/**************************************************************** Generated by Eclipse Cyclone DDS IDL to CXX Translator File name: SportModeCmd_.idl Source: SportModeCmd_.hpp Cyclone DDS: v0.10.2 *****************************************************************/ #ifndef DDSCXX_SPORTMODECMD__HPP #define DDSCXX_SPORTMODECMD__HPP #include "BmsCmd_.hpp" #include "PathPoint_.hpp" #include #include namespace unitree_go { namespace msg { namespace dds_ { class SportModeCmd_ { private: uint8_t mode_ = 0; uint8_t gait_type_ = 0; uint8_t speed_level_ = 0; float foot_raise_height_ = 0.0f; float body_height_ = 0.0f; std::array position_ = { }; std::array euler_ = { }; std::array velocity_ = { }; float yaw_speed_ = 0.0f; ::unitree_go::msg::dds_::BmsCmd_ bms_cmd_; std::array<::unitree_go::msg::dds_::PathPoint_, 30> path_point_ = { }; public: SportModeCmd_() = default; explicit SportModeCmd_( uint8_t mode, uint8_t gait_type, uint8_t speed_level, float foot_raise_height, float body_height, const std::array& position, const std::array& euler, const std::array& velocity, float yaw_speed, const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd, const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point) : mode_(mode), gait_type_(gait_type), speed_level_(speed_level), foot_raise_height_(foot_raise_height), body_height_(body_height), position_(position), euler_(euler), velocity_(velocity), yaw_speed_(yaw_speed), bms_cmd_(bms_cmd), path_point_(path_point) { } uint8_t mode() const { return this->mode_; } uint8_t& mode() { return this->mode_; } void mode(uint8_t _val_) { this->mode_ = _val_; } uint8_t gait_type() const { return this->gait_type_; } uint8_t& gait_type() { return this->gait_type_; } void gait_type(uint8_t _val_) { this->gait_type_ = _val_; } uint8_t speed_level() const { return this->speed_level_; } uint8_t& speed_level() { return this->speed_level_; } void speed_level(uint8_t _val_) { this->speed_level_ = _val_; } float foot_raise_height() const { return this->foot_raise_height_; } float& foot_raise_height() { return this->foot_raise_height_; } void foot_raise_height(float _val_) { this->foot_raise_height_ = _val_; } float body_height() const { return this->body_height_; } float& body_height() { return this->body_height_; } void body_height(float _val_) { this->body_height_ = _val_; } const std::array& position() const { return this->position_; } std::array& position() { return this->position_; } void position(const std::array& _val_) { this->position_ = _val_; } void position(std::array&& _val_) { this->position_ = _val_; } const std::array& euler() const { return this->euler_; } std::array& euler() { return this->euler_; } void euler(const std::array& _val_) { this->euler_ = _val_; } void euler(std::array&& _val_) { this->euler_ = _val_; } const std::array& velocity() const { return this->velocity_; } std::array& velocity() { return this->velocity_; } void velocity(const std::array& _val_) { this->velocity_ = _val_; } void velocity(std::array&& _val_) { this->velocity_ = _val_; } float yaw_speed() const { return this->yaw_speed_; } float& yaw_speed() { return this->yaw_speed_; } void yaw_speed(float _val_) { this->yaw_speed_ = _val_; } const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() const { return this->bms_cmd_; } ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() { return this->bms_cmd_; } void bms_cmd(const ::unitree_go::msg::dds_::BmsCmd_& _val_) { this->bms_cmd_ = _val_; } void bms_cmd(::unitree_go::msg::dds_::BmsCmd_&& _val_) { this->bms_cmd_ = _val_; } const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point() const { return this->path_point_; } std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point() { return this->path_point_; } void path_point(const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& _val_) { this->path_point_ = _val_; } void path_point(std::array<::unitree_go::msg::dds_::PathPoint_, 30>&& _val_) { this->path_point_ = _val_; } bool operator==(const SportModeCmd_& _other) const { (void) _other; return mode_ == _other.mode_ && gait_type_ == _other.gait_type_ && speed_level_ == _other.speed_level_ && foot_raise_height_ == _other.foot_raise_height_ && body_height_ == _other.body_height_ && position_ == _other.position_ && euler_ == _other.euler_ && velocity_ == _other.velocity_ && yaw_speed_ == _other.yaw_speed_ && bms_cmd_ == _other.bms_cmd_ && path_point_ == _other.path_point_; } bool operator!=(const SportModeCmd_& _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_::SportModeCmd_>::getTypeName() { return "unitree_go::msg::dds_::SportModeCmd_"; } template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::isKeyless() { return true; } #ifdef DDSCXX_HAS_TYPE_DISCOVERY 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0xf1, 0x4b, 0xbc, 0x00, 0xba, 0x9a, 0x8c, 0x2d, 0x02, 0x68, 0x52, 0x1d, 0xd0, 0xd4, 0xb6, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, }; return blob; } template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_info_blob() { static const uint8_t blob[] = { 0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0xbc, 0x00, 0xba, 0x9a, 0x8c, 0x2d, 0x02, 0x68, 0x52, 0x1d, 0xd0, 0xd4, 0xb6, 0x00, 0x14, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0x00, 0x42, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, 0x00, 0x87, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xbb, 0xbb, 0x27, 