lowlevel bridge added
This commit is contained in:
Rooholla-Khorrambakht
parent
578a26e301
commit
02a0496cb6
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@ -0,0 +1,16 @@
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FROM ubuntu:20.04
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ENV DEBIAN_FRONTEND=noninteractive
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# uodate and install dependencies
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RUN apt-get update && apt-get install -y \
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build-essential \
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cmake \
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git \
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&& rm -rf /var/lib/apt/lists/*
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# make and install the project
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COPY cpp_bridge /cpp_bridge
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WORKDIR /cpp_bridge
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RUN ./install.sh && mkdir build && cd build && cmake .. && make
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# set the entrypoint to bash
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ENTRYPOINT ["/bin/bash"]
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@ -0,0 +1,9 @@
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{
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"cmake.configureOnOpen": true,
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"files.associations": {
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"thread": "cpp",
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"chrono": "cpp",
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"ostream": "cpp",
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"list": "cpp"
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}
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}
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@ -2,8 +2,9 @@ project(go2py_bridge)
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cmake_minimum_required(VERSION 3.5)
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SET(CMAKE_CXX_STANDARD 17)
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add_library(msgs STATIC include/go2py/LowCmd.cpp include/go2py/LowState.cpp)
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include_directories(/usr/local/include/ddscxx /usr/local/include/iceoryx/v2.0.2)
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link_libraries(unitree_sdk2 ddsc ddscxx rt pthread)
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link_libraries(unitree_sdk2 ddsc ddscxx rt pthread msgs)
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add_executable(lowlevel_bridge src/lowlevel/bridge.cpp)
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@ -1,999 +0,0 @@
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: LowCmd_.idl
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Source: LowCmd_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_LOWCMD__HPP
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#define DDSCXX_LOWCMD__HPP
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#include "BmsCmd_.hpp"
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#include "MotorCmd_.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 LowCmd_
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{
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private:
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std::array<uint8_t, 2> head_ = { };
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uint8_t level_flag_ = 0;
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uint8_t frame_reserve_ = 0;
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std::array<uint32_t, 2> sn_ = { };
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std::array<uint32_t, 2> version_ = { };
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uint16_t bandwidth_ = 0;
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std::array<::unitree_go::msg::dds_::MotorCmd_, 20> motor_cmd_ = { };
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::unitree_go::msg::dds_::BmsCmd_ bms_cmd_;
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std::array<uint8_t, 40> wireless_remote_ = { };
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std::array<uint8_t, 12> led_ = { };
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std::array<uint8_t, 2> fan_ = { };
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uint8_t gpio_ = 0;
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uint32_t reserve_ = 0;
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uint32_t crc_ = 0;
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public:
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LowCmd_() = default;
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explicit LowCmd_(
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const std::array<uint8_t, 2>& head,
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uint8_t level_flag,
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uint8_t frame_reserve,
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const std::array<uint32_t, 2>& sn,
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const std::array<uint32_t, 2>& version,
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uint16_t bandwidth,
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const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd,
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const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd,
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const std::array<uint8_t, 40>& wireless_remote,
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const std::array<uint8_t, 12>& led,
