_enabled + +# Parking Brake +ParkingBrake parking_brake + +# Misc +bool stationary + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/HillStartAssist +uint8 status +uint8 mode + +uint8 STAT_INACTIVE=0 +uint8 STAT_FINDING_GRADIENT=1 +uint8 STAT_ACTIVE_PRESSED=2 +uint8 STAT_ACTIVE_RELEASED=3 +uint8 STAT_FAST_RELEASE=4 +uint8 STAT_SLOW_RELEASE=5 +uint8 STAT_FAILED=6 +uint8 STAT_UNDEFINED=7 + +uint8 MODE_OFF=0 +uint8 MODE_AUTO=1 +uint8 MODE_MANUAL=2 +uint8 MODE_UNDEFINED=3 + +================================================================================ +MSG: dbw_mkz_msgs/ParkingBrake +uint8 status + +uint8 OFF=0 +uint8 TRANS=1 +uint8 ON=2 +uint8 FAULT=3 + diff --git a/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeReport.bmr b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeReport.bmr new file mode 100644 index 0000000..9758361 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeReport.bmr @@ -0,0 +1,185 @@ +class update_dbw_mkz_msgs_BrakeReport_a92bad28c400885f36170c1cab44618e(MessageUpdateRule): + old_type = "dbw_mkz_msgs/BrakeReport" + old_full_text = """ +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + new_type = "dbw_mkz_msgs/BrakeReport" + new_full_text = """ +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Braking decel (m/s^2) +float32 decel_cmd +float32 decel_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + order = 8 + migrated_types = [ + ("Header","Header"), + ("WatchdogCounter","WatchdogCounter"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.pedal_input = old_msg.pedal_input + new_msg.pedal_cmd = old_msg.pedal_cmd + new_msg.pedal_output = old_msg.pedal_output + new_msg.torque_input = old_msg.torque_input + new_msg.torque_cmd = old_msg.torque_cmd + new_msg.torque_output = old_msg.torque_output + new_msg.decel_cmd = 0. + new_msg.decel_output = 0. + new_msg.boo_input = old_msg.boo_input + new_msg.boo_cmd = old_msg.boo_cmd + new_msg.boo_output = old_msg.boo_output + new_msg.enabled = old_msg.enabled + new_msg.override = old_msg.override + new_msg.driver = old_msg.driver + new_msg.timeout = old_msg.timeout + self.migrate(old_msg.watchdog_counter, new_msg.watchdog_counter) + new_msg.watchdog_braking = old_msg.watchdog_braking + new_msg.fault_wdc = old_msg.fault_wdc + new_msg.fault_ch1 = old_msg.fault_ch1 + new_msg.fault_ch2 = old_msg.fault_ch2 + new_msg.fault_power = old_msg.fault_power diff --git a/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeReport.saved b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeReport.saved new file mode 100644 index 0000000..f1b909f --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/BrakeReport.saved @@ -0,0 +1,72 @@ +[dbw_mkz_msgs/BrakeReport]: +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms + diff --git a/dbw_mkz_msgs/bmr/1.2.0-1.2.1/ThrottleInfoReport.bmr b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/ThrottleInfoReport.bmr new file mode 100644 index 0000000..4461296 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/ThrottleInfoReport.bmr @@ -0,0 +1,105 @@ +class update_dbw_mkz_msgs_ThrottleInfoReport_8255d20d2bbc661ad39074024259c71a(MessageUpdateRule): + old_type = "dbw_mkz_msgs/ThrottleInfoReport" + old_full_text = """ +Header header + +# Throttle Pedal +float32 throttle_pc # Throttle pedal percent, range 0 to 1 +float32 throttle_rate # Throttle pedal change per second (1/s) + +# Engine +float32 engine_rpm # Engine Speed (rpm) + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id +""" + + new_type = "dbw_mkz_msgs/ThrottleInfoReport" + new_full_text = """ +Header header + +# Throttle Pedal +float32 throttle_pc # Throttle pedal percent, range 0 to 1 +float32 throttle_rate # Throttle pedal change per second (1/s) +QualityFactor throttle_pedal_qf # Non-zero is limp-home + +# Engine +float32 engine_rpm # Engine Speed (rpm) + +# Gear Num +GearNum gear_num # Gear Number + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/QualityFactor +uint8 value + +uint8 OK=0 +uint8 EMPTY=1 +uint8 CORRUPT=2 +uint8 FAULT=3 + +================================================================================ +MSG: dbw_mkz_msgs/GearNum +uint8 num + +uint8 NONE=0 +uint8 DRIVE_D01=1 +uint8 DRIVE_D02=2 +uint8 DRIVE_D03=3 +uint8 DRIVE_D04=4 +uint8 DRIVE_D05=5 +uint8 DRIVE_D06=6 +uint8 DRIVE_D07=7 +uint8 DRIVE_D08=8 +uint8 DRIVE_D09=9 +uint8 DRIVE_D10=10 +uint8 NEUTRAL=16 +uint8 REVERSE_R01=17 +uint8 REVERSE_R02=18 +uint8 PARK=31 +""" + + order = 8 + migrated_types = [ + ("Header","Header"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.throttle_pc = old_msg.throttle_pc + new_msg.throttle_rate = old_msg.throttle_rate + new_msg.throttle_pedal_qf = self.get_new_class('dbw_mkz_msgs/QualityFactor')() + new_msg.engine_rpm = old_msg.engine_rpm + new_msg.gear_num = self.get_new_class('dbw_mkz_msgs/GearNum')() diff --git a/dbw_mkz_msgs/bmr/1.2.0-1.2.1/ThrottleInfoReport.saved b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/ThrottleInfoReport.saved new file mode 100644 index 0000000..a5748d8 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.0-1.2.1/ThrottleInfoReport.saved @@ -0,0 +1,26 @@ +[dbw_mkz_msgs/ThrottleInfoReport]: +Header header + +# Throttle Pedal +float32 throttle_pc # Throttle pedal percent, range 0 to 1 +float32 throttle_rate # Throttle pedal change per second (1/s) + +# Engine +float32 engine_rpm # Engine Speed (rpm) + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + diff --git a/dbw_mkz_msgs/bmr/1.2.11-1.3.0/BrakeReport.bmr b/dbw_mkz_msgs/bmr/1.2.11-1.3.0/BrakeReport.bmr new file mode 100644 index 0000000..8252772 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.11-1.3.0/BrakeReport.bmr @@ -0,0 +1,183 @@ +class update_dbw_mkz_msgs_BrakeReport_d99bccbe9927a92147840ac1ddf11f87(MessageUpdateRule): + old_type = "dbw_mkz_msgs/BrakeReport" + old_full_text = """ +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Braking decel (m/s^2) +float32 decel_cmd +float32 decel_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + new_type = "dbw_mkz_msgs/BrakeReport" + new_full_text = """ +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Braking decel (m/s^2) +float32 decel_cmd +float32 decel_output + +# Brake On Off (BOO) +bool boo_cmd + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms +""" + + order = 10 + migrated_types = [ + ("Header","Header"), + ("WatchdogCounter","WatchdogCounter"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.pedal_input = old_msg.pedal_input + new_msg.pedal_cmd = old_msg.pedal_cmd + new_msg.pedal_output = old_msg.pedal_output + new_msg.torque_input = old_msg.torque_input + new_msg.torque_cmd = old_msg.torque_cmd + new_msg.torque_output = old_msg.torque_output + new_msg.decel_cmd = old_msg.decel_cmd + new_msg.decel_output = old_msg.decel_output + new_msg.boo_cmd = old_msg.boo_cmd + new_msg.enabled = old_msg.enabled + new_msg.override = old_msg.override + new_msg.driver = old_msg.driver + new_msg.timeout = old_msg.timeout + self.migrate(old_msg.watchdog_counter, new_msg.watchdog_counter) + new_msg.watchdog_braking = old_msg.watchdog_braking + new_msg.fault_wdc = old_msg.fault_wdc + new_msg.fault_ch1 = old_msg.fault_ch1 + new_msg.fault_ch2 = old_msg.fault_ch2 + new_msg.fault_power = old_msg.fault_power diff --git a/dbw_mkz_msgs/bmr/1.2.11-1.3.0/BrakeReport.saved b/dbw_mkz_msgs/bmr/1.2.11-1.3.0/BrakeReport.saved new file mode 100644 index 0000000..ea83e8d --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.11-1.3.0/BrakeReport.saved @@ -0,0 +1,76 @@ +[dbw_mkz_msgs/BrakeReport]: +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Braking decel (m/s^2) +float32 decel_cmd +float32 decel_output + +# Brake On Off (BOO), brake lights +bool boo_input +bool boo_cmd +bool boo_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_power + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/WatchdogCounter +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms + diff --git a/dbw_mkz_msgs/bmr/1.2.11-1.3.0/ThrottleInfoReport.bmr b/dbw_mkz_msgs/bmr/1.2.11-1.3.0/ThrottleInfoReport.bmr new file mode 100644 index 0000000..400c645 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.11-1.3.0/ThrottleInfoReport.bmr @@ -0,0 +1,143 @@ +class update_dbw_mkz_msgs_ThrottleInfoReport_6ed272050114755a930a6cf633944b48(MessageUpdateRule): + old_type = "dbw_mkz_msgs/ThrottleInfoReport" + old_full_text = """ +Header header + +# Throttle Pedal +float32 throttle_pc # Throttle pedal percent, range 0 to 1 +float32 throttle_rate # Throttle pedal change per second (1/s) +QualityFactor throttle_pedal_qf # Non-zero is limp-home + +# Engine +float32 engine_rpm # Engine Speed (rpm) + +# Gear Num +GearNum gear_num # Gear Number + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/QualityFactor +uint8 value + +uint8 OK=0 +uint8 EMPTY=1 +uint8 CORRUPT=2 +uint8 FAULT=3 + +================================================================================ +MSG: dbw_mkz_msgs/GearNum +uint8 num + +uint8 NONE=0 +uint8 DRIVE_D01=1 +uint8 DRIVE_D02=2 +uint8 DRIVE_D03=3 +uint8 DRIVE_D04=4 +uint8 DRIVE_D05=5 +uint8 DRIVE_D06=6 +uint8 DRIVE_D07=7 +uint8 DRIVE_D08=8 +uint8 DRIVE_D09=9 +uint8 DRIVE_D10=10 +uint8 NEUTRAL=16 +uint8 REVERSE_R01=17 +uint8 REVERSE_R02=18 +uint8 PARK=31 +""" + + new_type = "dbw_mkz_msgs/ThrottleInfoReport" + new_full_text = """ +Header header + +# Throttle Pedal +float32 throttle_pc # Throttle pedal percent, range 0 to 1 +float32 throttle_rate # Throttle pedal change per second (1/s) +QualityFactor throttle_pedal_qf # Non-zero is limp-home + +# Engine +float32 engine_rpm # Engine Speed (rpm) + +# Gear Num +GearNum gear_num # Gear Number + +# Battery Current +float32 batt_curr # Battery Current (Amps) +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/QualityFactor +uint8 value + +uint8 OK=0 +uint8 EMPTY=1 +uint8 CORRUPT=2 +uint8 FAULT=3 + +================================================================================ +MSG: dbw_mkz_msgs/GearNum +uint8 num + +uint8 NONE=0 +uint8 DRIVE_D01=1 +uint8 DRIVE_D02=2 +uint8 DRIVE_D03=3 +uint8 DRIVE_D04=4 +uint8 DRIVE_D05=5 +uint8 DRIVE_D06=6 +uint8 DRIVE_D07=7 +uint8 DRIVE_D08=8 +uint8 DRIVE_D09=9 +uint8 DRIVE_D10=10 +uint8 NEUTRAL=16 +uint8 REVERSE_R01=17 +uint8 REVERSE_R02=18 +uint8 PARK=31 +""" + + order = 10 + migrated_types = [ + ("Header","Header"), + ("QualityFactor","QualityFactor"), + ("GearNum","GearNum"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.throttle_pc = old_msg.throttle_pc + new_msg.throttle_rate = old_msg.throttle_rate + self.migrate(old_msg.throttle_pedal_qf, new_msg.throttle_pedal_qf) + new_msg.engine_rpm = old_msg.engine_rpm + self.migrate(old_msg.gear_num, new_msg.gear_num) + new_msg.batt_curr = 0. diff --git