lowlevel messages added
This commit is contained in:
Rooholla-Khorrambakht
parent
c23788df1b
commit
a09e6912cd
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@ -0,0 +1,9 @@
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module msgs{
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struct Imu {
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float q[4];
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float gyro[3];
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float accel[3];
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float rpy[3];
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octet tmp;
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};
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};
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@ -0,0 +1,10 @@
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module msgs{
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struct LowCmd {
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float q[12];
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float dq[12];
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float tau_ff[12];
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float kp[12];
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float kv[12];
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octet e_stop;
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};
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};
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@ -0,0 +1,12 @@
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module msgs{
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struct LowState {
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float q[12];
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float dq[12];
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float ddq[12];
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float tau_est[12];
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float tmp[12];
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float contact[4];
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float voltage;
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float current;
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};
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};
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Binary file not shown.
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@ -0,0 +1,22 @@
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#!/bin/bash
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GREEN='\033[0;32m'
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NC='\033[0m' # No Color
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echo -e "${GREEN} Starting IDL type generation...${NC}"
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# Clean
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rm -r msgs
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# Make
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for file in idl/*.idl
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do
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echo "Processing $file file..."
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idlc -l py $file
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done
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mkdir msgs/cpp
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cd msgs/cpp
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for file in ../../idl/*.idl
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do
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echo "Processing $file file..."
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idlc -l ../../idl/libcycloneddsidlcxx.so.0.10.2 $file
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done
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echo -e "${GREEN} Done with LCM type generation${NC}"
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@ -0,0 +1,11 @@
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Imu
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Imu
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LowCmd
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LowCmd
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LowState
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LowState
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@ -0,0 +1,31 @@
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"""
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Generated by Eclipse Cyclone DDS idlc Python Backend
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Cyclone DDS IDL version: v0.11.0
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Module: msgs
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IDL file: Imu.idl
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"""
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from enum import auto
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from typing import TYPE_CHECKING, Optional
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from dataclasses import dataclass
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import cyclonedds.idl as idl
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import cyclonedds.idl.annotations as annotate
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import cyclonedds.idl.types as types
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# root module import for resolving types
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import msgs
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@dataclass
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@annotate.final
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@annotate.autoid("sequential")
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class Imu(idl.IdlStruct, typename="msgs.Imu"):
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q: types.array[types.float32, 4]
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gyro: types.array[types.float32, 3]
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accel: types.array[types.float32, 3]
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rpy: types.array[types.float32, 3]
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tmp: types.uint8
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@ -0,0 +1,32 @@
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"""