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const std::array<uint8_t, 2>& fan,
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uint8_t gpio,
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uint32_t reserve,
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uint32_t crc) :
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head_(head),
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level_flag_(level_flag),
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frame_reserve_(frame_reserve),
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sn_(sn),
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version_(version),
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bandwidth_(bandwidth),
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motor_cmd_(motor_cmd),
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bms_cmd_(bms_cmd),
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wireless_remote_(wireless_remote),
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led_(led),
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fan_(fan),
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gpio_(gpio),
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reserve_(reserve),
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crc_(crc) { }
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const std::array<uint8_t, 2>& head() const { return this->head_; }
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std::array<uint8_t, 2>& head() { return this->head_; }
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void head(const std::array<uint8_t, 2>& _val_) { this->head_ = _val_; }
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void head(std::array<uint8_t, 2>&& _val_) { this->head_ = _val_; }
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uint8_t level_flag() const { return this->level_flag_; }
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uint8_t& level_flag() { return this->level_flag_; }
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void level_flag(uint8_t _val_) { this->level_flag_ = _val_; }
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uint8_t frame_reserve() const { return this->frame_reserve_; }
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uint8_t& frame_reserve() { return this->frame_reserve_; }
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void frame_reserve(uint8_t _val_) { this->frame_reserve_ = _val_; }
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const std::array<uint32_t, 2>& sn() const { return this->sn_; }
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std::array<uint32_t, 2>& sn() { return this->sn_; }
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void sn(const std::array<uint32_t, 2>& _val_) { this->sn_ = _val_; }
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void sn(std::array<uint32_t, 2>&& _val_) { this->sn_ = _val_; }
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const std::array<uint32_t, 2>& version() const { return this->version_; }
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std::array<uint32_t, 2>& version() { return this->version_; }
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void version(const std::array<uint32_t, 2>& _val_) { this->version_ = _val_; }
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void version(std::array<uint32_t, 2>&& _val_) { this->version_ = _val_; }
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uint16_t bandwidth() const { return this->bandwidth_; }
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uint16_t& bandwidth() { return this->bandwidth_; }
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void bandwidth(uint16_t _val_) { this->bandwidth_ = _val_; }
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const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() const { return this->motor_cmd_; }
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std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() { return this->motor_cmd_; }
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void motor_cmd(const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& _val_) { this->motor_cmd_ = _val_; }
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void motor_cmd(std::array<::unitree_go::msg::dds_::MotorCmd_, 20>&& _val_) { this->motor_cmd_ = _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<uint8_t, 40>& wireless_remote() const { return this->wireless_remote_; }
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std::array<uint8_t, 40>& wireless_remote() { return this->wireless_remote_; }
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void wireless_remote(const std::array<uint8_t, 40>& _val_) { this->wireless_remote_ = _val_; }
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void wireless_remote(std::array<uint8_t, 40>&& _val_) { this->wireless_remote_ = _val_; }
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const std::array<uint8_t, 12>& led() const { return this->led_; }
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std::array<uint8_t, 12>& led() { return this->led_; }
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void led(const std::array<uint8_t, 12>& _val_) { this->led_ = _val_; }
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void led(std::array<uint8_t, 12>&& _val_) { this->led_ = _val_; }
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const std::array<uint8_t, 2>& fan() const { return this->fan_; }
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std::array<uint8_t, 2>& fan() { return this->fan_; }
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void fan(const std::array<uint8_t, 2>& _val_) { this->fan_ = _val_; }
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void fan(std::array<uint8_t, 2>&& _val_) { this->fan_ = _val_; }
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uint8_t gpio() const { return this->gpio_; }
