820 lines
34 KiB
C++
820 lines
34 KiB
C++
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: SportModeCmd_.idl
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Source: SportModeCmd_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_SPORTMODECMD__HPP
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#define DDSCXX_SPORTMODECMD__HPP
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#include "BmsCmd_.hpp"
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#include "PathPoint_.hpp"
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#include <cstdint>
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#include <array>
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namespace unitree_go
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{
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namespace msg
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{
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namespace dds_
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{
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class SportModeCmd_
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{
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private:
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uint8_t mode_ = 0;
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uint8_t gait_type_ = 0;
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uint8_t speed_level_ = 0;
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float foot_raise_height_ = 0.0f;
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float body_height_ = 0.0f;
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std::array<float, 2> position_ = { };
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std::array<float, 3> euler_ = { };
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std::array<float, 2> velocity_ = { };
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float yaw_speed_ = 0.0f;
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::unitree_go::msg::dds_::BmsCmd_ bms_cmd_;
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std::array<::unitree_go::msg::dds_::PathPoint_, 30> path_point_ = { };
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public:
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SportModeCmd_() = default;
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explicit SportModeCmd_(
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uint8_t mode,
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uint8_t gait_type,
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uint8_t speed_level,
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float foot_raise_height,
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float body_height,
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const std::array<float, 2>& position,
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const std::array<float, 3>& euler,
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const std::array<float, 2>& velocity,
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float yaw_speed,
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const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd,
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const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point) :
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mode_(mode),
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gait_type_(gait_type),
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speed_level_(speed_level),
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foot_raise_height_(foot_raise_height),
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body_height_(body_height),
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position_(position),
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euler_(euler),
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velocity_(velocity),
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yaw_speed_(yaw_speed),
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bms_cmd_(bms_cmd),
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path_point_(path_point) { }
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uint8_t mode() const { return this->mode_; }
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uint8_t& mode() { return this->mode_; }
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void mode(uint8_t _val_) { this->mode_ = _val_; }
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uint8_t gait_type() const { return this->gait_type_; }
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uint8_t& gait_type() { return this->gait_type_; }
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void gait_type(uint8_t _val_) { this->gait_type_ = _val_; }
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uint8_t speed_level() const { return this->speed_level_; }
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uint8_t& speed_level() { return this->speed_level_; }
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void speed_level(uint8_t _val_) { this->speed_level_ = _val_; }
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float foot_raise_height() const { return this->foot_raise_height_; }
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float& foot_raise_height() { return this->foot_raise_height_; }
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void foot_raise_height(float _val_) { this->foot_raise_height_ = _val_; }
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float body_height() const { return this->body_height_; }
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float& body_height() { return this->body_height_; }
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void body_height(float _val_) { this->body_height_ = _val_; }
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const std::array<float, 2>& position() const { return this->position_; }
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std::array<float, 2>& position() { return this->position_; }
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void position(const std::array<float, 2>& _val_) { this->position_ = _val_; }
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void position(std::array<float, 2>&& _val_) { this->position_ = _val_; }