a/dbw_mkz_msgs/bmr/1.2.11-1.3.0/ThrottleInfoReport.saved b/dbw_mkz_msgs/bmr/1.2.11-1.3.0/ThrottleInfoReport.saved new file mode 100644 index 0000000..e60dfdb --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.11-1.3.0/ThrottleInfoReport.saved @@ -0,0 +1,58 @@ +[dbw_mkz_msgs/ThrottleInfoReport]: +Header header + +# Throttle Pedal +float32 throttle_pc # Throttle pedal percent, range 0 to 1 +float32 throttle_rate # Throttle pedal change per second (1/s) +QualityFactor throttle_pedal_qf # Non-zero is limp-home + +# Engine +float32 engine_rpm # Engine Speed (rpm) + +# Gear Num +GearNum gear_num # Gear Number + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/QualityFactor +uint8 value + +uint8 OK=0 +uint8 EMPTY=1 +uint8 CORRUPT=2 +uint8 FAULT=3 + +================================================================================ +MSG: dbw_mkz_msgs/GearNum +uint8 num + +uint8 NONE=0 +uint8 DRIVE_D01=1 +uint8 DRIVE_D02=2 +uint8 DRIVE_D03=3 +uint8 DRIVE_D04=4 +uint8 DRIVE_D05=5 +uint8 DRIVE_D06=6 +uint8 DRIVE_D07=7 +uint8 DRIVE_D08=8 +uint8 DRIVE_D09=9 +uint8 DRIVE_D10=10 +uint8 NEUTRAL=16 +uint8 REVERSE_R01=17 +uint8 REVERSE_R02=18 +uint8 PARK=31 diff --git a/dbw_mkz_msgs/bmr/1.2.4-1.2.5/Misc1Report.bmr b/dbw_mkz_msgs/bmr/1.2.4-1.2.5/Misc1Report.bmr new file mode 100644 index 0000000..cf9fb24 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.4-1.2.5/Misc1Report.bmr @@ -0,0 +1,306 @@ +class update_dbw_mkz_msgs_Misc1Report_036c26779fee8ddc637f32d336e03b66(MessageUpdateRule): + old_type = "dbw_mkz_msgs/Misc1Report" + old_full_text = """ +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Outside air temperature +float32 outside_temperature # Degrees Celsius + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_res_inc # Cruise Control Resume+ +bool btn_cc_res_dec # Cruise Control Resume- +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 +""" + + new_type = "dbw_mkz_msgs/Misc1Report" + new_full_text = """ +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Outside air temperature +float32 outside_temperature # Degrees Celsius + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_res_inc # Cruise Control Resume+ +bool btn_cc_res_dec # Cruise Control Resume- +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right +bool btn_rd_ok # Right D-Pad OK +bool btn_rd_up # Right D-Pad Up +bool btn_rd_down # Right D-Pad Down +bool btn_rd_left # Right D-Pad Left +bool btn_rd_right # Right D-Pad Right +bool btn_vol_inc # Volume increment +bool btn_vol_dec # Volume decrement +bool btn_mute # Volume mute +bool btn_media # Media (source) +bool btn_prev # Media previous +bool btn_next # Media next +bool btn_speak # Speak +bool btn_call_start # Call start/answer +bool btn_call_end # Call end/disconnect + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 +""" + + order = 9 + migrated_types = [ + ("Header","Header"), + ("TurnSignal","TurnSignal"), + ("Wiper","Wiper"), + ("AmbientLight","AmbientLight"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + self.migrate(old_msg.turn_signal, new_msg.turn_signal) + new_msg.high_beam_headlights = old_msg.high_beam_headlights + self.migrate(old_msg.wiper, new_msg.wiper) + self.migrate(old_msg.ambient_light, new_msg.ambient_light) + new_msg.outside_temperature = old_msg.outside_temperature + new_msg.btn_cc_on = old_msg.btn_cc_on + new_msg.btn_cc_off = old_msg.btn_cc_off + new_msg.btn_cc_on_off = old_msg.btn_cc_on_off + new_msg.btn_cc_res = old_msg.btn_cc_res + new_msg.btn_cc_cncl = old_msg.btn_cc_cncl + new_msg.btn_cc_res_cncl = old_msg.btn_cc_res_cncl + new_msg.btn_cc_res_inc = old_msg.btn_cc_res_inc + new_msg.btn_cc_res_dec = old_msg.btn_cc_res_dec + new_msg.btn_cc_set_inc = old_msg.btn_cc_set_inc + new_msg.btn_cc_set_dec = old_msg.btn_cc_set_dec + new_msg.btn_cc_gap_inc = old_msg.btn_cc_gap_inc + new_msg.btn_cc_gap_dec = old_msg.btn_cc_gap_dec + new_msg.btn_la_on_off = old_msg.btn_la_on_off + new_msg.btn_ld_ok = old_msg.btn_ld_ok + new_msg.btn_ld_up = old_msg.btn_ld_up + new_msg.btn_ld_down = old_msg.btn_ld_down + new_msg.btn_ld_left = old_msg.btn_ld_left + new_msg.btn_ld_right = old_msg.btn_ld_right + new_msg.btn_rd_ok = 0 + new_msg.btn_rd_up = 0 + new_msg.btn_rd_down = 0 + new_msg.btn_rd_left = 0 + new_msg.btn_rd_right = 0 + new_msg.btn_vol_inc = 0 + new_msg.btn_vol_dec = 0 + new_msg.btn_mute = 0 + new_msg.btn_media = 0 + new_msg.btn_prev = 0 + new_msg.btn_next = 0 + new_msg.btn_speak = 0 + new_msg.btn_call_start = 0 + new_msg.btn_call_end = 0 + new_msg.fault_bus = old_msg.fault_bus + new_msg.door_driver = old_msg.door_driver + new_msg.door_passenger = old_msg.door_passenger + new_msg.door_rear_left = old_msg.door_rear_left + new_msg.door_rear_right = old_msg.door_rear_right + new_msg.door_hood = old_msg.door_hood + new_msg.door_trunk = old_msg.door_trunk + new_msg.passenger_detect = old_msg.passenger_detect + new_msg.passenger_airbag = old_msg.passenger_airbag + new_msg.buckle_driver = old_msg.buckle_driver + new_msg.buckle_passenger = old_msg.buckle_passenger diff --git a/dbw_mkz_msgs/bmr/1.2.4-1.2.5/Misc1Report.saved b/dbw_mkz_msgs/bmr/1.2.4-1.2.5/Misc1Report.saved new file mode 100644 index 0000000..0f28fe9 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.2.4-1.2.5/Misc1Report.saved @@ -0,0 +1,114 @@ +[dbw_mkz_msgs/Misc1Report]: + +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Outside