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uint8_t& gpio() { return this->gpio_; }
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void gpio(uint8_t _val_) { this->gpio_ = _val_; }
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uint32_t reserve() const { return this->reserve_; }
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uint32_t& reserve() { return this->reserve_; }
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void reserve(uint32_t _val_) { this->reserve_ = _val_; }
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uint32_t crc() const { return this->crc_; }
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uint32_t& crc() { return this->crc_; }
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void crc(uint32_t _val_) { this->crc_ = _val_; }
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bool operator==(const LowCmd_& _other) const
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{
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(void) _other;
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return head_ == _other.head_ &&
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level_flag_ == _other.level_flag_ &&
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frame_reserve_ == _other.frame_reserve_ &&
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sn_ == _other.sn_ &&
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version_ == _other.version_ &&
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bandwidth_ == _other.bandwidth_ &&
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motor_cmd_ == _other.motor_cmd_ &&
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bms_cmd_ == _other.bms_cmd_ &&
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wireless_remote_ == _other.wireless_remote_ &&
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led_ == _other.led_ &&
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fan_ == _other.fan_ &&
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gpio_ == _other.gpio_ &&
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reserve_ == _other.reserve_ &&
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crc_ == _other.crc_;
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}
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bool operator!=(const LowCmd_& _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_::LowCmd_>::getTypeName()
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{
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return "unitree_go::msg::dds_::LowCmd_";
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}
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template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LowCmd_>::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_::LowCmd_>::type_map_blob_sz() { return 1710; }
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_info_blob_sz() { return 196; }
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template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_map_blob() {
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static const uint8_t blob[] = {
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0x72, 0x02, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37,
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||||
0xd6, 0x9f, 0x6e, 0xd6, 0x2a, 0x3f, 0x63, 0x00, 0x63, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
0xa9, 0x05, 0x40, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6, 0x2a,
|
||||
0x3f, 0x63, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30,
|
||||
0x3b, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff,
|
||||
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, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::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, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6,
|
||||
0x2a, 0x3f, 0x63, 0x00, 0x67, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17,
|
||||
0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x92, 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, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20,
|
||||
0xa9, 0x05, 0x40, 0x00, 0x2a, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef,
|
||||
0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x00, 0xf2, 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, };
|
||||
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_::LowCmd_>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::LowCmd_>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LowCmd_)
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
|
||||
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_::LowCmd_& 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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.head()[0], instance.head().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.level_flag()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.frame_reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.sn()[0], instance.sn().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.version()[0], instance.version().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.bandwidth()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (const auto & a_1:instance.motor_cmd()) { //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;
|
||||
case 7:
|
||||
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 8:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.led()[0], instance.led().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.fan()[0], instance.fan().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.gpio()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 13:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.crc()))
|
||||
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_::LowCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
