syntax = "proto3";
package synapse.msgs;

import "header.proto";

// see https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/BatteryState.msg
 
message BatteryState {
	enum PowerSupplyStatus {
		UNKNOWN_STATUS=0;
		CHARGING=1;
		DISCHARGING=2;
		NOT_CHARGING=3;
		FULL=4;
	}
	enum PowerSupplyHealth {
		UNKNOWN_HEALTH=0;
		GOOD=1;
		OVERHEAT=2;
		DEAD=3;
		OVERVOLTAGE=4;
		UNSPEC_FAILURE=5;
		COLD=6;
		WATCHDOG_TIMER_EXPIRE=7;
		SAFETY_TIMER_EXPIRE=8;
	}
	enum PowerSupplyTechnology {
		UNKNOWN_TECHNOLOGY=0;
		NIMH=1;
		LION=2;
		LIPO=3;
		LIFE=4;
		NICD=5;
		LIMN=6;
		TERNARY=7;
		VRLA=8;
	}
	Header header = 1;
	double voltage = 2;          // Voltage in Volts (Mandatory)
	double temperature = 3;      // Temperature in Degrees Celsius (If unmeasured NaN)
	double current = 4;          // Negative when discharging (A)  (If unmeasured NaN)
	double charge = 5;           // Current charge in Ah  (If unmeasured NaN)
	double capacity = 6;         // Capacity in Ah (last full capacity)  (If unmeasured NaN)
	double design_capacity = 7;  // Capacity in Ah (design capacity)  (If unmeasured NaN)
	double percentage = 8;       // Charge percentage on 0 to 1 range  (If unmeasured NaN)
	PowerSupplyStatus power_supply_status =  9; // The charging status as reported. Values defined above
	PowerSupplyHealth power_supply_health = 10; // The battery health metric. Values defined above
	PowerSupplyTechnology power_supply_technology = 11; // The battery chemistry. Values defined above
	bool present = 12; // True if the battery is present

	repeated double cell_voltage = 13; // An array of individual cell voltages for each cell in the pack
                         // If individual voltages unknown but number of cells known set each to NaN
	repeated double cell_temperature = 14; // An array of individual cell temperatures for each cell in the pack
                         // If individual temperatures unknown but number of cells known set each to NaN
	string location = 15;   // The location into which the battery is inserted. (slot number or plug)
	string serial_number = 16;    // The best approximation of the battery serial number
}