air temperature +float32 outside_temperature # Degrees Celsius + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_res_inc # Cruise Control Resume+ +bool btn_cc_res_dec # Cruise Control Resume- +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/TurnSignal +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 + +================================================================================ +MSG: dbw_mkz_msgs/Wiper +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 + +================================================================================ +MSG: dbw_mkz_msgs/AmbientLight +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 + diff --git a/dbw_mkz_msgs/bmr/1.4.0-1.4.1/SteeringCmd.bmr b/dbw_mkz_msgs/bmr/1.4.0-1.4.1/SteeringCmd.bmr new file mode 100644 index 0000000..b933334 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.4.0-1.4.1/SteeringCmd.bmr @@ -0,0 +1,84 @@ +class update_dbw_mkz_msgs_SteeringCmd_076be04e947ae855b3617e6190e078b9(MessageUpdateRule): + old_type = "dbw_mkz_msgs/SteeringCmd" + old_full_text = """ +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -9.6 to 9.6 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 17.5, 0 = maximum +float32 steering_wheel_torque_cmd # Nm, range -8.0 to 8.0 +uint8 cmd_type + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Disable the driver override audible warning +bool quiet + +# Watchdog counter (optional) +uint8 count + +# Command types +uint8 CMD_ANGLE=0 +uint8 CMD_TORQUE=1 + +# Maximum values +float32 ANGLE_MAX=9.6 # rad, maximum angle +float32 VELOCITY_MAX=17.5 # rad/s, maximum velocity +float32 TORQUE_MAX=8.0 # Nm, maximum torque +""" + + new_type = "dbw_mkz_msgs/SteeringCmd" + new_full_text = """ +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -9.6 to 9.6 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 17.5, 0 = default +float32 steering_wheel_torque_cmd # Nm, range -8.0 to 8.0 +uint8 cmd_type + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Disable or activate the driver override audible warning +bool quiet +bool alert + +# Watchdog counter (optional) +uint8 count + +# Command types +uint8 CMD_ANGLE=0 +uint8 CMD_TORQUE=1 + +# Maximum values +float32 ANGLE_MAX=9.6 # rad, maximum angle +float32 VELOCITY_MAX=17.5 # rad/s, maximum velocity +float32 TORQUE_MAX=8.0 # Nm, maximum torque +""" + + order = 11 + migrated_types = [] + + valid = True + + def update(self, old_msg, new_msg): + new_msg.steering_wheel_angle_cmd = old_msg.steering_wheel_angle_cmd + new_msg.steering_wheel_angle_velocity = old_msg.steering_wheel_angle_velocity + new_msg.steering_wheel_torque_cmd = old_msg.steering_wheel_torque_cmd + new_msg.cmd_type = old_msg.cmd_type + new_msg.enable = old_msg.enable + new_msg.clear = old_msg.clear + new_msg.ignore = old_msg.ignore + new_msg.quiet = old_msg.quiet + new_msg.alert = 0 + new_msg.count = old_msg.count diff --git a/dbw_mkz_msgs/bmr/1.4.0-1.4.1/SteeringCmd.saved b/dbw_mkz_msgs/bmr/1.4.0-1.4.1/SteeringCmd.saved new file mode 100644 index 0000000..0622e82 --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.4.0-1.4.1/SteeringCmd.saved @@ -0,0 +1,31 @@ +[dbw_mkz_msgs/SteeringCmd]: +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -9.6 to 9.6 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 17.5, 0 = default +float32 steering_wheel_torque_cmd # Nm, range -8.0 to 8.0 +uint8 cmd_type + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Disable the driver override audible warning +bool quiet + +# Watchdog counter (optional) +uint8 count + +# Command types +uint8 CMD_ANGLE=0 +uint8 CMD_TORQUE=1 + +# Maximum values +float32 ANGLE_MAX=9.6 # rad, maximum angle +float32 VELOCITY_MAX=17.5 # rad/s, maximum velocity +float32 TORQUE_MAX=8.0 # Nm, maximum torque + diff --git a/dbw_mkz_msgs/bmr/1.4.0-1.4.1/ThrottleInfoReport.bmr b/dbw_mkz_msgs/bmr/1.4.0-1.4.1/ThrottleInfoReport.bmr new file mode 100644 index 0000000..b38359d --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.4.0-1.4.1/ThrottleInfoReport.bmr @@ -0,0 +1,156 @@ +class update_dbw_mkz_msgs_ThrottleInfoReport_f11e501c180c44875cb15319531eb0b1(MessageUpdateRule): + old_type = "dbw_mkz_msgs/ThrottleInfoReport" + old_full_text = """ +Header header + +# Throttle Pedal +float32 throttle_pc # Throttle pedal percent, range 0 to 1 +float32 throttle_rate # Throttle pedal change per second (1/s) +QualityFactor throttle_pedal_qf # Non-zero is limp-home + +# Engine +float32 engine_rpm # Engine Speed (rpm) + +# Gear Num +GearNum gear_num # Gear Number + +# Battery Current +float32 batt_curr # Battery Current (Amps) +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/QualityFactor +uint8 value + +uint8 OK=0 +uint8 EMPTY=1 +uint8 CORRUPT=2 +uint8 FAULT=3 + +================================================================================ +MSG: dbw_mkz_msgs/GearNum +uint8 num + +uint8 NONE=0 +uint8 DRIVE_D01=1 +uint8 DRIVE_D02=2 +uint8 DRIVE_D03=3 +uint8 DRIVE_D04=4 +uint8 DRIVE_D05=5 +uint8 DRIVE_D06=6 +uint8 DRIVE_D07=7 +uint8 DRIVE_D08=8 +uint8 DRIVE_D09=9 +uint8 DRIVE_D10=10 +uint8 NEUTRAL=16 +uint8 REVERSE_R01=17 +uint8 REVERSE_R02=18 +uint8 PARK=31 +""" + + new_type = "dbw_mkz_msgs/ThrottleInfoReport" + new_full_text = """ +Header header + +# Throttle Pedal +float32 throttle_pc # Throttle pedal percent, range 0 to 