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_::LowCmd_& 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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.head()[0], instance.head().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.level_flag()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.frame_reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.sn()[0], instance.sn().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.version()[0], instance.version().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.bandwidth()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (auto & a_1:instance.motor_cmd()) { //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;
|
||||
case 7:
|
||||
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 8:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.led()[0], instance.led().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.fan()[0], instance.fan().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.gpio()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 13:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.crc()))
|
||||
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_::LowCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
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_::LowCmd_& 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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.head()[0], instance.head().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.level_flag()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.frame_reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.sn()[0], instance.sn().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.version()[0], instance.version().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.bandwidth()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (const auto & a_1:instance.motor_cmd()) { //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;
|
||||
case 7:
|
||||
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 8:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.led()[0], instance.led().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.fan()[0], instance.fan().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.gpio()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 13:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.crc()))
|
||||
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_::LowCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
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_::LowCmd_& 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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.head()[0], instance.head().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.level_flag()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.frame_reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.sn()[0], instance.sn().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.version()[0], instance.version().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.bandwidth()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (const auto & a_1:instance.motor_cmd()) { //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;
|
||||
case 7:
|
||||
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 8:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.led()[0], instance.led().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.fan()[0], instance.fan().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.gpio()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 13:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.crc()))
|
||||
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_::LowCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
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
|
||||
|
||||
#endif // DDSCXX_LOWCMD__HPP
|
||||
|
|
@ -9,6 +9,10 @@
|
|||
#ifndef DDSCXX_LOWCMD__HPP
|
||||
#define DDSCXX_LOWCMD__HPP
|
||||
|
||||
#include "BmsCmd_.hpp"
|
||||
|
||||
#include "MotorCmd_.hpp"
|
||||
|
||||
#include <cstdint>
|
||||
#include <array>
|
||||
|
||||
|
|
@ -18,115 +22,6 @@ namespace msg
|
|||
{
|
||||
namespace dds_
|
||||
{
|
||||
class MotorCmd_
|
||||
{
|
||||
private:
|
||||
uint8_t mode_ = 0;
|
||||
float q_ = 0.0f;
|
||||
float dq_ = 0.0f;
|
||||
float tau_ = 0.0f;
|
||||
float kp_ = 0.0f;
|
||||
float kd_ = 0.0f;
|
||||
std::array<uint32_t, 3> reserve_ = { };
|
||||
|
||||
public:
|
||||
MotorCmd_() = default;
|
||||
|
||||
explicit MotorCmd_(
|
||||
uint8_t mode,
|
||||
float q,
|
||||
float dq,
|
||||
float tau,
|
||||
float kp,
|
||||
float kd,
|
||||
const std::array<uint32_t, 3>& reserve) :
|
||||
mode_(mode),
|
||||
q_(q),
|
||||
dq_(dq),
|
||||
tau_(tau),
|
||||
kp_(kp),
|
||||
kd_(kd),
|
||||
reserve_(reserve) { }
|
||||
|
||||
uint8_t mode() const { return this->mode_; }
|
||||
uint8_t& mode() { return this->mode_; }
|
||||
void mode(uint8_t _val_) { this->mode_ = _val_; }
|
||||
float q() const { return this->q_; }
|
||||
float& q() { return this->q_; }
|
||||
void q(float _val_) { this->q_ = _val_; }
|
||||
float dq() const { return this->dq_; }
|
||||
float& dq() { return this->dq_; }
|
||||
void dq(float _val_) { this->dq_ = _val_; }
|
||||
float tau() const { return this->tau_; }
|
||||
float& tau() { return this->tau_; }
|
||||
void tau(float _val_) { this->tau_ = _val_; }
|
||||
float kp() const { return this->kp_; }
|
||||
float& kp() { return this->kp_; }
|
||||
void kp(float _val_) { this->kp_ = _val_; }
|
||||
float kd() const { return this->kd_; }
|
||||
float& kd() { return this->kd_; }
|
||||
void kd(float _val_) { this->kd_ = _val_; }
|
||||
const std::array<uint32_t, 3>& reserve() const { return this->reserve_; }
|
||||
std::array<uint32_t, 3>& reserve() { return this->reserve_; }
|
||||
void reserve(const std::array<uint32_t, 3>& _val_) { this->reserve_ = _val_; }
|
||||