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Generated by Eclipse Cyclone DDS idlc Python Backend
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Cyclone DDS IDL version: v0.11.0
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Module: msgs
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IDL file: LowCmd.idl
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"""
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from enum import auto
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from typing import TYPE_CHECKING, Optional
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from dataclasses import dataclass
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import cyclonedds.idl as idl
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import cyclonedds.idl.annotations as annotate
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import cyclonedds.idl.types as types
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# root module import for resolving types
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import msgs
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@dataclass
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@annotate.final
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@annotate.autoid("sequential")
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class LowCmd(idl.IdlStruct, typename="msgs.LowCmd"):
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q: types.array[types.float32, 12]
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dq: types.array[types.float32, 12]
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tau_ff: types.array[types.float32, 12]
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kp: types.array[types.float32, 12]
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kv: types.array[types.float32, 12]
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e_stop: types.uint8
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@ -0,0 +1,34 @@
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"""
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Generated by Eclipse Cyclone DDS idlc Python Backend
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Cyclone DDS IDL version: v0.11.0
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Module: msgs
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IDL file: LowState.idl
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"""
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from enum import auto
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from typing import TYPE_CHECKING, Optional
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from dataclasses import dataclass
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import cyclonedds.idl as idl
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import cyclonedds.idl.annotations as annotate
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import cyclonedds.idl.types as types
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# root module import for resolving types
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import msgs
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@dataclass
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@annotate.final
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@annotate.autoid("sequential")
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class LowState(idl.IdlStruct, typename="msgs.LowState"):
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q: types.array[types.float32, 12]
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dq: types.array[types.float32, 12]
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ddq: types.array[types.float32, 12]
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tau_est: types.array[types.float32, 12]
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tmp: types.array[types.float32, 12]
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contact: types.array[types.float32, 4]
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voltage: types.float32
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current: types.float32
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@ -0,0 +1,11 @@
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"""
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Generated by Eclipse Cyclone DDS idlc Python Backend
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Cyclone DDS IDL version: v0.11.0
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Module: msgs
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"""
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from ._Imu import Imu
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from ._LowCmd import LowCmd
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from ._LowState import LowState
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__all__ = ["Imu", "LowCmd", "LowState", ]
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@ -0,0 +1,57 @@
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: Imu.idl
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Source: Imu.cpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#include "Imu.hpp"
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namespace org{
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namespace eclipse{
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namespace cyclonedds{
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namespace core{
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namespace cdr{
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template<>
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propvec &get_type_props<::msgs::Imu>() {
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static thread_local std::mutex mtx;
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static thread_local propvec props;
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static thread_local entity_properties_t *props_end = nullptr;
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static thread_local std::atomic_bool initialized {false};
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key_endpoint keylist;
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if (initialized.load(std::memory_order_relaxed)) {
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auto ptr = props.data();
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while (ptr < props_end)
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(ptr++)->is_present = false;
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return props;
