User/adambrett40/462 add new sensors

src/custom_interfaces/CMakeLists.txt

@@ -27,6 +27,14 @@ set(common_msg
   "msg/SailCmd.msg"
   "msg/WindSensor.msg"
   "msg/WindSensors.msg"
+  "msg/TempSensor.msg"
+  "msg/TempSensors.msg"
+  "msg/PhSensor.msg"
+  "msg/PhSensors.msg"
+  "msg/SalinitySensor.msg"
+  "msg/SalinitySensors.msg"
+  "msg/PressureSensor.msg"
+  "msg/PressureSensors.msg"
 
   # internal
   "msg/HelperAISShip.msg"
@@ -37,6 +45,10 @@ set(common_msg
   "msg/HelperLatLon.msg"
   "msg/HelperROT.msg"
   "msg/HelperSpeed.msg"
+  "msg/HelperTemp.msg"
+  "msg/HelperPh.msg"
+  "msg/HelperSalinity.msg"
+  "msg/HelperPressure.msg"
   "msg/HelperObstacle.msg"
 )
 

src/custom_interfaces/msg/HelperPh.msg

@@ -0,0 +1,2 @@
+# unit : pH
+float32 ph

src/custom_interfaces/msg/HelperPressure.msg

@@ -0,0 +1,2 @@
+#unit : PSI
+float32 pressure

src/custom_interfaces/msg/HelperSalinity.msg

@@ -0,0 +1,2 @@
+# unit : conductivity in microSiemens / cm
+float32 salinity

src/custom_interfaces/msg/HelperTemp.msg

@@ -0,0 +1,2 @@
+# unit: degrees Celsius
+float32 temp

src/custom_interfaces/msg/PhSensor.msg

@@ -0,0 +1 @@
+HelperPh ph

src/custom_interfaces/msg/PhSensors.msg

@@ -0,0 +1 @@
+PhSensor[16] ph_sensors

src/custom_interfaces/msg/PressureSensor.msg

@@ -0,0 +1 @@
+HelperPressure pressure

src/custom_interfaces/msg/PressureSensors.msg

@@ -0,0 +1 @@
+PressureSensor[16] pressure_sensors

src/custom_interfaces/msg/SalinitySensor.msg

@@ -0,0 +1 @@
+HelperSalinity salinity

src/custom_interfaces/msg/SalinitySensors.msg

@@ -0,0 +1 @@
+SalinitySensor[16] salinity_sensors

src/custom_interfaces/msg/TempSensor.msg

@@ -0,0 +1 @@
+HelperTemp temp

src/custom_interfaces/msg/TempSensors.msg

@@ -0,0 +1 @@
+TempSensor[16] temp_sensors

src/network_systems/lib/cmn_hdrs/shared_constants.h

@@ -1,6 +1,10 @@
 #pragma once
 
 #include <custom_interfaces/msg/batteries.hpp>
+#include <custom_interfaces/msg/ph_sensors.hpp>
+#include <custom_interfaces/msg/pressure_sensors.hpp>
+#include <custom_interfaces/msg/salinity_sensors.hpp>
+#include <custom_interfaces/msg/temp_sensors.hpp>
 #include <custom_interfaces/msg/wind_sensors.hpp>
 #include <string>
 
@@ -29,6 +33,30 @@ constexpr int NUM_WIND_SENSORS = []() constexpr
     return sizeof(wind_sensors_arr) / sizeof(custom_interfaces::msg::WindSensor);
 }
 ();
+constexpr int NUM_TEMP_SENSORS = []() constexpr
+{
+    using temp_sensors_arr = custom_interfaces::msg::TempSensors::_temp_sensors_type;
+    return sizeof(temp_sensors_arr) / sizeof(custom_interfaces::msg::TempSensor);
+}
+();
+constexpr int NUM_PH_SENSORS = []() constexpr
+{
+    using ph_sensors_arr = custom_interfaces::msg::PhSensors::_ph_sensors_type;
+    return sizeof(ph_sensors_arr) / sizeof(custom_interfaces::msg::PhSensor);
+}
+();
+constexpr int NUM_PRESSURE_SENSORS = []() constexpr
+{
+    using pressure_sensors_arr = custom_interfaces::msg::PressureSensors::_pressure_sensors_type;
+    return sizeof(pressure_sensors_arr) / sizeof(custom_interfaces::msg::PressureSensor);
+}
+();
+constexpr int NUM_SALINITY_SENSORS = []() constexpr
+{
+    using salinity_sensors_arr = custom_interfaces::msg::SalinitySensors::_salinity_sensors_type;
+    return sizeof(salinity_sensors_arr) / sizeof(custom_interfaces::msg::SalinitySensor);
+}
+();
 
 /****** Upper and lower bounds ******/
 
@@ -64,3 +92,19 @@ constexpr float BATT_CURR_UBND = 200.0;   // Placeholder number
 /***** Bounds for Wind Sensor ******/
 constexpr int WIND_DIRECTION_LBND = -180;
 constexpr int WIND_DIRECTION_UBND = 179;
+
+/***** Bounds for Temp Sensor ******/
+constexpr float TEMP_LBND = -32.768;  // smallest value to fit in int16_t when * 1000
+constexpr float TEMP_UBND = 32.767;   // largest value to fit in int16_t when * 1000
+
+/***** Bounds for Ph Sensor ******/
+constexpr float PH_LBND = -1.6;  // lbnd of sensor being used
+constexpr float PH_UBND = 15.6;  // ubnd of sensor being used
+
+/***** Bounds for Salinity Sensor ******/
+constexpr float SALINITY_LBND = 0;       // lbnd of sensor being used is 0.07
+constexpr float SALINITY_UBND = 1000000;  // ubnd of sensor being used is 500000+
+
+/***** Bounds for Pressure Sensor ******/
+constexpr float PRESSURE_LBND = -100;    // lowest lbnd of pressure sensors under consideration is -14.5 psi
+constexpr float PRESSURE_UBND = 1000;  // highest lbnd of pressure sensors is 8702 psi