void reserve(std::array<uint32_t, 3>&& _val_) { this->reserve_ = _val_; }
|
||||
|
||||
bool operator==(const MotorCmd_& _other) const
|
||||
{
|
||||
(void) _other;
|
||||
return mode_ == _other.mode_ &&
|
||||
q_ == _other.q_ &&
|
||||
dq_ == _other.dq_ &&
|
||||
tau_ == _other.tau_ &&
|
||||
kp_ == _other.kp_ &&
|
||||
kd_ == _other.kd_ &&
|
||||
reserve_ == _other.reserve_;
|
||||
}
|
||||
|
||||
bool operator!=(const MotorCmd_& _other) const
|
||||
{
|
||||
return !(*this == _other);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
class BmsCmd_
|
||||
{
|
||||
private:
|
||||
uint8_t off_ = 0;
|
||||
std::array<uint8_t, 3> reserve_ = { };
|
||||
|
||||
public:
|
||||
BmsCmd_() = default;
|
||||
|
||||
explicit BmsCmd_(
|
||||
uint8_t off,
|
||||
const std::array<uint8_t, 3>& reserve) :
|
||||
off_(off),
|
||||
reserve_(reserve) { }
|
||||
|
||||
uint8_t off() const { return this->off_; }
|
||||
uint8_t& off() { return this->off_; }
|
||||
void off(uint8_t _val_) { this->off_ = _val_; }
|
||||
const std::array<uint8_t, 3>& reserve() const { return this->reserve_; }
|
||||
std::array<uint8_t, 3>& reserve() { return this->reserve_; }
|
||||
void reserve(const std::array<uint8_t, 3>& _val_) { this->reserve_ = _val_; }
|
||||
void reserve(std::array<uint8_t, 3>&& _val_) { this->reserve_ = _val_; }
|
||||
|
||||
bool operator==(const BmsCmd_& _other) const
|
||||
{
|
||||
(void) _other;
|
||||
return off_ == _other.off_ &&
|
||||
reserve_ == _other.reserve_;
|
||||
}
|
||||
|
||||
bool operator!=(const BmsCmd_& _other) const
|
||||
{
|
||||
return !(*this == _other);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
class LowCmd_
|
||||
{
|
||||
private:
|
||||
|
|
@ -135,7 +30,7 @@ private:
|
|||
uint8_t frame_reserve_ = 0;
|
||||
std::array<uint32_t, 2> sn_ = { };
|
||||
std::array<uint32_t, 2> version_ = { };
|
||||
int16_t bandwidth_ = 0;
|
||||
uint16_t bandwidth_ = 0;
|
||||
std::array<::unitree_go::msg::dds_::MotorCmd_, 20> motor_cmd_ = { };
|
||||
::unitree_go::msg::dds_::BmsCmd_ bms_cmd_;
|
||||
std::array<uint8_t, 40> wireless_remote_ = { };
|
||||
|
|
@ -154,7 +49,7 @@ public:
|
|||
uint8_t frame_reserve,
|
||||
const std::array<uint32_t, 2>& sn,
|
||||
const std::array<uint32_t, 2>& version,
|
||||
int16_t bandwidth,
|
||||
uint16_t bandwidth,
|
||||
const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd,
|
||||
const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd,
|
||||
const std::array<uint8_t, 40>& wireless_remote,
|
||||
|
|
@ -196,9 +91,9 @@ public:
|
|||
std::array<uint32_t, 2>& version() { return this->version_; }
|
||||
void version(const std::array<uint32_t, 2>& _val_) { this->version_ = _val_; }
|
||||
void version(std::array<uint32_t, 2>&& _val_) { this->version_ = _val_; }
|
||||
int16_t bandwidth() const { return this->bandwidth_; }
|
||||
int16_t& bandwidth() { return this->bandwidth_; }
|
||||
void bandwidth(int16_t _val_) { this->bandwidth_ = _val_; }
|
||||
uint16_t bandwidth() const { return this->bandwidth_; }
|
||||
uint16_t& bandwidth() { return this->bandwidth_; }
|
||||
void bandwidth(uint16_t _val_) { this->bandwidth_ = _val_; }
|
||||
const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() const { return this->motor_cmd_; }
|
||||
std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() { return this->motor_cmd_; }
|
||||
void motor_cmd(const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& _val_) { this->motor_cmd_ = _val_; }
|
||||
|
|
@ -269,114 +164,6 @@ namespace eclipse {
|
|||
namespace cyclonedds {
|
||||
namespace topic {
|
||||
|
||||
template <> constexpr const char* TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::getTypeName()
|
||||
{
|
||||
return "unitree_go::msg::dds_::MotorCmd_";
|
||||
}
|
||||
|
||||
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::isKeyless()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
|
||||
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_map_blob_sz() { return 478; }
|
||||
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_info_blob_sz() { return 100; }
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_map_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0xa6, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17,
|
||||
0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x8e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0xf1,
|
||||
0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_info_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
0x00, 0x00, 0x00, 0x00, };
|
||||
return blob;
|
||||
}
|
||||
#endif //DDSCXX_HAS_TYPE_DISCOVERY
|
||||
|
||||
template <> constexpr const char* TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::getTypeName()
|
||||
{
|
||||
return "unitree_go::msg::dds_::BmsCmd_";
|
||||
}
|
||||
|
||||
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::isKeyless()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
|
||||
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_map_blob_sz() { return 278; }
|
||||
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_info_blob_sz() { return 100; }
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_map_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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, 0x00, 0x00,
|
||||
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 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, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_info_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 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, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 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, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, };
|
||||
return blob;
|
||||
}
|
||||
#endif //DDSCXX_HAS_TYPE_DISCOVERY
|
||||
|
||||
template <> constexpr const char* TopicTraits<::unitree_go::msg::dds_::LowCmd_>::getTypeName()
|
||||
{