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}
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std::lock_guard<std::mutex> lock(mtx);
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if (initialized.load(std::memory_order_relaxed)) {
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auto ptr = props.data();
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while (ptr < props_end)
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(ptr++)->is_present = false;
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return props;
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}
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props.clear();
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props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final)); //root
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props.push_back(entity_properties_t(1, 0, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::q
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props.push_back(entity_properties_t(1, 1, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::gyro
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props.push_back(entity_properties_t(1, 2, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::accel
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props.push_back(entity_properties_t(1, 3, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::rpy
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props.push_back(entity_properties_t(1, 4, false, get_bit_bound<uint8_t>(), extensibility::ext_final, false)); //::tmp
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entity_properties_t::finish(props, keylist);
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props_end = props.data() + props.size();
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initialized.store(true, std::memory_order_release);
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return props;
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}
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} //namespace cdr
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} //namespace core
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} //namespace cyclonedds
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} //namespace eclipse
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} //namespace org
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@ -0,0 +1,491 @@
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: Imu.idl
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Source: Imu.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_IMU_HPP
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#define DDSCXX_IMU_HPP
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#include <cstdint>
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#include <array>
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namespace msgs
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{
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class Imu
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{
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private:
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std::array<float, 4> q_ = { };
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std::array<float, 3> gyro_ = { };
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std::array<float, 3> accel_ = { };
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std::array<float, 3> rpy_ = { };
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uint8_t tmp_ = 0;
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public:
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Imu() = default;
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explicit Imu(
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const std::array<float, 4>& q,
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const std::array<float, 3>& gyro,
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const std::array<float, 3>& accel,
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const std::array<float, 3>& rpy,
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uint8_t tmp) :
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q_(q),
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gyro_(gyro),
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accel_(accel),
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rpy_(rpy),
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tmp_(tmp) { }
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const std::array<float, 4>& q() const { return this->q_; }
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std::array<float, 4>& q() { return this->q_; }
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void q(const std::array<float, 4>& _val_) { this->q_ = _val_; }
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void q(std::array<float, 4>&& _val_) { this->q_ = _val_; }
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const std::array<float, 3>& gyro() const { return this->gyro_; }
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std::array<float, 3>& gyro() { return this->gyro_; }
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void gyro(const std::array<float, 3>& _val_) { this->gyro_ = _val_; }
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void gyro(std::array<float, 3>&& _val_) { this->gyro_ = _val_; }
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const std::array<float, 3>& accel() const { return this->accel_; }
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std::array<float, 3>& accel() { return this->accel_; }
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void accel(const std::array<float, 3>& _val_) { this->accel_ = _val_; }
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void accel(std::array<float, 3>&& _val_) { this->accel_ = _val_; }
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const std::array<float, 3>& rpy() const { return this->rpy_; }
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std::array<float, 3>& rpy() { return this->rpy_; }
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void rpy(const std::array<float, 3>& _val_) { this->rpy_ = _val_; }
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void rpy(std::array<float, 3>&& _val_) { this->rpy_ = _val_; }
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uint8_t tmp() const { return this->tmp_; }
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uint8_t& tmp() { return this->tmp_; }