0xfd, 0xc5, 0x19, 0x66, 0x1a, 0x6a, 0xcc, 0x38, 0x22, 0x2e, 0x2f, 0x00, 0xcd, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0x00, 0xe7, 0x00, 0x00, 0x00, }; return blob; } #endif //DDSCXX_HAS_TYPE_DISCOVERY } //namespace topic } //namespace cyclonedds } //namespace eclipse } //namespace org namespace dds { namespace topic { template <> struct topic_type_name<::unitree_go::msg::dds_::SportModeCmd_> { static std::string value() { return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::getTypeName(); } }; } } REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::SportModeCmd_) namespace org{ namespace eclipse{ namespace cyclonedds{ namespace core{ namespace cdr{ template<> propvec &get_type_props<::unitree_go::msg::dds_::SportModeCmd_>(); template::value, bool> = true > bool write(T& streamer, const ::unitree_go::msg::dds_::SportModeCmd_& instance, entity_properties_t *props) { (void)instance; if (!streamer.start_struct(*props)) return false; auto prop = streamer.first_entity(props); while (prop) { switch (prop->m_id) { case 0: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.mode())) return false; if (!streamer.finish_member(*prop)) return false; break; case 1: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.gait_type())) return false; if (!streamer.finish_member(*prop)) return false; break; case 2: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.speed_level())) return false; if (!streamer.finish_member(*prop)) return false; break; case 3: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.foot_raise_height())) return false; if (!streamer.finish_member(*prop)) return false; break; case 4: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.body_height())) return false; if (!streamer.finish_member(*prop)) return false; break; case 5: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!write(streamer, instance.position()[0], instance.position().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 6: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!write(streamer, instance.euler()[0], instance.euler().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 7: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!write(streamer, instance.velocity()[0], instance.velocity().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 8: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.yaw_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 9: if (!streamer.start_member(*prop)) return false; if (!write(streamer, instance.bms_cmd(), prop)) return false; if (!streamer.finish_member(*prop)) return false; break; case 10: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, false)) return false; for (const auto & a_1:instance.path_point()) { //array depth 1 if (!write(streamer, a_1, prop)) return false; } //array depth 1 if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; } prop = streamer.next_entity(prop); } return streamer.finish_struct(*props); } template::value, bool> = true > bool write(S& str, const ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) { auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>(); str.set_mode(cdr_stream::stream_mode::write, as_key); return write(str, instance, props.data()); } template::value, bool> = true > bool read(T& streamer, ::unitree_go::msg::dds_::SportModeCmd_& instance, entity_properties_t *props) { (void)instance; if (!streamer.start_struct(*props)) return false; auto prop = streamer.first_entity(props); while (prop) { switch (prop->m_id) { case 0: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.mode())) return false; if (!streamer.finish_member(*prop)) return false; break; case 1: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.gait_type())) return false; if (!streamer.finish_member(*prop)) return false; break; case 2: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.speed_level())) return false; if (!streamer.finish_member(*prop)) return false; break; case 3: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.foot_raise_height())) return false; if (!streamer.finish_member(*prop)) return false; break; case 4: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.body_height())) return false; if (!streamer.finish_member(*prop)) return false; break; case 5: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!read(streamer, instance.position()[0], instance.position().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 6: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!read(streamer, instance.euler()[0], instance.euler().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 7: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!read(streamer, instance.velocity()[0], instance.velocity().