From 2607c939f5effbdfb283d0c06ed8d2fec766057d Mon Sep 17 00:00:00 2001
From: tuxliri <dvde.iafrate98@gmail.com>
Date: Wed, 3 Apr 2024 18:29:32 +0200
Subject: [PATCH 1/2] =?UTF-8?q?Bump=20version:=200.0.8=20=E2=86=92=200.0.9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .bumpversion.cfg                    | 2 +-
 dtproject/self.yaml                 | 2 +-
 src/duckietown_messages/__init__.py | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.bumpversion.cfg b/.bumpversion.cfg
index d919aa0..828d56f 100644
--- a/.bumpversion.cfg
+++ b/.bumpversion.cfg
@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 0.0.8
+current_version = 0.0.9
 commit = True
 tag = True
 
diff --git a/dtproject/self.yaml b/dtproject/self.yaml
index 8ee89f1..85ad0c7 100644
--- a/dtproject/self.yaml
+++ b/dtproject/self.yaml
@@ -3,4 +3,4 @@ maintainer:
     name: "Andrea F. Daniele"
     email: "afdaniele@duckietown.com"
 description: "Duckietown messages for the DTPS middleware"
-version: 0.0.8
+version: 0.0.9
diff --git a/src/duckietown_messages/__init__.py b/src/duckietown_messages/__init__.py
index a73339b..00ec2dc 100644
--- a/src/duckietown_messages/__init__.py
+++ b/src/duckietown_messages/__init__.py
@@ -1 +1 @@
-__version__ = "0.0.8"
+__version__ = "0.0.9"

From 062d582dfd3104821d8e1544128ca63ee3e56829 Mon Sep 17 00:00:00 2001
From: tuxliri <dvde.iafrate98@gmail.com>
Date: Mon, 8 Apr 2024 17:35:16 +0200
Subject: [PATCH 2/2] Added drone messages

---
 .../actuators/drone_control.py                 | 12 ++++++++++++
 .../actuators/drone_mode.py                    | 10 ++++++++++
 .../actuators/drone_motor_command.py           | 18 ++++++++++++++++++
 src/duckietown_messages/sensors/attitude.py    | 12 ++++++++++++
 src/duckietown_messages/sensors/battery.py     | 13 +++++++++++++
 5 files changed, 65 insertions(+)
 create mode 100644 src/duckietown_messages/actuators/drone_control.py
 create mode 100644 src/duckietown_messages/actuators/drone_mode.py
 create mode 100644 src/duckietown_messages/actuators/drone_motor_command.py
 create mode 100644 src/duckietown_messages/sensors/attitude.py
 create mode 100644 src/duckietown_messages/sensors/battery.py

diff --git a/src/duckietown_messages/actuators/drone_control.py b/src/duckietown_messages/actuators/drone_control.py
new file mode 100644
index 0000000..bc69199
--- /dev/null
+++ b/src/duckietown_messages/actuators/drone_control.py
@@ -0,0 +1,12 @@
+from ..base import BaseMessage
+
+class DroneControl(BaseMessage):
+    """
+    Roll Pitch Yaw(rate) Throttle Commands, simulating output from
+    remote control. Values range from 1000 to 2000
+    which corespond to values from 0% to 100%
+    """
+    roll: float
+    pitch: float
+    yaw: float
+    throttle: float
\ No newline at end of file
diff --git a/src/duckietown_messages/actuators/drone_mode.py b/src/duckietown_messages/actuators/drone_mode.py
new file mode 100644
index 0000000..759a987
--- /dev/null
+++ b/src/duckietown_messages/actuators/drone_mode.py
@@ -0,0 +1,10 @@
+from enum import IntEnum
+from ..base import BaseMessage
+
+class Mode(IntEnum):
+    DISARMED = 0
+    ARMED = 1
+    FLYING = 2
+
+class DroneModeMsg(BaseMessage):
+    mode: Mode
\ No newline at end of file
diff --git a/src/duckietown_messages/actuators/drone_motor_command.py b/src/duckietown_messages/actuators/drone_motor_command.py
new file mode 100644
index 0000000..214a43a
--- /dev/null
+++ b/src/duckietown_messages/actuators/drone_motor_command.py
@@ -0,0 +1,18 @@
+from ..base import BaseMessage
+from ..standard.header import AUTO, Header
+
+class DroneMotorCommand(BaseMessage):
+    """
+    PWM commands from the range defined on betaflight for each motor.
+    """
+    header: Header = AUTO
+    
+    # range defined on cleanflight
+    minimum : int
+    maximum : int
+
+    # PWM commands for the individual motors
+    m1 : int
+    m2 : int
+    m3 : int
+    m4 : int
diff --git a/src/duckietown_messages/sensors/attitude.py b/src/duckietown_messages/sensors/attitude.py
new file mode 100644
index 0000000..c1638c4
--- /dev/null
+++ b/src/duckietown_messages/sensors/attitude.py
@@ -0,0 +1,12 @@
+from ..base import BaseMessage
+from ..standard.header import Header, AUTO
+
+
+class Attitude(BaseMessage):
+    # header
+    header: Header = AUTO
+
+    # angular acceleration about the 3 axis
+    roll: float
+    pitch: float
+    yaw: float
\ No newline at end of file
diff --git a/src/duckietown_messages/sensors/battery.py b/src/duckietown_messages/sensors/battery.py
new file mode 100644
index 0000000..d8290c2
--- /dev/null
+++ b/src/duckietown_messages/sensors/battery.py
@@ -0,0 +1,13 @@
+from ..base import BaseMessage
+from ..standard.header import Header, AUTO
+
+## TODO: Fully define the BatteryState message to be compatible with the ROS message definition 
+##      http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/BatteryState.html
+ 
+class BatteryState(BaseMessage):
+    header: Header = AUTO
+
+    voltage: float
+    present: bool
+
+