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const std::array<float, 3>& euler() const { return this->euler_; }
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std::array<float, 3>& euler() { return this->euler_; }
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void euler(const std::array<float, 3>& _val_) { this->euler_ = _val_; }
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void euler(std::array<float, 3>&& _val_) { this->euler_ = _val_; }
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const std::array<float, 2>& velocity() const { return this->velocity_; }
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std::array<float, 2>& velocity() { return this->velocity_; }
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void velocity(const std::array<float, 2>& _val_) { this->velocity_ = _val_; }
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void velocity(std::array<float, 2>&& _val_) { this->velocity_ = _val_; }
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float yaw_speed() const { return this->yaw_speed_; }
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float& yaw_speed() { return this->yaw_speed_; }
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void yaw_speed(float _val_) { this->yaw_speed_ = _val_; }
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const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() const { return this->bms_cmd_; }
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::unitree_go::msg::dds_::BmsCmd_& bms_cmd() { return this->bms_cmd_; }
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void bms_cmd(const ::unitree_go::msg::dds_::BmsCmd_& _val_) { this->bms_cmd_ = _val_; }
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void bms_cmd(::unitree_go::msg::dds_::BmsCmd_&& _val_) { this->bms_cmd_ = _val_; }
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const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point() const { return this->path_point_; }
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std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point() { return this->path_point_; }
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void path_point(const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& _val_) { this->path_point_ = _val_; }
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void path_point(std::array<::unitree_go::msg::dds_::PathPoint_, 30>&& _val_) { this->path_point_ = _val_; }
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bool operator==(const SportModeCmd_& _other) const
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{
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(void) _other;
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return mode_ == _other.mode_ &&
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gait_type_ == _other.gait_type_ &&
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speed_level_ == _other.speed_level_ &&
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foot_raise_height_ == _other.foot_raise_height_ &&
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body_height_ == _other.body_height_ &&
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position_ == _other.position_ &&
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euler_ == _other.euler_ &&
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velocity_ == _other.velocity_ &&
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yaw_speed_ == _other.yaw_speed_ &&
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bms_cmd_ == _other.bms_cmd_ &&
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path_point_ == _other.path_point_;
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}
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bool operator!=(const SportModeCmd_& _other) const
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{
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return !(*this == _other);
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}
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};
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}
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}
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}
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#include "dds/topic/TopicTraits.hpp"
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#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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namespace org {
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namespace eclipse {
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namespace cyclonedds {
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namespace topic {
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template <> constexpr const char* TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::getTypeName()
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{
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return "unitree_go::msg::dds_::SportModeCmd_";
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}
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template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::isKeyless()
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{
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return true;
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_map_blob_sz() { return 1506; }
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_info_blob_sz() { return 196; }
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template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_map_blob() {
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static const uint8_t blob[] = {
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0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||
|
|
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
|
||
|
|
0x65, 0x75, 0x6c, 0x65, 0x72, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
|
||
|
|
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x09, 0x00, 0x00,
|
||
|
|
0x09, 0x00, 0x00, 0x00, 0x76, 0x65, 0x6c, 0x6f, 0x63, 0x69, 0x74, 0x79, 0x00, 0x00, 0x00, 0x00,
|
||
|
|
0x18, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x0a, 0x00, 0x00, 0x00,
|
||
|
|
0x79, 0x61, 0x77, 0x5f, 0x73, 0x70, 0x65, 0x65, 0x64, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00,
|
||