|
||||
return "unitree_go::msg::dds_::LowCmd_";
|
||||
|
|
@ -392,8 +179,8 @@ template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>:
|
|||
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_info_blob_sz() { return 196; }
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_map_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0x72, 0x02, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0xe7, 0x53, 0x69, 0x89, 0x3d, 0x2a, 0x83,
|
||||
0x5c, 0x43, 0x1d, 0x5a, 0x56, 0x4e, 0x4d, 0x00, 0x63, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
|
||||
0x72, 0x02, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37,
|
||||
0xd6, 0x9f, 0x6e, 0xd6, 0x2a, 0x3f, 0x63, 0x00, 0x63, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x01, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00,
|
||||
0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x96, 0xe8, 0x9a, 0x29, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
|
|
@ -402,7 +189,7 @@ template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>:
|
|||
0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x02, 0x07, 0xaf, 0xbe, 0x94, 0xcd, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x2a, 0xf7,
|
||||
0x2f, 0x10, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0x36,
|
||||
0x2f, 0x10, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x36,
|
||||
0x67, 0x6c, 0x2b, 0x00, 0x24, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf1,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c,
|
||||
0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x5b, 0xcf, 0x19, 0xa4, 0x19, 0x00, 0x00, 0x00,
|
||||
|
|
@ -432,7 +219,7 @@ template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>:
|
|||
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x32, 0x62, 0xd4, 0x8d, 0x00, 0x16, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x03, 0x02, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0xce, 0x03, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
|
||||
0xf2, 0xf6, 0x9c, 0x3d, 0x59, 0xff, 0x30, 0xa9, 0xc6, 0xdf, 0xfe, 0xcf, 0x3c, 0x04, 0x12, 0x00,
|
||||
0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20, 0xa9, 0x05, 0x40, 0x00,
|
||||
0x26, 0x02, 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, 0x4c, 0x6f, 0x77, 0x43, 0x6d,
|
||||
|
|
@ -448,7 +235,7 @@ template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>:
|
|||
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
|
||||
0x76, 0x65, 0x72, 0x73, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00,
|
||||
0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x62, 0x61, 0x6e, 0x64,
|
||||
0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x62, 0x61, 0x6e, 0x64,
|
||||
0x77, 0x69, 0x64, 0x74, 0x68, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf2, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0xf2, 0x42, 0x1f,
|
||||
0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x0a, 0x00, 0x00, 0x00,
|
||||
|
|
@ -493,9 +280,9 @@ template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>:
|
|||
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, 0x00, 0x00, 0x5e, 0x00, 0x00, 0x00,
|
||||
0x03, 0x00, 0x00, 0x00, 0xf2, 0xf6, 0x9c, 0x3d, 0x59, 0xff, 0x30, 0xa9, 0xc6, 0xdf, 0xfe, 0xcf,
|
||||
0x3c, 0x04, 0x12, 0xf1, 0xe7, 0x53, 0x69, 0x89, 0x3d, 0x2a, 0x83, 0x5c, 0x43, 0x1d, 0x5a, 0x56,
|
||||
0x4e, 0x4d, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30,
|
||||
0x03, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20,
|
||||
0xa9, 0x05, 0x40, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6, 0x2a,
|
||||
0x3f, 0x63, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30,
|
||||
0x3b, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff,
|
||||
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, };
|
||||
|
|
@ -504,14 +291,14 @@ template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>:
|
|||
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::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, 0xe7, 0x53, 0x69, 0x89, 0x3d, 0x2a, 0x83, 0x5c, 0x43, 0x1d, 0x5a,
|
||||
0x56, 0x4e, 0x4d, 0x00, 0x67, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6,
|
||||
0x2a, 0x3f, 0x63, 0x00, 0x67, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17,
|
||||
0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x92, 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, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf2, 0xf6, 0x9c, 0x3d, 0x59, 0xff, 0x30, 0xa9, 0xc6, 0xdf, 0xfe, 0xcf,
|
||||
0x3c, 0x04, 0x12, 0x00, 0x2a, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20,
|
||||
0xa9, 0x05, 0x40, 0x00, 0x2a, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef,
|
||||
0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x00, 0xf2, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
||||
0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00,
|
||||
|
|
@ -528,24 +315,6 @@ template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>:
|
|||
namespace dds {
|
||||
namespace topic {
|
||||
|
||||
template <>
|
||||
struct topic_type_name<::unitree_go::msg::dds_::MotorCmd_>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
template <>
|
||||
struct topic_type_name<::unitree_go::msg::dds_::BmsCmd_>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
template <>
|
||||
struct topic_type_name<::unitree_go::msg::dds_::LowCmd_>
|
||||
{
|
||||
|
|
@ -558,8 +327,6 @@ struct topic_type_name<::unitree_go::msg::dds_::LowCmd_>
|
|||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::MotorCmd_)
|
||||
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::BmsCmd_)
|
||||
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LowCmd_)
|
||||
|
||||
namespace org{
|
||||
|
|
@ -568,500 +335,6 @@ namespace cyclonedds{
|
|||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
|
||||
|
||||