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void tmp(uint8_t _val_) { this->tmp_ = _val_; }
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bool operator==(const Imu& _other) const
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{
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(void) _other;
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return q_ == _other.q_ &&
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gyro_ == _other.gyro_ &&
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accel_ == _other.accel_ &&
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rpy_ == _other.rpy_ &&
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tmp_ == _other.tmp_;
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}
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bool operator!=(const Imu& _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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#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<::msgs::Imu>::getTypeName()
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{
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return "msgs::Imu";
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}
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template <> constexpr bool TopicTraits<::msgs::Imu>::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<::msgs::Imu>::type_map_blob_sz() { return 442; }
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template<> constexpr unsigned int TopicTraits<::msgs::Imu>::type_info_blob_sz() { return 100; }
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template<> inline const uint8_t * TopicTraits<::msgs::Imu>::type_map_blob() {
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static const uint8_t blob[] = {
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0xab, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xab, 0x8a, 0x74, 0xa0, 0x59, 0x30, 0x63,
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0x7f, 0xb3, 0x36, 0xe0, 0x64, 0x6f, 0xd3, 0x00, 0x93, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x83, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
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0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
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0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x03, 0x09, 0x41, 0xe1, 0xdb, 0x58, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x98, 0x30,
|
||||
0x99, 0x65, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0xb0, 0x7d, 0x92, 0xed, 0x00, 0x00,
|
||||
0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xfa, 0x81, 0x6e, 0xdb, 0x00,
|
||||
0xde, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa1, 0x90, 0x68, 0x0b, 0xcf, 0x24, 0x8c,
|
||||
0xb4, 0x1b, 0xaa, 0x07, 0x8f, 0xf4, 0x93, 0x00, 0xc6, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
|
||||
0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x6d, 0x73, 0x67, 0x73,
|
||||
0x3a, 0x3a, 0x49, 0x6d, 0x75, 0x00, 0x00, 0x00, 0xa6, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
|
||||
0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00,
|
||||
0x1f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x67, 0x79, 0x72, 0x6f,
|
||||
0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
|
||||
0x61, 0x63, 0x63, 0x65, 0x6c, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00,
|
||||
0x04, 0x00, 0x00, 0x00, 0x72, 0x70, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00,
|
||||
0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00, 0x74, 0x6d, 0x70, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa1, 0x90, 0x68,
|
||||
0x0b, 0xcf, 0x24, 0x8c, 0xb4, 0x1b, 0xaa, 0x07, 0x8f, 0xf4, 0x93, 0xf1, 0xab, 0x8a, 0x74, 0xa0,
|
||||
0x59, 0x30, 0x63, 0x7f, 0xb3, 0x36, 0xe0, 0x64, 0x6f, 0xd3, };
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return blob;
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}
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template<> inline const uint8_t * TopicTraits<::msgs::Imu>::type_info_blob() {
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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, 0xab, 0x8a, 0x74, 0xa0, 0x59, 0x30, 0x63, 0x7f, 0xb3, 0x36, 0xe0,
|
||||
0x64, 0x6f, 0xd3, 0x00, 0x97, 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, 0xa1, 0x90, 0x68, 0x0b, 0xcf, 0x24, 0x8c, 0xb4, 0x1b, 0xaa, 0x07,
|
||||
0x8f, 0xf4, 0x93, 0x00, 0xca, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x00, 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<::msgs::Imu>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::msgs::Imu>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::msgs::Imu)
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::msgs::Imu>();
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool write(T& streamer, const ::msgs::Imu& 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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.gyro()[0], instance.gyro().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.accel()[0], instance.accel().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.rpy()[0], instance.rpy().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 (!write(streamer, instance.tmp()))
|
||||
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 ::msgs::Imu& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::Imu>();
|
||||
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, ::msgs::Imu& 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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.gyro()[0], instance.gyro().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.accel()[0], instance.accel().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.rpy()[0], instance.rpy().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 (!read(streamer, instance.tmp()))
|
||||
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, ::msgs::Imu& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::Imu>();
|
||||
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 ::msgs::Imu& 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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.gyro()[0], instance.gyro().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.accel()[0], instance.accel().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.rpy()[0], instance.rpy().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 (!move(streamer, instance.tmp()))
|
||||