|
|
0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3,
|
||
|
|
0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x62, 0x6d, 0x73, 0x5f,
|
||
|
|
0x63, 0x6d, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x31, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00,
|
||
|
|
0x01, 0x00, 0x90, 0xf2, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1e, 0xf2, 0xd6, 0x62,
|
||
|
|
0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0x0b, 0x00, 0x00, 0x00,
|
||
|
|
0x70, 0x61, 0x74, 0x68, 0x5f, 0x70, 0x6f, 0x69, 0x6e, 0x74, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8,
|
||
|
|
0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x76, 0x00, 0x00, 0x00,
|
||
|
|
0xf2, 0x51, 0x01, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00,
|
||
|
|
0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a,
|
||
|
|
0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x42, 0x6d, 0x73, 0x43, 0x6d, 0x64, 0x5f, 0x00, 0x00,
|
||
|
|
0x42, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||
|
|
0x01, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00, 0x6f, 0x66, 0x66, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||
|
|
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||
|
|
0x01, 0x00, 0x00, 0x00, 0x03, 0x02, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65,
|
||
|
|
0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae,
|
||
|
|
0x65, 0xcf, 0xa2, 0xd4, 0x15, 0x00, 0x00, 0x00, 0xe3, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
|
||
|
|
0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
|
||
|
|
0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
|
||
|
|
0x5f, 0x3a, 0x3a, 0x50, 0x61, 0x74, 0x68, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x5f, 0x00, 0x00, 0x00,
|
||
|
|
0xab, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||
|
|
0x01, 0x00, 0x09, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x74, 0x5f, 0x66, 0x72, 0x6f, 0x6d, 0x5f, 0x73,
|
||
|
|
0x74, 0x61, 0x72, 0x74, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||
|
|
0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
|
||
|
|
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00,
|
||
|
|
0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||
|
|
0x79, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||
|
|
0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x76, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||
|
|
0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00,
|
||
|
|
0x76, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
|
||
|
|
0x01, 0x00, 0x09, 0x00, 0x05, 0x00, 0x00, 0x00, 0x76, 0x79, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00,
|
||
|
|
0x5e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf2, 0xbb, 0xbb, 0x27, 0xfd, 0xc5, 0x19, 0x66,
|
||
|
|
0x1a, 0x6a, 0xcc, 0x38, 0x22, 0x2e, 0x2f, 0xf1, 0x4b, 0xbc, 0x00, 0xba, 0x9a, 0x8c, 0x2d, 0x02,
|
||
|
|
0x68, 0x52, 0x1d, 0xd0, 0xd4, 0xb6, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3,
|
||
|
|
0xf1, 0x6b, 0x34, 0x22, 0x33, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf,
|
||
|
|
0x51, 0xed, 0x4a, 0x23, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf,
|
||
|
|
0xa2, 0xd4, 0x15, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, 0xf6,
|
||
|
|
0xbd, 0xe2, };
|
||
|
|
return blob;
|
||
|
|
}
|
||
|
|
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_info_blob() {
|
||
|
|
static const uint8_t blob[] = {
|
||
|
|
0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
|
||
|
|
0x14, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0xbc, 0x00, 0xba, 0x9a, 0x8c, 0x2d, 0x02, 0x68, 0x52, 0x1d,
|
||
|
|
0xd0, 0xd4, 0xb6, 0x00, 0x14, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||
|
|
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0,
|
||
|
|
0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0x00, 0x42, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
||
|
|
0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, 0x00,
|
||
|
|
0x87, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
|
||
|
|
0x14, 0x00, 0x00, 0x00, 0xf2, 0xbb, 0xbb, 0x27, 0xfd, 0xc5, 0x19, 0x66, 0x1a, 0x6a, 0xcc, 0x38,
|
||
|
|
0x22, 0x2e, 0x2f, 0x00, 0xcd, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||
|
|
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a,
|
||
|
|
0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
||
|
|
0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0x00,
|
||
|
|
0xe7, 0x00, 0x00, 0x00, };
|
||
|
|
return blob;
|
||
|
|
}
|
||
|
|
#endif //DDSCXX_HAS_TYPE_DISCOVERY
|
||
|
|
|
||
|
|
} //namespace topic
|
||
|
|
} //namespace cyclonedds
|
||
|
|
} //namespace eclipse
|
||
|
|
} //namespace org
|
||
|
|
|
||
|
|
namespace dds {
|
||
|
|
namespace topic {
|
||
|
|
|
||
|
|
template <>
|
||
|
|
struct topic_type_name<::unitree_go::msg::dds_::SportModeCmd_>
|
||
|
|
{
|
||
|
|
static std::string value()
|
||
|
|
{
|
||
|
|
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::getTypeName();
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::SportModeCmd_)
|
||
|
|
|
||
|
|
namespace org{
|
||
|
|
namespace eclipse{
|
||
|
|
namespace cyclonedds{
|
||
|
|
namespace core{
|
||
|
|
namespace cdr{
|
||
|
|
|
||
|
|
template<>
|
||
|
|
propvec &get_type_props<::unitree_go::msg::dds_::SportModeCmd_>();
|
||
|
|
|
||
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||
|
|
bool write(T& streamer, const ::unitree_go::msg::dds_::SportModeCmd_& instance, entity_properties_t *props) {
|
||
|
|
(void)instance;
|
||
|
|
if (!streamer.start_struct(*props))
|
||
|
|
return false;
|
||
|
|
auto prop = streamer.first_entity(props);
|
||
|
|
while (prop) {
|
||
|
|
switch (prop->m_id) {
|
||
|
|
case 0:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.mode()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.gait_type()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.speed_level()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.foot_raise_height()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.body_height()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 5:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.position()[0], instance.position().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.euler()[0], instance.euler().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.velocity()[0], instance.velocity().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 8:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.yaw_speed()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 9:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.bms_cmd(), prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, false))