1 +float32 throttle_rate # Throttle pedal change per second (1/s) +QualityFactor throttle_pedal_qf # Non-zero is limp-home + +# Engine +float32 engine_rpm # Engine Speed (rpm) + +# Gear Num +GearNum gear_num # Gear Number + +# Ignition status +Ignition ignition # Ignition status (enum) + +# Battery Current +float32 batt_curr # Battery Current (Amps) + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/QualityFactor +uint8 value + +uint8 OK=0 +uint8 EMPTY=1 +uint8 CORRUPT=2 +uint8 FAULT=3 + +================================================================================ +MSG: dbw_mkz_msgs/GearNum +uint8 num + +uint8 NONE=0 +uint8 DRIVE_D01=1 +uint8 DRIVE_D02=2 +uint8 DRIVE_D03=3 +uint8 DRIVE_D04=4 +uint8 DRIVE_D05=5 +uint8 DRIVE_D06=6 +uint8 DRIVE_D07=7 +uint8 DRIVE_D08=8 +uint8 DRIVE_D09=9 +uint8 DRIVE_D10=10 +uint8 NEUTRAL=16 +uint8 REVERSE_R01=17 +uint8 REVERSE_R02=18 +uint8 PARK=31 +================================================================================ +MSG: dbw_mkz_msgs/Ignition +uint8 value + +uint8 UNKNOWN=0 +uint8 OFF=1 +uint8 ACCESSORY=2 +uint8 RUN=3 +""" + + order = 11 + migrated_types = [ + ("Header","Header"), + ("QualityFactor","QualityFactor"), + ("GearNum","GearNum"),] + + valid = True + + def update(self, old_msg, new_msg): + self.migrate(old_msg.header, new_msg.header) + new_msg.throttle_pc = old_msg.throttle_pc + new_msg.throttle_rate = old_msg.throttle_rate + self.migrate(old_msg.throttle_pedal_qf, new_msg.throttle_pedal_qf) + new_msg.engine_rpm = old_msg.engine_rpm + self.migrate(old_msg.gear_num, new_msg.gear_num) + new_msg.ignition = self.get_new_class('dbw_mkz_msgs/Ignition')() + new_msg.batt_curr = old_msg.batt_curr diff --git a/dbw_mkz_msgs/bmr/1.4.0-1.4.1/ThrottleInfoReport.saved b/dbw_mkz_msgs/bmr/1.4.0-1.4.1/ThrottleInfoReport.saved new file mode 100644 index 0000000..423a6ab --- /dev/null +++ b/dbw_mkz_msgs/bmr/1.4.0-1.4.1/ThrottleInfoReport.saved @@ -0,0 +1,61 @@ +[dbw_mkz_msgs/ThrottleInfoReport]: +Header header + +# Throttle Pedal +float32 throttle_pc # Throttle pedal percent, range 0 to 1 +float32 throttle_rate # Throttle pedal change per second (1/s) +QualityFactor throttle_pedal_qf # Non-zero is limp-home + +# Engine +float32 engine_rpm # Engine Speed (rpm) + +# Gear Num +GearNum gear_num # Gear Number + +# Battery Current +float32 batt_curr # Battery Current (Amps) + +================================================================================ +MSG: std_msgs/Header +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +string frame_id + +================================================================================ +MSG: dbw_mkz_msgs/QualityFactor +uint8 value + +uint8 OK=0 +uint8 EMPTY=1 +uint8 CORRUPT=2 +uint8 FAULT=3 + +================================================================================ +MSG: dbw_mkz_msgs/GearNum +uint8 num + +uint8 NONE=0 +uint8 DRIVE_D01=1 +uint8 DRIVE_D02=2 +uint8 DRIVE_D03=3 +uint8 DRIVE_D04=4 +uint8 DRIVE_D05=5 +uint8 DRIVE_D06=6 +uint8 DRIVE_D07=7 +uint8 DRIVE_D08=8 +uint8 DRIVE_D09=9 +uint8 DRIVE_D10=10 +uint8 NEUTRAL=16 +uint8 REVERSE_R01=17 +uint8 REVERSE_R02=18 +uint8 PARK=31 diff --git a/dbw_mkz_msgs/bmr/README.md b/dbw_mkz_msgs/bmr/README.md new file mode 100644 index 0000000..649ebe7 --- /dev/null +++ b/dbw_mkz_msgs/bmr/README.md @@ -0,0 +1,39 @@ +# Migrating Old Bag Files + +``` +rosbag fix old.bag new.bag +``` + +# Creating Bag Migration Rules + +http://wiki.ros.org/rosbag/migration#migrating + +Create folder structure +``` +roscd dbw_mkz_msgs/bmr +mkdir x.x.x-y.y.y && cd x.x.x-y.y.y +``` + +Checkout old message version, build, and save +``` +rosrun rosbag savemsg.py dbw_mkz_msgs/MyMsg > MyMsg.saved +``` + +Checkout new message version, build, and generate rule +``` +rosrun rosbag makerule.py MyMsg.saved MyMsg.bmr +``` + +Edit the generated rule: + +* ```order = X``` # Index number of this folder +* ```valid = True``` +* Remove autogenerated comments and modify as needed + +Export the rule in [package.xml](../package.xml): +```xml + + + +``` + diff --git a/dbw_mkz_msgs/msg/AmbientLight.msg b/dbw_mkz_msgs/msg/AmbientLight.msg new file mode 100644 index 0000000..3c73255 --- /dev/null +++ b/dbw_mkz_msgs/msg/AmbientLight.msg @@ -0,0 +1,8 @@ +uint8 status + +uint8 DARK=0 +uint8 LIGHT=1 +uint8 TWILIGHT=2 +uint8 TUNNEL_ON=3 +uint8 TUNNEL_OFF=4 +uint8 NO_DATA=7 diff --git a/dbw_mkz_msgs/msg/BrakeCmd.msg b/dbw_mkz_msgs/msg/BrakeCmd.msg new file mode 100644 index 0000000..516c4e9 --- /dev/null +++ b/dbw_mkz_msgs/msg/BrakeCmd.msg @@ -0,0 +1,26 @@ +# Brake pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.50 +uint8 CMD_PERCENT=2 # Percent of maximum torque, range 0 to 1 +uint8 CMD_TORQUE=3 # Nm, range 0 to 3412, open-loop +uint8 CMD_TORQUE_RQ=4 # Nm, range 0 to 3412, closed-loop +uint8 CMD_DECEL=6 # m/s^2, range 0 to 10 + +float32 TORQUE_BOO=520 # Nm, brake lights threshold +float32 TORQUE_MAX=3412 # Nm, maximum torque diff --git a/dbw_mkz_msgs/msg/BrakeInfoReport.msg b/dbw_mkz_msgs/msg/BrakeInfoReport.msg new file mode 100644 index 0000000..1dc38e0 --- /dev/null +++ b/dbw_mkz_msgs/msg/BrakeInfoReport.msg @@ -0,0 +1,33 @@ +Header header + +# Wheel torques (Nm) +float32 brake_torque_request +float32 brake_torque_actual +float32 wheel_torque_actual + +# Vehicle Acceleration (m/s^2) +float32 accel_over_ground + +# Brake