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 ::msgs::Imu& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::Imu>();
|
||||
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 ::msgs::Imu& 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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.gyro()[0], instance.gyro().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.accel()[0], instance.accel().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.rpy()[0], instance.rpy().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 (!max(streamer, instance.tmp()))
|
||||
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 ::msgs::Imu& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::Imu>();
|
||||
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_IMU_HPP
|
||||
|
|
@ -0,0 +1,58 @@
|
|||
/****************************************************************
|
||||
|
||||
Generated by Eclipse Cyclone DDS IDL to CXX Translator
|
||||
File name: LowCmd.idl
|
||||
Source: LowCmd.cpp
|
||||
Cyclone DDS: v0.10.2
|
||||
|
||||
*****************************************************************/
|
||||
#include "LowCmd.hpp"
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::msgs::LowCmd>() {
|
||||
static thread_local std::mutex mtx;
|
||||
static thread_local propvec props;
|
||||
static thread_local entity_properties_t *props_end = nullptr;
|
||||
static thread_local std::atomic_bool initialized {false};
|
||||
key_endpoint keylist;
|
||||
if (initialized.load(std::memory_order_relaxed)) {
|
||||
auto ptr = props.data();
|
||||
while (ptr < props_end)
|
||||
(ptr++)->is_present = false;
|
||||
return props;
|
||||
}
|
||||
std::lock_guard<std::mutex> lock(mtx);
|
||||
if (initialized.load(std::memory_order_relaxed)) {
|
||||
auto ptr = props.data();
|
||||
while (ptr < props_end)
|
||||
(ptr++)->is_present = false;
|
||||
return props;
|
||||
}
|
||||
props.clear();
|
||||
|
||||
props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final)); //root
|
||||
props.push_back(entity_properties_t(1, 0, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::q
|
||||
props.push_back(entity_properties_t(1, 1, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::dq
|
||||
props.push_back(entity_properties_t(1, 2, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::tau_ff
|
||||
props.push_back(entity_properties_t(1, 3, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::kp
|
||||
props.push_back(entity_properties_t(1, 4, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::kv
|
||||
props.push_back(entity_properties_t(1, 5, false, get_bit_bound<uint8_t>(), extensibility::ext_final, false)); //::e_stop
|
||||
|
||||
entity_properties_t::finish(props, keylist);
|
||||
props_end = props.data() + props.size();
|
||||
initialized.store(true, std::memory_order_release);
|
||||
return props;
|
||||
}
|
||||
|
||||
} //namespace cdr
|
||||
} //namespace core
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
|
|
@ -0,0 +1,552 @@
|
|||
/****************************************************************
|
||||
|
||||
Generated by Eclipse Cyclone DDS IDL to CXX Translator
|
||||
File name: LowCmd.idl
|
||||
Source: LowCmd.hpp
|
||||
Cyclone DDS: v0.10.2
|
||||
|
||||
*****************************************************************/
|
||||
#ifndef DDSCXX_LOWCMD_HPP
|
||||
#define DDSCXX_LOWCMD_HPP
|
||||
|
||||
#include <cstdint>
|
||||
#include <array>
|
||||
|
||||
namespace msgs
|
||||
{
|
||||
class LowCmd
|
||||
{
|
||||
private:
|
||||
std::array<float, 12> q_ = { };
|
||||
std::array<float, 12> dq_ = { };
|
||||
std::array<float, 12> tau_ff_ = { };
|
||||
std::array<float, 12> kp_ = { };
|
||||
std::array<float, 12> kv_ = { };
|
||||
uint8_t e_stop_ = 0;
|
||||
|
||||
public:
|
||||
LowCmd() = default;
|
||||
|
||||
explicit LowCmd(
|
||||
const std::array<float, 12>& q,
|
||||
const std::array<float, 12>& dq,
|
||||
const std::array<float, 12>& tau_ff,
|
||||
const std::array<float, 12>& kp,
|
||||
const std::array<float, 12>& kv,
|
||||
uint8_t e_stop) :
|
||||
q_(q),
|
||||
dq_(dq),
|
||||
tau_ff_(tau_ff),
|
||||
kp_(kp),
|
||||
kv_(kv),
|
||||
e_stop_(e_stop) { }
|
||||
|
||||
const std::array<float, 12>& q() const { return this->q_; }
|
||||
std::array<float, 12>& q() { return this->q_; }
|
||||
void q(const std::array<float, 12>& _val_) { this->q_ = _val_; }
|
||||
void q(std::array<float, 12>&& _val_) { this->q_ = _val_; }
|
||||
const std::array<float, 12>& dq() const { return this->dq_; }
|
||||
std::array<float, 12>& dq() { return this->dq_; }
|
||||
void dq(const std::array<float, 12>& _val_) { this->dq_ = _val_; }
|
||||
void dq(std::array<float, 12>&& _val_) { this->dq_ = _val_; }
|
||||
const std::array<float, 12>& tau_ff() const { return this->tau_ff_; }
|
||||
std::array<float, 12>& tau_ff() { return this->tau_ff_; }
|
||||
void tau_ff(const std::array<float, 12>& _val_) { this->tau_ff_ = _val_; }
|
||||
void tau_ff(std::array<float, 12>&& _val_) { this->tau_ff_ = _val_; }
|
||||
const std::array<float, 12>& kp() const { return this->kp_; }
|
||||
std::array<float, 12>& kp() { return this->kp_; }
|
||||
void kp(const std::array<float, 12>& _val_) { this->kp_ = _val_; }
|
||||
void kp(std::array<float, 12>&& _val_) { this->kp_ = _val_; }
|
||||
const std::array<float, 12>& kv() const { return this->kv_; }
|
||||
std::array<float, 12>& kv() { return this->kv_; }
|
||||
void kv(const std::array<float, 12>& _val_) { this->kv_ = _val_; }
|
||||
void kv(std::array<float, 12>&& _val_) { this->kv_ = _val_; }
|
||||
uint8_t e_stop() const { return this->e_stop_; }
|
||||
uint8_t& e_stop() { return this->e_stop_; }
|
||||
void e_stop(uint8_t _val_) { this->e_stop_ = _val_; }
|
||||
|
||||
bool operator==(const LowCmd& _other) const
|
||||
{
|
||||
(void) _other;
|
||||
return q_ == _other.q_ &&
|
||||
dq_ == _other.dq_ &&
|
||||
tau_ff_ == _other.tau_ff_ &&
|
||||
kp_ == _other.kp_ &&
|
||||
kv_ == _other.kv_ &&
|
||||
e_stop_ == _other.e_stop_;
|
||||
}
|
||||
|
||||
bool operator!=(const LowCmd& _other) const
|
||||
{
|
||||
return !(*this == _other);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#include "dds/topic/TopicTraits.hpp"
|
||||
#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
|
||||
|
||||
namespace org {
|
||||
namespace eclipse {
|
||||
namespace cyclonedds {
|
||||
namespace topic {
|
||||
|
||||
template <> constexpr const char* TopicTraits<::msgs::LowCmd>::getTypeName()
|
||||
{
|
||||
return "msgs::LowCmd";
|
||||
}
|
||||
|
||||