|
||
|
|
return false;
|
||
|
|
for (const auto & a_1:instance.path_point()) { //array depth 1
|
||
|
|
if (!write(streamer, a_1, prop))
|
||
|
|
return false;
|
||
|
|
} //array depth 1
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool write(S& str, const ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>();
|
||
|
|
str.set_mode(cdr_stream::stream_mode::write, as_key);
|
||
|
|
return write(str, instance, props.data());
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||
|
|
bool read(T& streamer, ::unitree_go::msg::dds_::SportModeCmd_& instance, entity_properties_t *props) {
|
||
|
|
(void)instance;
|
||
|
|
if (!streamer.start_struct(*props))
|
||
|
|
return false;
|
||
|
|
auto prop = streamer.first_entity(props);
|
||
|
|
while (prop) {
|
||
|
|
switch (prop->m_id) {
|
||
|
|
case 0:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.mode()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.gait_type()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.speed_level()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.foot_raise_height()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.body_height()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 5:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.position()[0], instance.position().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.euler()[0], instance.euler().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.velocity()[0], instance.velocity().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 8:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.yaw_speed()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 9:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.bms_cmd(), prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, false))
|
||
|
|
return false;
|
||
|
|
for (auto & a_1:instance.path_point()) { //array depth 1
|
||
|
|
if (!read(streamer, a_1, prop))
|
||
|
|
return false;
|
||
|
|
} //array depth 1
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool read(S& str, ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>();
|
||
|
|
str.set_mode(cdr_stream::stream_mode::read, as_key);
|
||
|
|
return read(str, instance, props.data());
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||
|
|
bool move(T& streamer, const ::unitree_go::msg::dds_::SportModeCmd_& instance, entity_properties_t *props) {
|
||
|
|
(void)instance;
|
||
|
|
if (!streamer.start_struct(*props))
|
||
|
|
return false;
|
||
|
|
auto prop = streamer.first_entity(props);
|
||
|
|
while (prop) {
|
||
|
|
switch (prop->m_id) {
|
||
|
|
case 0:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.mode()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.gait_type()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.speed_level()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.foot_raise_height()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.body_height()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 5:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.position()[0], instance.position().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.euler()[0], instance.euler().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.velocity()[0], instance.velocity().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 8:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.yaw_speed()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 9:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.bms_cmd(), prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, false))
|
||
|
|
return false;
|
||
|
|
for (const auto & a_1:instance.path_point()) { //array depth 1
|
||
|
|
if (!move(streamer, a_1, prop))
|
||
|
|
return false;
|
||
|
|
} //array depth 1
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool move(S& str, const ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>();
|
||
|
|
str.set_mode(cdr_stream::stream_mode::move, as_key);
|
||
|
|
return move(str, instance, props.data());
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||
|
|
bool max(T& streamer, const ::unitree_go::msg::dds_::SportModeCmd_& instance, entity_properties_t *props) {
|
||
|
|
(void)instance;
|
||
|
|
if (!streamer.start_struct(*props))
|
||
|
|
return false;
|
||
|
|
auto prop = streamer.first_entity(props);
|
||
|
|
while (prop) {
|
||
|
|
switch (prop->m_id) {
|
||
|
|
case 0:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.mode()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.gait_type()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.speed_level()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.foot_raise_height()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.body_height()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 5:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.position()[0], instance.position().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.euler()[0], instance.euler().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.velocity()[0], instance.velocity().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 8:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.yaw_speed()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 9:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.bms_cmd(), prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, false))
|
||
|
|
return false;
|
||
|
|
for (const auto & a_1:instance.path_point()) { //array depth 1
|
||
|
|
if (!max(streamer, a_1, prop))
|
||
|
|
return false;
|
||
|
|
} //array depth 1
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool max(S& str, const ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>();
|
||
|
|
str.set_mode(cdr_stream::stream_mode::max, as_key);
|
||
|
|
return max(str, instance, props.data());
|
||
|
|
}
|
||
|
|
|
||
|
|
} //namespace cdr
|
||
|
|
} //namespace core
|
||
|
|
} //namespace cyclonedds
|
||
|
|
} //namespace eclipse
|
||
|
|
} //namespace org
|
||
|
|
|
||
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#endif // DDSCXX_SPORTMODECMD__HPP
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