Pedal +QualityFactor brake_pedal_qf + +# Hill Start Assist +HillStartAssist hsa + +# Anti-lock Brakes +bool abs_active +bool abs_enabled + +# Stability Control +bool stab_active +bool stab_enabled + +# Traction Control +bool trac_active +bool trac_enabled + +# Parking Brake +ParkingBrake parking_brake + +# Misc +bool stationary diff --git a/dbw_mkz_msgs/msg/BrakeReport.msg b/dbw_mkz_msgs/msg/BrakeReport.msg new file mode 100644 index 0000000..be18819 --- /dev/null +++ b/dbw_mkz_msgs/msg/BrakeReport.msg @@ -0,0 +1,35 @@ +Header header + +# Brake pedal +# Unitless, range 0.15 to 0.50 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Braking torque (Nm) +float32 torque_input +float32 torque_cmd +float32 torque_output + +# Braking decel (m/s^2) +float32 decel_cmd +float32 decel_output + +# Brake On Off (BOO) +bool boo_cmd + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool watchdog_braking +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_power diff --git a/dbw_mkz_msgs/msg/DriverAssistReport.msg b/dbw_mkz_msgs/msg/DriverAssistReport.msg new file mode 100644 index 0000000..8e3688f --- /dev/null +++ b/dbw_mkz_msgs/msg/DriverAssistReport.msg @@ -0,0 +1,23 @@ +Header header + +# Vehicle Decceleration (m/s^2) +float32 decel + +# Deceleration source +uint8 decel_src +uint8 DECEL_NONE=0 +uint8 DECEL_AEB=1 +uint8 DECEL_ACC=2 + +# FCW Status +bool fcw_enabled +bool fcw_active + +# AEB Status +bool aeb_enabled +bool aeb_precharge +bool aeb_braking + +# ACC Status +bool acc_enabled +bool acc_braking diff --git a/dbw_mkz_msgs/msg/FuelLevelReport.msg b/dbw_mkz_msgs/msg/FuelLevelReport.msg new file mode 100644 index 0000000..1d8d447 --- /dev/null +++ b/dbw_mkz_msgs/msg/FuelLevelReport.msg @@ -0,0 +1,14 @@ +Header header + +# Fuel level (%, 0 to 100) +float32 fuel_level + +# 12V battery voltage +float32 battery_12v + +# Hybrid battery voltage +float32 battery_hev + +# Odometer (km, 0.1km resolution) +float32 odometer + diff --git a/dbw_mkz_msgs/msg/Gear.msg b/dbw_mkz_msgs/msg/Gear.msg new file mode 100644 index 0000000..b0909ea --- /dev/null +++ b/dbw_mkz_msgs/msg/Gear.msg @@ -0,0 +1,8 @@ +uint8 gear + +uint8 NONE=0 +uint8 PARK=1 +uint8 REVERSE=2 +uint8 NEUTRAL=3 +uint8 DRIVE=4 +uint8 LOW=5 diff --git a/dbw_mkz_msgs/msg/GearCmd.msg b/dbw_mkz_msgs/msg/GearCmd.msg new file mode 100644 index 0000000..f9323c2 --- /dev/null +++ b/dbw_mkz_msgs/msg/GearCmd.msg @@ -0,0 +1,5 @@ +# Gear command enumeration +Gear cmd + +# Clear driver overrides +bool clear diff --git a/dbw_mkz_msgs/msg/GearNum.msg b/dbw_mkz_msgs/msg/GearNum.msg new file mode 100644 index 0000000..d1ae24e --- /dev/null +++ b/dbw_mkz_msgs/msg/GearNum.msg @@ -0,0 +1,17 @@ +uint8 num + +uint8 NONE=0 +uint8 DRIVE_D01=1 +uint8 DRIVE_D02=2 +uint8 DRIVE_D03=3 +uint8 DRIVE_D04=4 +uint8 DRIVE_D05=5 +uint8 DRIVE_D06=6 +uint8 DRIVE_D07=7 +uint8 DRIVE_D08=8 +uint8 DRIVE_D09=9 +uint8 DRIVE_D10=10 +uint8 NEUTRAL=16 +uint8 REVERSE_R01=17 +uint8 REVERSE_R02=18 +uint8 PARK=31 \ No newline at end of file diff --git a/dbw_mkz_msgs/msg/GearReject.msg b/dbw_mkz_msgs/msg/GearReject.msg new file mode 100644 index 0000000..deb10f6 --- /dev/null +++ b/dbw_mkz_msgs/msg/GearReject.msg @@ -0,0 +1,10 @@ +uint8 value + +uint8 NONE=0 # Not rejected +uint8 SHIFT_IN_PROGRESS=1 # Shift in progress +uint8 OVERRIDE=2 # Override on brake, throttle, or steering +uint8 ROTARY_LOW=3 # Rotary shifter can't shift to Low +uint8 ROTARY_PARK=4 # Rotary shifter can't shift out of Park +uint8 VEHICLE=5 # Rejected by vehicle (try pressing the brakes) +uint8 UNSUPPORTED=6 # Unsupported gear command +uint8 FAULT=7 # System in fault state diff --git a/dbw_mkz_msgs/msg/GearReport.msg b/dbw_mkz_msgs/msg/GearReport.msg new file mode 100644 index 0000000..ab40070 --- /dev/null +++ b/dbw_mkz_msgs/msg/GearReport.msg @@ -0,0 +1,16 @@ +Header header + +# Current gear enumeration +Gear state + +# Gear command enumeration +Gear cmd + +# Gear reject enumeration +GearReject reject + +# Status +bool override + +# Faults +bool fault_bus diff --git a/dbw_mkz_msgs/msg/HillStartAssist.msg b/dbw_mkz_msgs/msg/HillStartAssist.msg new file mode 100644 index 0000000..0574b69 --- /dev/null +++ b/dbw_mkz_msgs/msg/HillStartAssist.msg @@ -0,0 +1,16 @@ +uint8 status +uint8 mode + +uint8 STAT_INACTIVE=0 +uint8 STAT_FINDING_GRADIENT=1 +uint8 STAT_ACTIVE_PRESSED=2 +uint8 STAT_ACTIVE_RELEASED=3 +uint8 STAT_FAST_RELEASE=4 +uint8 STAT_SLOW_RELEASE=5 +uint8 STAT_FAILED=6 +uint8 STAT_UNDEFINED=7 + +uint8 MODE_OFF=0 +uint8 MODE_AUTO=1 +uint8 MODE_MANUAL=2 +uint8 MODE_UNDEFINED=3 diff --git a/dbw_mkz_msgs/msg/Ignition.msg b/dbw_mkz_msgs/msg/Ignition.msg new file mode 100644 index 0000000..47de6cf --- /dev/null +++ b/dbw_mkz_msgs/msg/Ignition.msg @@ -0,0 +1,6 @@ +uint8 value + +uint8 UNKNOWN=0 +uint8 OFF=1 +uint8 ACCESSORY=2 +uint8 RUN=3 diff --git a/dbw_mkz_msgs/msg/Misc1Report.msg b/dbw_mkz_msgs/msg/Misc1Report.msg new file mode 100644 index 0000000..b4c3c36 --- /dev/null +++ b/dbw_mkz_msgs/msg/Misc1Report.msg @@ -0,0 +1,69 @@ +Header header + +# Turn Signal enumeration +TurnSignal turn_signal + +# High beams +bool high_beam_headlights + +# Front Windshield Wipers enumeration +Wiper wiper + +# Ambient Light Sensor enumeration +AmbientLight ambient_light + +# Outside air temperature +float32 outside_temperature # Degrees Celsius + +# Buttons +bool