template <> constexpr bool TopicTraits<::msgs::LowCmd>::isKeyless()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
|
||||
template<> constexpr unsigned int TopicTraits<::msgs::LowCmd>::type_map_blob_sz() { return 518; }
|
||||
template<> constexpr unsigned int TopicTraits<::msgs::LowCmd>::type_info_blob_sz() { return 100; }
|
||||
template<> inline const uint8_t * TopicTraits<::msgs::LowCmd>::type_map_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0xc7, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x99, 0xbb, 0x1c, 0xa1, 0x69, 0x8f, 0x02,
|
||||
0x5f, 0xc8, 0x64, 0x19, 0x21, 0x0b, 0x6a, 0x00, 0xaf, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9f, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
|
||||
0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x0c, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x16, 0xfc,
|
||||
0x75, 0xc7, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x26, 0xb5, 0x68, 0xe4, 0x00, 0x00,
|
||||
0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x82, 0xd0, 0x91, 0x47, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x41, 0x60, 0xe3, 0x55, 0x00, 0x0d, 0x01, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0xf2, 0x2b, 0x33, 0x3f, 0xba, 0x68, 0xf3, 0xc8, 0xf8, 0xfe, 0xcd, 0x5a,
|
||||
0x4f, 0x81, 0xbf, 0x00, 0xf5, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x15, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x4c, 0x6f,
|
||||
0x77, 0x43, 0x6d, 0x64, 0x00, 0x00, 0x00, 0x00, 0xd1, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
|
||||
0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00,
|
||||
0x1d, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
|
||||
0x74, 0x61, 0x75, 0x5f, 0x66, 0x66, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0x00, 0x00, 0x00,
|
||||
0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x0c, 0x09, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x1d, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x76, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00,
|
||||
0x07, 0x00, 0x00, 0x00, 0x65, 0x5f, 0x73, 0x74, 0x6f, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x2b, 0x33, 0x3f, 0xba, 0x68, 0xf3, 0xc8,
|
||||
0xf8, 0xfe, 0xcd, 0x5a, 0x4f, 0x81, 0xbf, 0xf1, 0x99, 0xbb, 0x1c, 0xa1, 0x69, 0x8f, 0x02, 0x5f,
|
||||
0xc8, 0x64, 0x19, 0x21, 0x0b, 0x6a, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::msgs::LowCmd>::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, 0x99, 0xbb, 0x1c, 0xa1, 0x69, 0x8f, 0x02, 0x5f, 0xc8, 0x64, 0x19,
|
||||
0x21, 0x0b, 0x6a, 0x00, 0xb3, 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, 0x2b, 0x33, 0x3f, 0xba, 0x68, 0xf3, 0xc8, 0xf8, 0xfe, 0xcd, 0x5a,
|
||||
0x4f, 0x81, 0xbf, 0x00, 0xf9, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x00, 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<::msgs::LowCmd>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::msgs::LowCmd>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::msgs::LowCmd)
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::msgs::LowCmd>();
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool write(T& streamer, const ::msgs::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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.dq()[0], instance.dq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.tau_ff()[0], instance.tau_ff().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.kp()[0], instance.kp().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.kv()[0], instance.kv().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.e_stop()))
|
||||
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 ::msgs::LowCmd& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::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, ::msgs::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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.dq()[0], instance.dq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.tau_ff()[0], instance.tau_ff().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.kp()[0], instance.kp().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.kv()[0], instance.kv().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.e_stop()))
|
||||
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, ::msgs::LowCmd& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::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 ::msgs::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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.dq()[0], instance.dq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.tau_ff()[0], instance.tau_ff().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.kp()[0], instance.kp().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.kv()[0], instance.kv().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.e_stop()))
|
||||
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 ::msgs::LowCmd& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::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 ::msgs::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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.dq()[0], instance.dq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.tau_ff()[0], instance.tau_ff().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.kp()[0], instance.kp().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.kv()[0], instance.kv().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.e_stop()))
|
||||
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 ::msgs::LowCmd& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::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
|
||||
|
|
@ -0,0 +1,60 @@
|
|||
/****************************************************************
|
||||
|
||||
Generated by Eclipse Cyclone DDS IDL to CXX Translator
|
||||
File name: LowState.idl
|
||||
Source: LowState.cpp
|
||||
Cyclone DDS: v0.10.2
|
||||
|
||||
*****************************************************************/
|
||||
#include "LowState.hpp"
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::msgs::LowState>() {
|
||||
static thread_local std::mutex mtx;
|
||||
static thread_local propvec props;
|
||||
static thread_local entity_properties_t *props_end = nullptr;
|
||||
static thread_local std::atomic_bool initialized {false};
|
||||
key_endpoint keylist;
|
||||
if (initialized.load(std::memory_order_relaxed)) {
|
||||
auto ptr = props.data();
|
||||
while (ptr < props_end)
|
||||
(ptr++)->is_present = false;
|
||||
return props;
|
||||
}
|
||||
std::lock_guard<std::mutex> lock(mtx);
|
||||