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 8: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.yaw_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 9: if (!streamer.start_member(*prop)) return false; if (!read(streamer, instance.bms_cmd(), prop)) return false; if (!streamer.finish_member(*prop)) return false; break; case 10: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, false)) return false; for (auto & a_1:instance.path_point()) { //array depth 1 if (!read(streamer, a_1, prop)) return false; } //array depth 1 if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; } prop = streamer.next_entity(prop); } return streamer.finish_struct(*props); } template::value, bool> = true > bool read(S& str, ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) { auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>(); str.set_mode(cdr_stream::stream_mode::read, as_key); return read(str, instance, props.data()); } template::value, bool> = true > bool move(T& streamer, const ::unitree_go::msg::dds_::SportModeCmd_& instance, entity_properties_t *props) { (void)instance; if (!streamer.start_struct(*props)) return false; auto prop = streamer.first_entity(props); while (prop) { switch (prop->m_id) { case 0: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.mode())) return false; if (!streamer.finish_member(*prop)) return false; break; case 1: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.gait_type())) return false; if (!streamer.finish_member(*prop)) return false; break; case 2: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.speed_level())) return false; if (!streamer.finish_member(*prop)) return false; break; case 3: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.foot_raise_height())) return false; if (!streamer.finish_member(*prop)) return false; break; case 4: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.body_height())) return false; if (!streamer.finish_member(*prop)) return false; break; case 5: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!move(streamer, instance.position()[0], instance.position().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 6: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!move(streamer, instance.euler()[0], instance.euler().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 7: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!move(streamer, instance.velocity()[0], instance.velocity().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 8: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.yaw_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 9: if (!streamer.start_member(*prop)) return false; if (!move(streamer, instance.bms_cmd(), prop)) return false; if (!streamer.finish_member(*prop)) return false; break; case 10: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, false)) return false; for (const auto & a_1:instance.path_point()) { //array depth 1 if (!move(streamer, a_1, prop)) return false; } //array depth 1 if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; } prop = streamer.next_entity(prop); } return streamer.finish_struct(*props); } template::value, bool> = true > bool move(S& str, const ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) { auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>(); str.set_mode(cdr_stream::stream_mode::move, as_key); return move(str, instance, props.data()); } template::value, bool> = true > bool max(T& streamer, const ::unitree_go::msg::dds_::SportModeCmd_& instance, entity_properties_t *props) { (void)instance; if (!streamer.start_struct(*props)) return false; auto prop = streamer.first_entity(props); while (prop) { switch (prop->m_id) { case 0: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.mode())) return false; if (!streamer.finish_member(*prop)) return false; break; case 1: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.gait_type())) return false; if (!streamer.finish_member(*prop)) return false; break; case 2: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.speed_level())) return false; if (!streamer.finish_member(*prop)) return false; break; case 3: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.foot_raise_height())) return false; if (!streamer.finish_member(*prop)) return false; break; case 4: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.body_height())) return false; if (!streamer.finish_member(*prop)) return false; break; case 5: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!max(streamer, instance.position()[0], instance.position().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 6: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!max(streamer, instance.euler()[0], instance.euler().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 7: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, true)) return false; if (!max(streamer, instance.velocity()[0], instance.velocity().size())) return false; if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; case 8: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.yaw_speed())) return false; if (!streamer.finish_member(*prop)) return false; break; case 9: if (!streamer.start_member(*prop)) return false; if (!max(streamer, instance.bms_cmd(), prop)) return false; if (!streamer.finish_member(*prop)) return false; break; case 10: if (!streamer.start_member(*prop)) return false; if (!streamer.start_consecutive(true, false)) return false; for (const auto & a_1:instance.path_point()) { //array depth 1 if (!max(streamer, a_1, prop)) return false; } //array depth 1 if (!streamer.finish_consecutive()) return false; if (!streamer.finish_member(*prop)) return false; break; } prop = streamer.next_entity(prop); } return streamer.finish_struct(*props); } template::value, bool> = true > bool max(S& str, const ::unitree_go::msg::dds_::SportModeCmd_& instance, bool as_key) { auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>(); str.set_mode(cdr_stream::stream_mode::max, as_key); return max(str, instance, props.data()); } } //namespace cdr } //namespace core } //namespace cyclonedds } //namespace eclipse } //namespace org #endif // DDSCXX_SPORTMODECMD__HPP