ros2_interfaces_rolling/ur_msgs/msg/
tool_data_msg.rs

1use serde::{Deserialize, Serialize};
2
3#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
4pub struct ToolDataMsg {
5    pub analog_input_range2: i8,
6    pub analog_input_range3: i8,
7    pub analog_input2: f64,
8    pub analog_input3: f64,
9    pub tool_voltage_48v: f32,
10    pub tool_output_voltage: u8,
11    pub tool_current: f32,
12    pub tool_temperature: f32,
13    pub tool_mode: u8,
14}
15
16impl ToolDataMsg {
17    pub const ANALOG_INPUT_RANGE_CURRENT: i8 = 0;
18    pub const ANALOG_INPUT_RANGE_VOLTAGE: i8 = 1;
19    pub const TOOL_BOOTLOADER_MODE: u8 = 249;
20    pub const TOOL_RUNNING_MODE: u8 = 253;
21    pub const TOOL_IDLE_MODE: u8 = 255;
22}
23
24impl Default for ToolDataMsg {
25    fn default() -> Self {
26        ToolDataMsg {
27            analog_input_range2: 0,
28            analog_input_range3: 0,
29            analog_input2: 0.0,
30            analog_input3: 0.0,
31            tool_voltage_48v: 0.0,
32            tool_output_voltage: 0,
33            tool_current: 0.0,
34            tool_temperature: 0.0,
35            tool_mode: 0,
36        }
37    }
38}
39
40impl ros2_client::Message for ToolDataMsg {}