btn_cc_on # Cruise Control On +bool btn_cc_off # Cruise Control Off +bool btn_cc_on_off # Cruise Control On/Off Toggle +bool btn_cc_res # Cruise Control Resume +bool btn_cc_cncl # Cruise Control Cancel +bool btn_cc_res_cncl # Cruise Control Resume/Cancel +bool btn_cc_res_inc # Cruise Control Resume+ +bool btn_cc_res_dec # Cruise Control Resume- +bool btn_cc_set_inc # Cruise Control Set+ +bool btn_cc_set_dec # Cruise Control Set- +bool btn_cc_gap_inc # Cruise Control Gap+ +bool btn_cc_gap_dec # Cruise Control Gap- +bool btn_la_on_off # Lane Assist On/Off Toggle +bool btn_ld_ok # Left D-Pad OK +bool btn_ld_up # Left D-Pad Up +bool btn_ld_down # Left D-Pad Down +bool btn_ld_left # Left D-Pad Left +bool btn_ld_right # Left D-Pad Right +bool btn_rd_ok # Right D-Pad OK +bool btn_rd_up # Right D-Pad Up +bool btn_rd_down # Right D-Pad Down +bool btn_rd_left # Right D-Pad Left +bool btn_rd_right # Right D-Pad Right +bool btn_vol_inc # Volume increment +bool btn_vol_dec # Volume decrement +bool btn_mute # Volume mute +bool btn_media # Media (source) +bool btn_prev # Media previous +bool btn_next # Media next +bool btn_speak # Speak +bool btn_call_start # Call start/answer +bool btn_call_end # Call end/disconnect + +# Faults +bool fault_bus + +# Doors +bool door_driver +bool door_passenger +bool door_rear_left +bool door_rear_right +bool door_hood +bool door_trunk + +# Passenger seat +bool passenger_detect +bool passenger_airbag + +# Seat Belts +bool buckle_driver +bool buckle_passenger diff --git a/dbw_mkz_msgs/msg/ParkingBrake.msg b/dbw_mkz_msgs/msg/ParkingBrake.msg new file mode 100644 index 0000000..5a9818e --- /dev/null +++ b/dbw_mkz_msgs/msg/ParkingBrake.msg @@ -0,0 +1,6 @@ +uint8 status + +uint8 OFF=0 +uint8 TRANS=1 +uint8 ON=2 +uint8 FAULT=3 diff --git a/dbw_mkz_msgs/msg/QualityFactor.msg b/dbw_mkz_msgs/msg/QualityFactor.msg new file mode 100644 index 0000000..9530f24 --- /dev/null +++ b/dbw_mkz_msgs/msg/QualityFactor.msg @@ -0,0 +1,6 @@ +uint8 value + +uint8 OK=0 +uint8 EMPTY=1 +uint8 CORRUPT=2 +uint8 FAULT=3 diff --git a/dbw_mkz_msgs/msg/SteeringCmd.msg b/dbw_mkz_msgs/msg/SteeringCmd.msg new file mode 100644 index 0000000..44565f2 --- /dev/null +++ b/dbw_mkz_msgs/msg/SteeringCmd.msg @@ -0,0 +1,30 @@ +# Steering Wheel +float32 steering_wheel_angle_cmd # rad, range -9.6 to 9.6 +float32 steering_wheel_angle_velocity # rad/s, range 0 to 17.5, 0 = default +float32 steering_wheel_torque_cmd # Nm, range -8.0 to 8.0 +uint8 cmd_type + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Disable or activate the driver override audible warning +bool quiet +bool alert + +# Watchdog counter (optional) +uint8 count + +# Command types +uint8 CMD_ANGLE=0 +uint8 CMD_TORQUE=1 + +# Maximum values +float32 ANGLE_MAX=9.6 # rad, maximum angle +float32 VELOCITY_MAX=17.5 # rad/s, maximum velocity +float32 TORQUE_MAX=8.0 # Nm, maximum torque diff --git a/dbw_mkz_msgs/msg/SteeringReport.msg b/dbw_mkz_msgs/msg/SteeringReport.msg new file mode 100644 index 0000000..5e0118f --- /dev/null +++ b/dbw_mkz_msgs/msg/SteeringReport.msg @@ -0,0 +1,28 @@ +Header header + +# Steering Wheel +float32 steering_wheel_angle # rad +float32 steering_wheel_cmd # rad or Nm +float32 steering_wheel_torque # Nm +uint8 steering_wheel_cmd_type + +# Command types +uint8 CMD_ANGLE=0 +uint8 CMD_TORQUE=1 + +# Vehicle Speed +float32 speed # m/s + +# Status +bool enabled # Enabled +bool override # Driver override +bool timeout # Command timeout + +# Watchdog Counter +bool fault_wdc + +# Faults +bool fault_bus1 +bool fault_bus2 +bool fault_calibration +bool fault_power diff --git a/dbw_mkz_msgs/msg/SurroundReport.msg b/dbw_mkz_msgs/msg/SurroundReport.msg new file mode 100644 index 0000000..ff8921f --- /dev/null +++ b/dbw_mkz_msgs/msg/SurroundReport.msg @@ -0,0 +1,34 @@ +Header header + +# Cross Traffic Alert (CTA) +bool cta_left_alert +bool cta_right_alert +bool cta_left_enabled +bool cta_right_enabled + +# Blind Spot Information System (BLIS) +bool blis_left_alert +bool blis_right_alert +bool blis_left_enabled +bool blis_right_enabled + +# Sonar Sensors +bool sonar_enabled +bool sonar_fault + +# Sonar ranges in meters, zero is no-detection +float32[12] sonar + +# Sonar index enumeration +uint8 FRONT_LEFT_SIDE=0 +uint8 FRONT_LEFT_CORNER=1 +uint8 FRONT_LEFT_CENTER=2 +uint8 FRONT_RIGHT_CENTER=3 +uint8 FRONT_RIGHT_CORNER=4 +uint8 FRONT_RIGHT_SIDE=5 +uint8 REAR_LEFT_SIDE=6 +uint8 REAR_LEFT_CORNER=7 +uint8 REAR_LEFT_CENTER=8 +uint8 REAR_RIGHT_CENTER=9 +uint8 REAR_RIGHT_CORNER=10 +uint8 REAR_RIGHT_SIDE=11 diff --git a/dbw_mkz_msgs/msg/ThrottleCmd.msg b/dbw_mkz_msgs/msg/ThrottleCmd.msg new file mode 100644 index 0000000..0365f71 --- /dev/null +++ b/dbw_mkz_msgs/msg/ThrottleCmd.msg @@ -0,0 +1,20 @@ +# Throttle pedal +# Options defined below +float32 pedal_cmd +uint8 pedal_cmd_type + +# Enable +bool enable + +# Clear driver overrides +bool clear + +# Ignore driver overrides +bool ignore + +# Watchdog counter (optional) +uint8 count + +uint8 CMD_NONE=0 +uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.80 +uint8 CMD_PERCENT=2 # Percent of maximum throttle, range 0 to 1 diff --git a/dbw_mkz_msgs/msg/ThrottleInfoReport.msg b/dbw_mkz_msgs/msg/ThrottleInfoReport.msg new file mode 100644 index 0000000..e29705d --- /dev/null +++ b/dbw_mkz_msgs/msg/ThrottleInfoReport.msg @@ -0,0 +1,18 @@ +Header header + +# Throttle Pedal +float32 throttle_pc # Throttle pedal percent, range 0 to 1 +float32 throttle_rate # Throttle pedal change per second (1/s) +QualityFactor throttle_pedal_qf # Non-zero is limp-home + +# Engine +float32 engine_rpm # Engine Speed (rpm) + +# Gear Num +GearNum gear_num # Gear Number + +# Ignition status +Ignition ignition # Ignition status (enum) + +# Battery Current +float32 batt_curr # Battery Current (Amps) diff --git a/dbw_mkz_msgs/msg/ThrottleReport.msg b/dbw_mkz_msgs/msg/ThrottleReport.msg new file mode 100644 index 0000000..8cad706 --- /dev/null +++ b/dbw_mkz_msgs/msg/ThrottleReport.msg @@ -0,0 +1,22 @@ +Header header + +# Throttle pedal +# Unitless, range 0.15 to 0.80 +float32 pedal_input +float32 pedal_cmd +float32 pedal_output + +# Status +bool enabled # Enabled +bool override # Driver override +bool driver # Driver activity +bool timeout # Command timeout + +# Watchdog Counter +WatchdogCounter watchdog_counter +bool fault_wdc + +# Faults +bool fault_ch1 +bool fault_ch2 +bool fault_power diff --git a/dbw_mkz_msgs/msg/TirePressureReport.msg b/dbw_mkz_msgs/msg/TirePressureReport.msg new file mode 100644 index 0000000..8707b24 --- /dev/null +++ b/dbw_mkz_msgs/msg/TirePressureReport.msg @@ -0,0 +1,7 @@ +Header header + +# Tire pressures (kPa) +float32 front_left +float32 front_right +float32 rear_left +float32 rear_right diff --git a/dbw_mkz_msgs/msg/TurnSignal.msg b/dbw_mkz_msgs/msg/TurnSignal.msg new file mode 100644 index 0000000..37d7e93 --- /dev/null +++ b/dbw_mkz_msgs/msg/TurnSignal.msg @@ -0,0 +1,6 @@ +uint8 value + +uint8 NONE=0 +uint8 LEFT=1 +uint8 RIGHT=2 +uint8 HAZARD=3 diff --git a/dbw_mkz_msgs/msg/TurnSignalCmd.msg b/dbw_mkz_msgs/msg/TurnSignalCmd.msg new file mode 100644 index 0000000..16e40e7 --- /dev/null +++ b/dbw_mkz_msgs/msg/TurnSignalCmd.msg @@ -0,0 +1,2 @@ +# Turn signal command enumeration +TurnSignal cmd diff --git a/dbw_mkz_msgs/msg/TwistCmd.msg b/dbw_mkz_msgs/msg/TwistCmd.msg new file mode 100644 index 0000000..783ac55 --- /dev/null +++ b/dbw_mkz_msgs/msg/TwistCmd.msg @@ -0,0 +1,3 @@ +geometry_msgs/Twist twist +float32 accel_limit # m/s^2, zero = no limit +float32 decel_limit # m/s^2, zero = no limit diff --git a/dbw_mkz_msgs/msg/WatchdogCounter.msg b/dbw_mkz_msgs/msg/WatchdogCounter.msg new file mode 100644 index 0000000..3451d5c --- /dev/null +++ b/dbw_mkz_msgs/msg/WatchdogCounter.msg @@ -0,0 +1,18 @@ +uint8 source + +uint8 NONE=0 # No source for watchdog counter fault +uint8 OTHER_BRAKE=1 # Fault determined by brake controller +uint8 OTHER_THROTTLE=2 # Fault determined by throttle controller +uint8 OTHER_STEERING=3 # Fault determined by steering controller +uint8 BRAKE_COUNTER=4 # Brake command counter failed to increment +uint8 BRAKE_DISABLED=5 # Brake transition to disabled while in gear or moving +uint8 BRAKE_COMMAND=6 # Brake command timeout after 100ms +uint8 BRAKE_REPORT=7 # Brake report timeout after 100ms +uint8 THROTTLE_COUNTER=8 # Throttle command counter failed to increment +uint8 THROTTLE_DISABLED=9 # Throttle transition to disabled while in gear or moving +uint8 THROTTLE_COMMAND=10 # Throttle command timeout after 100ms +uint8 THROTTLE_REPORT=11 # Throttle report timeout after 100ms +uint8 STEERING_COUNTER=12 # Steering command counter failed to increment +uint8 STEERING_DISABLED=13 # Steering transition to disabled while in gear or moving +uint8 STEERING_COMMAND=14 # Steering command timeout after 100ms +uint8 STEERING_REPORT=15 # Steering report timeout after 100ms diff --git a/dbw_mkz_msgs/msg/WheelPositionReport.msg b/dbw_mkz_msgs/msg/WheelPositionReport.msg new file mode 100644 index 0000000..57c5bd2 --- /dev/null +++ b/dbw_mkz_msgs/msg/WheelPositionReport.msg @@ -0,0 +1,10 @@ +Header header + +# Wheel positions (counts) +int16 front_left +int16 front_right +int16 rear_left +int16 rear_right + +# Conversion factor +float32 COUNTS_PER_REV=125.5 diff --git a/dbw_mkz_msgs/msg/WheelSpeedReport.msg b/dbw_mkz_msgs/msg/WheelSpeedReport.msg new file mode 100644 index 0000000..e35b67a --- /dev/null +++ b/dbw_mkz_msgs/msg/WheelSpeedReport.msg @@ -0,0 +1,7 @@ +Header header + +# Wheel speeds (rad/s) +float32 front_left +float32 front_right +float32 rear_left +float32 rear_right diff --git a/dbw_mkz_msgs/msg/Wiper.msg b/dbw_mkz_msgs/msg/Wiper.msg new file mode 100644 index 0000000..5c57970 --- /dev/null +++ b/dbw_mkz_msgs/msg/Wiper.msg @@ -0,0 +1,18 @@ +uint8 status + +uint8 OFF=0 +uint8 AUTO_OFF=1 +uint8 OFF_MOVING=2 +uint8 MANUAL_OFF=3 +uint8 MANUAL_ON=4 +uint8 MANUAL_LOW=5 +uint8 MANUAL_HIGH=6 +uint8 MIST_FLICK=7 +uint8 WASH=8 +uint8 AUTO_LOW=9 +uint8 AUTO_HIGH=10 +uint8 COURTESYWIPE=11 +uint8 AUTO_ADJUST=12 +uint8 RESERVED=13 +uint8 STALLED=14 +uint8 NO_DATA=15 diff --git a/dbw_mkz_msgs/package.xml b/dbw_mkz_msgs/package.xml new file mode 100644 index 0000000..0af76bf --- /dev/null +++ b/dbw_mkz_msgs/package.xml @@ -0,0 +1,56 @@ + + + dbw_mkz_msgs + 1.4.1 + + Drive-by-wire messages for the Lincoln MKZ + + + BSD + Kevin Hallenbeck + Kevin Hallenbeck + http://dataspeedinc.com + https://bitbucket.org/dataspeedinc/dbw_mkz_ros + https://bitbucket.org/dataspeedinc/dbw_mkz_ros/issues + + catkin + + std_msgs + geometry_msgs + + message_generation + message_runtime + + rosbag_migration_rule + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +