/**************************************************************** Generated by Eclipse Cyclone DDS IDL to CXX Translator File name: LidarState_.idl Source: LidarState_.hpp Cyclone DDS: v0.10.2 *****************************************************************/ #ifndef DDSCXX_LIDARSTATE__HPP #define DDSCXX_LIDARSTATE__HPP #include #include #include namespace unitree_go { namespace msg { namespace dds_ { class LidarState_ { private: double stamp_ = 0.0; std::string firmware_version_; std::string software_version_; std::string sdk_version_; float sys_rotation_speed_ = 0.0f; float com_rotation_speed_ = 0.0f; uint8_t error_state_ = 0; float cloud_frequency_ = 0.0f; float cloud_packet_loss_rate_ = 0.0f; uint32_t cloud_size_ = 0; uint32_t cloud_scan_num_ = 0; float imu_frequency_ = 0.0f; float imu_packet_loss_rate_ = 0.0f; std::array imu_rpy_ = { }; double serial_recv_stamp_ = 0.0; uint32_t serial_buffer_size_ = 0; uint32_t serial_buffer_read_ = 0; public: LidarState_() = default; explicit LidarState_( double stamp, const std::string& firmware_version, const std::string& software_version, const std::string& sdk_version, float sys_rotation_speed, float com_rotation_speed, uint8_t error_state, float cloud_frequency, float cloud_packet_loss_rate, uint32_t cloud_size, uint32_t cloud_scan_num, float imu_frequency, float imu_packet_loss_rate, const std::array& imu_rpy, double serial_recv_stamp, uint32_t serial_buffer_size, uint32_t serial_buffer_read) : stamp_(stamp), firmware_version_(firmware_version), software_version_(software_version), sdk_version_(sdk_version), sys_rotation_speed_(sys_rotation_speed), com_rotation_speed_(com_rotation_speed), error_state_(error_state), cloud_frequency_(cloud_frequency), cloud_packet_loss_rate_(cloud_packet_loss_rate), cloud_size_(cloud_size), cloud_scan_num_(cloud_scan_num), imu_frequency_(imu_frequency), imu_packet_loss_rate_(imu_packet_loss_rate), imu_rpy_(imu_rpy), serial_recv_stamp_(serial_recv_stamp), serial_buffer_size_(serial_buffer_size), serial_buffer_read_(serial_buffer_read) { } double stamp() const { return this->stamp_; } double& stamp() { return this->stamp_; } void stamp(double _val_) { this->stamp_ = _val_; } const std::string& firmware_version() const { return this->firmware_version_; } std::string& firmware_version() { return this->firmware_version_; } void firmware_version(const std::string& _val_) { this->firmware_version_ = _val_; } void firmware_version(std::string&& _val_) { this->firmware_version_ = _val_; } const std::string& software_version() const { return this->software_version_; } std::string& software_version() { return this->software_version_; } void software_version(const std::string& _val_) { this->software_version_ = _val_; } void software_version(std::string&& _val_) { this->software_version_ = _val_; } const std::string& sdk_version() const { return this->sdk_version_; } std::string& sdk_version() { return this->sdk_version_; } void sdk_version(const std::string& _val_) { this->sdk_version_ = _val_; } void sdk_version(std::string&& _val_) { this->sdk_version_ = _val_; } float sys_rotation_speed() const { return this->sys_rotation_speed_; } float& sys_rotation_speed() { return this->sys_rotation_speed_; } void sys_rotation_speed(float _val_) { this->sys_rotation_speed_ = _val_; } float com_rotation_speed() const { return this->com_rotation_speed_; } float& com_rotation_speed() { return this->com_rotation_speed_; } void com_rotation_speed(float _val_) { this->com_rotation_speed_ = _val_; } uint8_t error_state() const { return this->error_state_; } uint8_t& error_state() { return this->error_state_; } void error_state(uint8_t _val_) { this->error_state_ = _val_; } float cloud_frequency() const { return this->cloud_frequency_; } float& cloud_frequency() { return this->cloud_frequency_; } void cloud_frequency(float _val_) { this->cloud_frequency_ = _val_; } float cloud_packet_loss_rate() const { return this->cloud_packet_loss_rate_; } float& cloud_packet_loss_rate() { return this->cloud_packet_loss_rate_; } void cloud_packet_loss_rate(float _val_) { this->cloud_packet_loss_rate_ = _val_; } uint32_t cloud_size() const { return this->cloud_size_; } uint32_t& cloud_size() { return this->cloud_size_; } void cloud_size(uint32_t _val_) { this->cloud_size_ = _val_; } uint32_t cloud_scan_num() const { return this->cloud_scan_num_; } uint32_t& cloud_scan_num() { return this->cloud_scan_num_; } void cloud_scan_num(uint32_t _val_) { this->cloud_scan_num_ = _val_; } float imu_frequency() const { return this->imu_frequency_; } float& imu_frequency() { return this->imu_frequency_; } void imu_frequency(float _val_) { this->imu_frequency_ = _val_; } float imu_packet_loss_rate() const { return this->imu_packet_loss_rate_; } float& imu_packet_loss_rate() { return this->imu_packet_loss_rate_; } void imu_packet_loss_rate(float _val_) { this->imu_packet_loss_rate_ = _val_; } const std::array& imu_rpy() const { return this->imu_rpy_; } std::array& imu_rpy() { return this->imu_rpy_; } void