if (initialized.load(std::memory_order_relaxed)) {
|
||||
auto ptr = props.data();
|
||||
while (ptr < props_end)
|
||||
(ptr++)->is_present = false;
|
||||
return props;
|
||||
}
|
||||
props.clear();
|
||||
|
||||
props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final)); //root
|
||||
props.push_back(entity_properties_t(1, 0, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::q
|
||||
props.push_back(entity_properties_t(1, 1, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::dq
|
||||
props.push_back(entity_properties_t(1, 2, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::ddq
|
||||
props.push_back(entity_properties_t(1, 3, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::tau_est
|
||||
props.push_back(entity_properties_t(1, 4, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::tmp
|
||||
props.push_back(entity_properties_t(1, 5, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::contact
|
||||
props.push_back(entity_properties_t(1, 6, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::voltage
|
||||
props.push_back(entity_properties_t(1, 7, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::current
|
||||
|
||||
entity_properties_t::finish(props, keylist);
|
||||
props_end = props.data() + props.size();
|
||||
initialized.store(true, std::memory_order_release);
|
||||
return props;
|
||||
}
|
||||
|
||||
} //namespace cdr
|
||||
} //namespace core
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
|
|
@ -0,0 +1,653 @@
|
|||
/****************************************************************
|
||||
|
||||
Generated by Eclipse Cyclone DDS IDL to CXX Translator
|
||||
File name: LowState.idl
|
||||
Source: LowState.hpp
|
||||
Cyclone DDS: v0.10.2
|
||||
|
||||
*****************************************************************/
|
||||
#ifndef DDSCXX_LOWSTATE_HPP
|
||||
#define DDSCXX_LOWSTATE_HPP
|
||||
|
||||
#include <array>
|
||||
|
||||
namespace msgs
|
||||
{
|
||||
class LowState
|
||||
{
|
||||
private:
|
||||
std::array<float, 12> q_ = { };
|
||||
std::array<float, 12> dq_ = { };
|
||||
std::array<float, 12> ddq_ = { };
|
||||
std::array<float, 12> tau_est_ = { };
|
||||
std::array<float, 12> tmp_ = { };
|
||||
std::array<float, 4> contact_ = { };
|
||||
float voltage_ = 0.0f;
|
||||
float current_ = 0.0f;
|
||||
|
||||
public:
|
||||
LowState() = default;
|
||||
|
||||
explicit LowState(
|
||||
const std::array<float, 12>& q,
|
||||
const std::array<float, 12>& dq,
|
||||
const std::array<float, 12>& ddq,
|
||||
const std::array<float, 12>& tau_est,
|
||||
const std::array<float, 12>& tmp,
|
||||
const std::array<float, 4>& contact,
|
||||
float voltage,
|
||||
float current) :
|
||||
q_(q),
|
||||
dq_(dq),
|
||||
ddq_(ddq),
|
||||
tau_est_(tau_est),
|
||||
tmp_(tmp),
|
||||
contact_(contact),
|
||||
voltage_(voltage),
|
||||
current_(current) { }
|
||||
|
||||
const std::array<float, 12>& q() const { return this->q_; }
|
||||
std::array<float, 12>& q() { return this->q_; }
|
||||
void q(const std::array<float, 12>& _val_) { this->q_ = _val_; }
|
||||
void q(std::array<float, 12>&& _val_) { this->q_ = _val_; }
|
||||
const std::array<float, 12>& dq() const { return this->dq_; }
|
||||
std::array<float, 12>& dq() { return this->dq_; }
|
||||
void dq(const std::array<float, 12>& _val_) { this->dq_ = _val_; }
|
||||
void dq(std::array<float, 12>&& _val_) { this->dq_ = _val_; }
|
||||
const std::array<float, 12>& ddq() const { return this->ddq_; }
|
||||
std::array<float, 12>& ddq() { return this->ddq_; }
|
||||
void ddq(const std::array<float, 12>& _val_) { this->ddq_ = _val_; }
|
||||
void ddq(std::array<float, 12>&& _val_) { this->ddq_ = _val_; }
|
||||
const std::array<float, 12>& tau_est() const { return this->tau_est_; }
|
||||
std::array<float, 12>& tau_est() { return this->tau_est_; }
|
||||
void tau_est(const std::array<float, 12>& _val_) { this->tau_est_ = _val_; }
|
||||
void tau_est(std::array<float, 12>&& _val_) { this->tau_est_ = _val_; }
|
||||
const std::array<float, 12>& tmp() const { return this->tmp_; }
|
||||
std::array<float, 12>& tmp() { return this->tmp_; }
|
||||
void tmp(const std::array<float, 12>& _val_) { this->tmp_ = _val_; }
|
||||
void tmp(std::array<float, 12>&& _val_) { this->tmp_ = _val_; }
|
||||
const std::array<float, 4>& contact() const { return this->contact_; }
|
||||
std::array<float, 4>& contact() { return this->contact_; }
|
||||
void contact(const std::array<float, 4>& _val_) { this->contact_ = _val_; }
|
||||
void contact(std::array<float, 4>&& _val_) { this->contact_ = _val_; }
|
||||
float voltage() const { return this->voltage_; }
|
||||
float& voltage() { return this->voltage_; }
|
||||
void voltage(float _val_) { this->voltage_ = _val_; }
|
||||
float current() const { return this->current_; }
|
||||
float& current() { return this->current_; }
|
||||
void current(float _val_) { this->current_ = _val_; }
|
||||
|
||||
bool operator==(const LowState& _other) const
|
||||
{
|
||||
(void) _other;
|
||||
return q_ == _other.q_ &&
|
||||
dq_ == _other.dq_ &&
|
||||
ddq_ == _other.ddq_ &&
|
||||
tau_est_ == _other.tau_est_ &&
|
||||
tmp_ == _other.tmp_ &&
|
||||
contact_ == _other.contact_ &&
|
||||
voltage_ == _other.voltage_ &&
|
||||
current_ == _other.current_;
|
||||
}
|
||||
|
||||
bool operator!=(const LowState& _other) const
|
||||
{
|
||||
return !(*this == _other);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#include "dds/topic/TopicTraits.hpp"
|
||||
#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
|
||||
|
||||
namespace org {
|
||||
namespace eclipse {
|
||||
namespace cyclonedds {
|
||||
namespace topic {
|
||||
|
||||
template <> constexpr const char* TopicTraits<::msgs::LowState>::getTypeName()
|
||||
{
|
||||
return "msgs::LowState";
|
||||
}
|
||||
|
||||
template <> constexpr bool TopicTraits<::msgs::LowState>::isKeyless()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
|
||||
template<> constexpr unsigned int TopicTraits<::msgs::LowState>::type_map_blob_sz() { return 630; }
|
||||
template<> constexpr unsigned int TopicTraits<::msgs::LowState>::type_info_blob_sz() { return 100; }
|
||||
template<> inline const uint8_t * TopicTraits<::msgs::LowState>::type_map_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0xf3, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xd4, 0x69, 0x80, 0x35, 0xf5, 0x8b, 0x51,
|
||||
0xea, 0x7f, 0x47, 0x3a, 0x7b, 0x09, 0x0f, 0x00, 0xdb, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xcb, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