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_::MotorCmd_& 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.q()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.dq()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.tau()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.kp()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.kd()))
|
||||
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.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
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_::MotorCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
|
||||
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_::MotorCmd_& 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.q()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.dq()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.tau()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.kp()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.kd()))
|
||||
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.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
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_::MotorCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
|
||||
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_::MotorCmd_& 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.q()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.dq()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.tau()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.kp()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.kd()))
|
||||
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.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
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_::MotorCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
|
||||
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_::MotorCmd_& 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.q()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.dq()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.tau()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.kp()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.kd()))
|
||||
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.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
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_::MotorCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
|
||||
str.set_mode(cdr_stream::stream_mode::max, as_key);
|
||||
return max(str, instance, props.data());
|
||||
}
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_go::msg::dds_::BmsCmd_>();
|
||||
|
||||
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_::BmsCmd_& 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.off()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
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_::BmsCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>();
|
||||
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_::BmsCmd_& 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.off()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
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_::BmsCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>();
|
||||
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_::BmsCmd_& 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.off()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
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_::BmsCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>();
|
||||
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_::BmsCmd_& 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.off()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
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_::BmsCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>();
|
||||
str.set_mode(cdr_stream::stream_mode::max, as_key);
|
||||
return max(str, instance, props.data());
|
||||
}
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
|
||||
|
|
|
|||
|
|
@ -9,35 +9,46 @@
|
|||
#include <unitree/common/time/time_tool.hpp>
|
||||
#include <unitree/common/thread/thread.hpp>
|
||||
#include <go2py/LowCmd.hpp>
|
||||
#include <go2py/LowState.hpp>
|
||||
#include "dds/dds.hpp"
|
||||
#include "dds/dds.h"
|
||||
#include <thread>
|
||||
|
||||
|
||||
using namespace unitree::common;
|
||||
using namespace unitree::robot;
|
||||
|
||||
using namespace org::eclipse::cyclonedds;
|
||||
#define TOPIC_LOWCMD "rt/lowcmd"
|
||||
#define TOPIC_LOWSTATE "rt/lowstate"
|
||||
|
||||
constexpr double PosStopF = (2.146E+9f);
|
||||
constexpr double VelStopF = (16000.0f);
|
||||
|
||||
class Bridge
|
||||
{
|
||||
public:
|
||||
explicit Bridge()
|
||||
{}
|
||||
{
|
||||
}
|
||||
|
||||
~Bridge()
|
||||
{}
|
||||
|
||||
{
|
||||
}
|
||||
// participant = dds::domain::DomainParticipant(domain_id);
|
||||
void Init();
|
||||
|
||||
private:
|
||||
void InitLowCmd();
|
||||
void LowStateMessageHandler(const void* messages);
|
||||
void LowCmdWrite();
|
||||
std::thread go2py_thread;
|
||||
bool running = true;
|
||||
void go2py_callback();
|
||||
// Go2PyListener go2py_listener;
|
||||
// dds::sub::qos::DataReaderQos rqos;
|
||||
|
||||
|
||||
private:
|
||||
float dt = 0.002; // 0.001~0.01
|
||||
|
||||
unitree_go::msg::dds_::LowCmd_ low_cmd{}; // default init
|
||||
unitree_go::msg::dds_::LowState_ low_state{}; // default init
|
||||
|
||||
|
|
@ -45,9 +56,9 @@ private:
|
|||
ChannelPublisherPtr<unitree_go::msg::dds_::LowCmd_> lowcmd_publisher;
|
||||
/*subscriber*/
|
||||
ChannelSubscriberPtr<unitree_go::msg::dds_::LowState_> lowstate_subscriber;
|
||||
|
||||
/*LowCmd write thread*/
|
||||
ThreadPtr lowCmdWriteThreadPtr;
|
||||
// dds::topic::Topic<unitree_go::msg::dds_::LowCmd_> topic(participant, "go2py/lowcmd");
|
||||
};
|
||||
|
||||
uint32_t crc32_core(uint32_t* ptr, uint32_t len)
|
||||
|
|
@ -85,17 +96,58 @@ uint32_t crc32_core(uint32_t* ptr, uint32_t len)
|
|||
void Bridge::Init()
|
||||
{
|
||||
InitLowCmd();
|
||||
|
||||
/*create publisher*/
|
||||
lowcmd_publisher.reset(new ChannelPublisher<unitree_go::msg::dds_::LowCmd_>(TOPIC_LOWCMD));
|
||||
lowcmd_publisher->InitChannel();
|
||||
|
||||
/*create subscriber*/
|
||||
lowstate_subscriber.reset(new ChannelSubscriber<unitree_go::msg::dds_::LowState_>(TOPIC_LOWSTATE));
|
||||
lowstate_subscriber->InitChannel(std::bind(&Bridge::LowStateMessageHandler, this, std::placeholders::_1), 1);
|
||||
|
||||
/*loop publishing thread*/
|
||||
lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &Bridge::LowCmdWrite, this);
|
||||
lowCmdWriteThreadPtr = CreateRecurrentThreadEx("writebasiccmd", UT_CPU_ID_NONE, 2000, &Bridge::LowCmdWrite, this);
|
||||
go2py_thread = std::thread(&Bridge::go2py_callback, this);
|
||||
}
|
||||
|
||||
void Bridge::go2py_callback()
|
||||
{
|
||||
// dds::domain::DomainParticipant participant(domain::default_id());
|
||||
// /* To subscribe to something, a topic is needed. */
|
||||
// dds::topic::Topic<msgs::LowCmd> topic(participant, "go2py/lowcmd");
|
||||
// /* A reader also needs a subscriber. */
|
||||
// // dds::sub::Subscriber subscriber(participant);
|
||||
// dds::sub::NoOpSubscriberListener qlistener; /*you need to create your own class that derives from this listener, and implement your own callbacks*/
|
||||
// /*the listener implementation should implement the on_subscription_matched virtual function as we will rely on it later*/
|
||||
// dds::sub::qos::SubscriberQos subqos; /*add custom QoS policies that you want for this subscriber*/
|
||||
// dds::sub::Subscriber sub(participant, subqos, &qlistener, dds::core::status::StatusMask::subscription_matched());
|
||||
// /* Now, the reader can be created to subscribe to a HelloWorld message. */
|
||||
// dds::sub::NoOpAnyDataReaderListener listener; /*you need to create your own class that derives from this listener, and implement your own callback functions*/
|
||||
// /*the listener implementation should implement the on_data_available virtual function as we will rely on it later*/
|
||||
// dds::sub::qos::DataReaderQos rqos;
|
||||
// // dds::sub::DataReader<msgs::LowCmd> reader(subscriber, topic, rqos, &listener, dds::core::status::StatusMask::data_available());
|
||||
// dds::sub::DataReader<msgs::LowCmd> reader(sub, topic, rqos, &listener, dds::core::status::StatusMask::data_available());
|
||||
// dds::sub::LoanedSamples<msgs::LowCmd> samples;
|
||||
|
||||
while (running)
|
||||
{
|
||||
|
||||
// /* Try taking samples from the reader. */
|
||||
// samples = reader.take();
|
||||
|
||||
// /* Are samples read? */
|
||||
// if (samples.length() > 0) {
|
||||
// /* Use an iterator to run over the set of samples. */
|
||||
// dds::sub::LoanedSamples<msgs::LowCmd>::const_iterator sample_iter;
|
||||
// for (sample_iter = samples.begin();
|
||||
// sample_iter < samples.end();
|
||||
// ++sample_iter) {
|
||||
// /* Get the message and sample information. */
|
||||
// const msgs::LowCmd& msg = sample_iter->data();
|
||||
// const dds::sub::SampleInfo& info = sample_iter->info();
|
||||
// std::cout << "go2py_callback got a sample..." << std::endl;
|
||||
// }
|
||||
// }
|
||||
std::this_thread::sleep_for(std::chrono::seconds(1));
|
||||
}
|
||||
std::cout << "go2py_callback stopped." << std::endl;
|
||||
}
|
||||
|
||||
void Bridge::InitLowCmd()
|
||||
|
|
@ -132,8 +184,59 @@ void Bridge::LowCmdWrite()
|
|||
lowcmd_publisher->Write(low_cmd);
|
||||
}
|
||||
|
||||
class Go2PyListener: public dds::sub::NoOpDataReaderListener<msgs::LowCmd>
|
||||
{
|
||||
public:
|
||||
using callback_func = std::function<bool(dds::sub::DataReader<msgs::LowCmd>&,
|
||||
dds::pub::DataWriter<msgs::LowState>&)>;
|
||||
Go2PyListener() = delete;
|
||||
Go2PyListener( const callback_func &f):
|
||||
dds::sub::DataReaderListener<msgs::LowCmd>(), _f(f) { ; }
|
||||
|
||||
void on_data_available(dds::sub::DataReader<msgs::LowCmd>& rd,
|
||||
dds::pub::DataWriter<msgs::LowState>& rw) {
|
||||
(void)_f(rd, rw);
|
||||
}
|
||||
private:
|
||||
callback_func _f; // Private member variable to store the callback function
|
||||
};
|
||||
|
||||
static bool data_available(dds::sub::DataReader<msgs::LowCmd>& rd,
|
||||
dds::pub::DataWriter<msgs::LowState>& rw)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
int main(int argc, const char** argv)
|
||||
{
|
||||
dds::domain::DomainParticipant participant(domain::default_id());
|
||||
|
||||
dds::topic::qos::TopicQos tqos;
|
||||
tqos << dds::core::policy::Reliability::Reliable(dds::core::Duration::from_secs(10));
|
||||
dds::topic::Topic<msgs::LowCmd> cmd_topic(participant, "go2py/lowcmd", tqos);
|
||||
dds::topic::Topic<msgs::LowState> state_topic(participant, "go2py/lowstate", tqos);
|
||||
|
||||
dds::pub::qos::PublisherQos pqos;
|
||||
pqos << dds::core::policy::Partition("pong");
|
||||
dds::pub::Publisher publisher(participant, pqos);
|
||||
|
||||
dds::sub::qos::SubscriberQos sqos;
|
||||
sqos << dds::core::policy::Partition("ping");
|
||||
dds::sub::Subscriber subscriber(participant, sqos);
|
||||
|
||||
dds::pub::qos::DataWriterQos wqos;
|
||||
wqos << dds::core::policy::WriterDataLifecycle::ManuallyDisposeUnregisteredInstances();
|
||||
dds::pub::DataWriter<msgs::LowState> writer(publisher, state_topic, wqos);
|
||||
|
||||
Go2PyListener listener(&data_available);
|
||||
|
||||
dds::sub::DataReader<msgs::LowCmd>
|
||||
reader(
|
||||
subscriber,
|
||||
cmd_topic,
|
||||
dds::sub::qos::DataReaderQos(),
|
||||
&listener,
|
||||
dds::core::status::StatusMask::data_available());
|
||||
|
||||
if (argc < 2)
|
||||
{
|
||||
std::cout << "Usage: " << argv[0] << " networkInterface" << std::endl;
|
||||
|
|
@ -144,7 +247,6 @@ int main(int argc, const char** argv)
|
|||
|
||||
Bridge bridge;
|
||||
bridge.Init();
|
||||
|
||||
while (1)
|
||||
{
|
||||
sleep(10);
|
||||
|
|
|
|||
Loading…
Reference in New Issue