imu_rpy(const std::array& _val_) { this->imu_rpy_ = _val_; } void imu_rpy(std::array&& _val_) { this->imu_rpy_ = _val_; } double serial_recv_stamp() const { return this->serial_recv_stamp_; } double& serial_recv_stamp() { return this->serial_recv_stamp_; } void serial_recv_stamp(double _val_) { this->serial_recv_stamp_ = _val_; } uint32_t serial_buffer_size() const { return this->serial_buffer_size_; } uint32_t& serial_buffer_size() { return this->serial_buffer_size_; } void serial_buffer_size(uint32_t _val_) { this->serial_buffer_size_ = _val_; } uint32_t serial_buffer_read() const { return this->serial_buffer_read_; } uint32_t& serial_buffer_read() { return this->serial_buffer_read_; } void serial_buffer_read(uint32_t _val_) { this->serial_buffer_read_ = _val_; } bool operator==(const LidarState_& _other) const { (void) _other; return stamp_ == _other.stamp_ && firmware_version_ == _other.firmware_version_ && software_version_ == _other.software_version_ && sdk_version_ == _other.sdk_version_ && sys_rotation_speed_ == _other.sys_rotation_speed_ && com_rotation_speed_ == _other.com_rotation_speed_ && error_state_ == _other.error_state_ && cloud_frequency_ == _other.cloud_frequency_ && cloud_packet_loss_rate_ == _other.cloud_packet_loss_rate_ && cloud_size_ == _other.cloud_size_ && cloud_scan_num_ == _other.cloud_scan_num_ && imu_frequency_ == _other.imu_frequency_ && imu_packet_loss_rate_ == _other.imu_packet_loss_rate_ && imu_rpy_ == _other.imu_rpy_ && serial_recv_stamp_ == _other.serial_recv_stamp_ && serial_buffer_size_ == _other.serial_buffer_size_ && serial_buffer_read_ == _other.serial_buffer_read_; } bool operator!=(const LidarState_& _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<::unitree_go::msg::dds_::LidarState_>::getTypeName() { return "unitree_go::msg::dds_::LidarState_"; } template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LidarState_>::isSelfContained() { return false; } template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LidarState_>::isKeyless() { return true; } #ifdef DDSCXX_HAS_TYPE_DISCOVERY template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LidarState_>::type_map_blob_sz() { return 1074; } template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LidarState_>::type_info_blob_sz() { return 100; } template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LidarState_>::type_map_blob() { static const uint8_t blob[] = { 0x47, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xf6, 0x59, 0xd0, 0x29, 0xcd, 0xc5, 0x85, 0x69, 0x67, 0x4f, 0xce, 0x4d, 0x79, 0x1a, 0x00, 0x2f, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0x01, 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//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_::LidarState_> { static std::string value() { return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::LidarState_>::getTypeName(); } }; } } REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LidarState_) namespace org{ namespace eclipse{ namespace cyclonedds{ namespace core{ namespace cdr{ template<> propvec &get_type_props<::unitree_go::msg::dds_::LidarState_>(); template::value, bool> = true > bool write(T& streamer, const ::unitree_go::msg::dds_::LidarState_& 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.stamp())) return false; if (!streamer.finish_member(*prop)) return false; break; case 1: if (!streamer.start_member(*prop)) return false; if (!write_string(streamer, instance.firmware_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 2: if (!streamer.start_member(*prop)) return false; if (!write_string(streamer, instance.software_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 3: if (!streamer.start_member(*prop)) return false; if (!write_string(streamer, instance.sdk_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 4: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.sys_rotation_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 5: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.com_rotation_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 6: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.error_state())) return false; if (!streamer.finish_member(*prop)) return false; break; case 7: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.cloud_frequency())) return false; if (!streamer.finish_member(*prop)) return false; break; case 8: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.cloud_packet_loss_rate())) return false; if (!streamer.finish_member(*prop)) return false; break; case 9: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.cloud_size())) return false; if (!streamer.finish_member(*prop)) return false; break; case 10: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.cloud_scan_num())) return false; if (!streamer.finish_member(*prop)) return false; break; case 11: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.imu_frequency())) return false; if (!streamer.finish_member(*prop)) return false; break; case 12: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.imu_packet_loss_rate())) return false; if (!streamer.finish_member(*prop)) return false; break; case 13: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!write(streamer, instance.imu_rpy()[0], instance.imu_rpy().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 14: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.serial_recv_stamp())) return false; if (!streamer.finish_member(*prop)) return false; break; case 15: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.serial_buffer_size())) return false; if (!streamer.finish_member(*prop)) return false; break; case 16: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.serial_buffer_read())) return false; if (!streamer.finish_member(*prop)) return false; break; } prop = streamer.next_entity(prop); } return streamer.finish_struct(*props); } template::value, bool> = true > bool write(S& str, const ::unitree_go::msg::dds_::LidarState_& instance, bool as_key) { auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>(); str.set_mode(cdr_stream::stream_mode::write, as_key); return write(str, instance, props.data()); } template::value, bool> = true > bool read(T& streamer, ::unitree_go::msg::dds_::LidarState_& 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.stamp())) return false; if (!streamer.finish_member(*prop)) return false; break; case 1: if (!streamer.start_member(*prop)) return false; if (!read_string(streamer, instance.firmware_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 2: if (!streamer.start_member(*prop)) return false; if (!read_string(streamer, instance.software_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 3: if (!streamer.start_member(*prop)) return false; if (!read_string(streamer, instance.sdk_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 4: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.sys_rotation_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 5: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.com_rotation_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 6: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.error_state())) return false; if (!streamer.finish_member(*prop)) return false; break; case 7: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.cloud_frequency())) return false; if (!streamer.finish_member(*prop)) return false; break; case 8: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.cloud_packet_loss_rate())) return false; if (!streamer.finish_member(*prop)) return false; break; case 9: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.cloud_size())) return false; if (!streamer.finish_member(*prop)) return false; break; case 10: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.cloud_scan_num())) return false; if (!streamer.finish_member(*prop)) return false; break; case 11: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.imu_frequency())) return false; if (!streamer.finish_member(*prop)) return false; break; case 12: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.imu_packet_loss_rate())) return false; if (!streamer.finish_member(*prop)) return false; break; case 13: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!read(streamer, instance.imu_rpy()[0], instance.imu_rpy().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 14: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.serial_recv_stamp())) return false; if (!streamer.finish_member(*prop)) return false; break; case 15: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.serial_buffer_size())) return false; if (!streamer.finish_member(*prop)) return false; break; case 16: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.serial_buffer_read())) return false; if (!streamer.finish_member(*prop)) return false; break; } prop = streamer.next_entity(prop); } return streamer.finish_struct(*props); } template::value, bool> = true > bool read(S& str, ::unitree_go::msg::dds_::LidarState_& instance, bool as_key) { auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>(); str.set_mode(cdr_stream::stream_mode::read, as_key); return read(str, instance, props.data()); } template::value, bool> = true > bool move(T& streamer, const ::unitree_go::msg::dds_::LidarState_& 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.stamp())) return false; if (!streamer.finish_member(*prop)) return false; break; case 1: if (!streamer.start_member(*prop)) return false; if (!move_string(streamer, instance.firmware_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 2: if (!streamer.start_member(*prop)) return false; if (!move_string(streamer, instance.software_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 3: if (!streamer.start_member(*prop)) return false; if (!move_string(streamer, instance.sdk_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 4: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.sys_rotation_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 5: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.com_rotation_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 