|
||||
0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x0c, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0xe9, 0x16,
|
||||
0x89, 0x09, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x8a, 0xf7, 0xae, 0xdf, 0x00, 0x00,
|
||||
0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0xfa, 0x81, 0x6e, 0xdb, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
|
||||
0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x04, 0x09, 0x2f, 0x8a, 0x6b, 0xf3, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x09, 0xe4, 0x37, 0xba, 0x43, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x09, 0x43, 0xb5, 0xc9, 0x17, 0x00, 0x52, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0xf2, 0x84, 0x20, 0x63, 0xda, 0x5c, 0x28, 0xbb, 0x27, 0x92, 0xe4, 0x1c, 0xce, 0x56, 0xbc, 0x00,
|
||||
0x3a, 0x01, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x17, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x0f, 0x00, 0x00, 0x00, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x4c, 0x6f, 0x77, 0x53, 0x74, 0x61,
|
||||
0x74, 0x65, 0x00, 0x00, 0x16, 0x01, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x0c, 0x09, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x1d, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x0c, 0x09, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x1e, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x64, 0x71, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
|
||||
0x74, 0x61, 0x75, 0x5f, 0x65, 0x73, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00,
|
||||
0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x0c, 0x09, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x74, 0x6d, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x22, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x63, 0x6f, 0x6e, 0x74,
|
||||
0x61, 0x63, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x09, 0x00, 0x08, 0x00, 0x00, 0x00, 0x76, 0x6f, 0x6c, 0x74, 0x61, 0x67, 0x65, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00,
|
||||
0x08, 0x00, 0x00, 0x00, 0x63, 0x75, 0x72, 0x72, 0x65, 0x6e, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x84, 0x20, 0x63, 0xda, 0x5c, 0x28, 0xbb,
|
||||
0x27, 0x92, 0xe4, 0x1c, 0xce, 0x56, 0xbc, 0xf1, 0xd4, 0x69, 0x80, 0x35, 0xf5, 0x8b, 0x51, 0xea,
|
||||
0x7f, 0x47, 0x3a, 0x7b, 0x09, 0x0f, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::msgs::LowState>::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, 0xd4, 0x69, 0x80, 0x35, 0xf5, 0x8b, 0x51, 0xea, 0x7f, 0x47, 0x3a,
|
||||
0x7b, 0x09, 0x0f, 0x00, 0xdf, 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, 0x84, 0x20, 0x63, 0xda, 0x5c, 0x28, 0xbb, 0x27, 0x92, 0xe4, 0x1c,
|
||||
0xce, 0x56, 0xbc, 0x00, 0x3e, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x00, 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<::msgs::LowState>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::msgs::LowState>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::msgs::LowState)
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::msgs::LowState>();
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool write(T& streamer, const ::msgs::LowState& 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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.dq()[0], instance.dq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.ddq()[0], instance.ddq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.tau_est()[0], instance.tau_est().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.tmp()[0], instance.tmp().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.contact()[0], instance.contact().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.voltage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.current()))
|
||||
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 ::msgs::LowState& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::LowState>();
|
||||
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, ::msgs::LowState& 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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.dq()[0], instance.dq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.ddq()[0], instance.ddq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.tau_est()[0], instance.tau_est().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.tmp()[0], instance.tmp().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.contact()[0], instance.contact().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.voltage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.current()))
|
||||
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, ::msgs::LowState& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::LowState>();
|
||||
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 ::msgs::LowState& 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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.dq()[0], instance.dq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.ddq()[0], instance.ddq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.tau_est()[0], instance.tau_est().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.tmp()[0], instance.tmp().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.contact()[0], instance.contact().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.voltage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.current()))
|
||||
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 ::msgs::LowState& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::LowState>();
|
||||
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 ::msgs::LowState& 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.q()[0], instance.q().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.dq()[0], instance.dq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.ddq()[0], instance.ddq().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.tau_est()[0], instance.tau_est().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.tmp()[0], instance.tmp().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 (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.contact()[0], instance.contact().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.voltage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.current()))
|
||||
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 ::msgs::LowState& instance, bool as_key) {
|
||||
auto &props = get_type_props<::msgs::LowState>();
|
||||
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_LOWSTATE_HPP
|
||||
Loading…
Reference in New Issue