6: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.error_state())) return false; if (!streamer.finish_member(*prop)) return false; break; case 7: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.cloud_frequency())) return false; if (!streamer.finish_member(*prop)) return false; break; case 8: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.cloud_packet_loss_rate())) return false; if (!streamer.finish_member(*prop)) return false; break; case 9: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.cloud_size())) return false; if (!streamer.finish_member(*prop)) return false; break; case 10: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.cloud_scan_num())) return false; if (!streamer.finish_member(*prop)) return false; break; case 11: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.imu_frequency())) return false; if (!streamer.finish_member(*prop)) return false; break; case 12: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.imu_packet_loss_rate())) return false; if (!streamer.finish_member(*prop)) return false; break; case 13: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!move(streamer, instance.imu_rpy()[0], instance.imu_rpy().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 14: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.serial_recv_stamp())) return false; if (!streamer.finish_member(*prop)) return false; break; case 15: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.serial_buffer_size())) return false; if (!streamer.finish_member(*prop)) return false; break; case 16: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.serial_buffer_read())) return false; if (!streamer.finish_member(*prop)) return false; break; } prop = streamer.next_entity(prop); } return streamer.finish_struct(*props); } template::value, bool> = true > bool move(S& str, const ::unitree_go::msg::dds_::LidarState_& instance, bool as_key) { auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>(); str.set_mode(cdr_stream::stream_mode::move, as_key); return move(str, instance, props.data()); } template::value, bool> = true > bool max(T& streamer, const ::unitree_go::msg::dds_::LidarState_& 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.stamp())) return false; if (!streamer.finish_member(*prop)) return false; break; case 1: if (!streamer.start_member(*prop)) return false; if (!max_string(streamer, instance.firmware_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 2: if (!streamer.start_member(*prop)) return false; if (!max_string(streamer, instance.software_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 3: if (!streamer.start_member(*prop)) return false; if (!max_string(streamer, instance.sdk_version(), 0)) return false; if (!streamer.finish_member(*prop)) return false; break; case 4: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.sys_rotation_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 5: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.com_rotation_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 6: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.error_state())) return false; if (!streamer.finish_member(*prop)) return false; break; case 7: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.cloud_frequency())) return false; if (!streamer.finish_member(*prop)) return false; break; case 8: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.cloud_packet_loss_rate())) return false; if (!streamer.finish_member(*prop)) return false; break; case 9: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.cloud_size())) return false; if (!streamer.finish_member(*prop)) return false; break; case 10: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.cloud_scan_num())) return false; if (!streamer.finish_member(*prop)) return false; break; case 11: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.imu_frequency())) return false; if (!streamer.finish_member(*prop)) return false; break; case 12: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.imu_packet_loss_rate())) return false; if (!streamer.finish_member(*prop)) return false; break; case 13: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!max(streamer, instance.imu_rpy()[0], instance.imu_rpy().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 14: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.serial_recv_stamp())) return false; if (!streamer.finish_member(*prop)) return false; break; case 15: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.serial_buffer_size())) return false; if (!streamer.finish_member(*prop)) return false; break; case 16: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.serial_buffer_read())) return false; if (!streamer.finish_member(*prop)) return false; break; } prop = streamer.next_entity(prop); } return streamer.finish_struct(*props); } template::value, bool> = true > bool max(S& str, const ::unitree_go::msg::dds_::LidarState_& instance, bool as_key) { auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>(); 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_LIDARSTATE__HPP