1122 lines
49 KiB
C++
1122 lines
49 KiB
C++
/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: SportModeState_.idl
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Source: SportModeState_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_SPORTMODESTATE__HPP
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#define DDSCXX_SPORTMODESTATE__HPP
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#include "IMUState_.hpp"
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#include "PathPoint_.hpp"
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#include "TimeSpec_.hpp"
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#include <cstdint>
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#include <array>
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namespace unitree_go
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{
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namespace msg
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{
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namespace dds_
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{
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class SportModeState_
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{
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private:
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::unitree_go::msg::dds_::TimeSpec_ stamp_;
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uint32_t error_code_ = 0;
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::unitree_go::msg::dds_::IMUState_ imu_state_;
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uint8_t mode_ = 0;
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float progress_ = 0.0f;
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uint8_t gait_type_ = 0;
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float foot_raise_height_ = 0.0f;
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std::array<float, 3> position_ = { };
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float body_height_ = 0.0f;
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std::array<float, 3> velocity_ = { };
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float yaw_speed_ = 0.0f;
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std::array<float, 4> range_obstacle_ = { };
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std::array<int16_t, 4> foot_force_ = { };
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std::array<float, 12> foot_position_body_ = { };
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std::array<float, 12> foot_speed_body_ = { };
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std::array<::unitree_go::msg::dds_::PathPoint_, 10> path_point_ = { };
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public:
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SportModeState_() = default;
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explicit SportModeState_(
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const ::unitree_go::msg::dds_::TimeSpec_& stamp,
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uint32_t error_code,
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const ::unitree_go::msg::dds_::IMUState_& imu_state,
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uint8_t mode,
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float progress,
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uint8_t gait_type,
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float foot_raise_height,
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const std::array<float, 3>& position,
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float body_height,
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const std::array<float, 3>& velocity,
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float yaw_speed,
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const std::array<float, 4>& range_obstacle,
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const std::array<int16_t, 4>& foot_force,
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const std::array<float, 12>& foot_position_body,
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const std::array<float, 12>& foot_speed_body,
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const std::array<::unitree_go::msg::dds_::PathPoint_, 10>& path_point) :
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stamp_(stamp),
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error_code_(error_code),
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imu_state_(imu_state),
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mode_(mode),
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progress_(progress),
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gait_type_(gait_type),
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foot_raise_height_(foot_raise_height),
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position_(position),
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body_height_(body_height),
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velocity_(velocity),
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yaw_speed_(yaw_speed),
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range_obstacle_(range_obstacle),
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foot_force_(foot_force),
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foot_position_body_(foot_position_body),
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foot_speed_body_(foot_speed_body),
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path_point_(path_point) { }
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const ::unitree_go::msg::dds_::TimeSpec_& stamp() const { return this->stamp_; }
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::unitree_go::msg::dds_::TimeSpec_& stamp() { return this->stamp_; }
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void stamp(const ::unitree_go::msg::dds_::TimeSpec_& _val_) { this->stamp_ = _val_; }
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void stamp(::unitree_go::msg::dds_::TimeSpec_&& _val_) { this->stamp_ = _val_; }
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uint32_t error_code() const { return this->error_code_; }
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uint32_t& error_code() { return this->error_code_; }
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void error_code(uint32_t _val_) { this->error_code_ = _val_; }
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const ::unitree_go::msg::dds_::IMUState_& imu_state() const { return this->imu_state_; }
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::unitree_go::msg::dds_::IMUState_& imu_state() { return this->imu_state_; }
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void imu_state(const ::unitree_go::msg::dds_::IMUState_& _val_) { this->imu_state_ = _val_; }
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void imu_state(::unitree_go::msg::dds_::IMUState_&& _val_) { this->imu_state_ = _val_; }
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uint8_t mode() const { return this->mode_; }
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uint8_t& mode() { return this->mode_; }
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void mode(uint8_t _val_) { this->mode_ = _val_; }
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float progress() const { return this->progress_; }
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float& progress() { return this->progress_; }
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void progress(float _val_) { this->progress_ = _val_; }
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uint8_t gait_type() const { return this->gait_type_; }
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uint8_t& gait_type() { return this->gait_type_; }
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void gait_type(uint8_t _val_) { this->gait_type_ = _val_; }
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float foot_raise_height() const { return this->foot_raise_height_; }
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float& foot_raise_height() { return this->foot_raise_height_; }
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void foot_raise_height(float _val_) { this->foot_raise_height_ = _val_; }
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const std::array<float, 3>& position() const { return this->position_; }
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std::array<float, 3>& position() { return this->position_; }
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void position(const std::array<float, 3>& _val_) { this->position_ = _val_; }
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void position(std::array<float, 3>&& _val_) { this->position_ = _val_; }
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float body_height() const { return this->body_height_; }
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float& body_height() { return this->body_height_; }
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void body_height(float _val_) { this->body_height_ = _val_; }
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const std::array<float, 3>& velocity() const { return this->velocity_; }
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std::array<float, 3>& velocity() { return this->velocity_; }
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void velocity(const std::array<float, 3>& _val_) { this->velocity_ = _val_; }
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void velocity(std::array<float, 3>&& _val_) { this->velocity_ = _val_; }
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float yaw_speed() const { return this->yaw_speed_; }
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float& yaw_speed() { return this->yaw_speed_; }
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void yaw_speed(float _val_) { this->yaw_speed_ = _val_; }
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const std::array<float, 4>& range_obstacle() const { return this->range_obstacle_; }
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std::array<float, 4>& range_obstacle() { return this->range_obstacle_; }
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void range_obstacle(const std::array<float, 4>& _val_) { this->range_obstacle_ = _val_; }
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void range_obstacle(std::array<float, 4>&& _val_) { this->range_obstacle_ = _val_; }
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const std::array<int16_t, 4>& foot_force() const { return this->foot_force_; }
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std::array<int16_t, 4>& foot_force() { return this->foot_force_; }
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void foot_force(const std::array<int16_t, 4>& _val_) { this->foot_force_ = _val_; }
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void foot_force(std::array<int16_t, 4>&& _val_) { this->foot_force_ = _val_; }
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const std::array<float, 12>& foot_position_body() const { return this->foot_position_body_; }
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std::array<float, 12>& foot_position_body() { return this->foot_position_body_; }
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void foot_position_body(const std::array<float, 12>& _val_) { this->foot_position_body_ = _val_; }
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void foot_position_body(std::array<float, 12>&& _val_) { this->foot_position_body_ = _val_; }
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const std::array<float, 12>& foot_speed_body() const { return this->foot_speed_body_; }
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std::array<float, 12>& foot_speed_body() { return this->foot_speed_body_; }
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void foot_speed_body(const std::array<float, 12>& _val_) { this->foot_speed_body_ = _val_; }
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void foot_speed_body(std::array<float, 12>&& _val_) { this->foot_speed_body_ = _val_; }
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const std::array<::unitree_go::msg::dds_::PathPoint_, 10>& path_point() const { return this->path_point_; }
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std::array<::unitree_go::msg::dds_::PathPoint_, 10>& path_point() { return this->path_point_; }
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void path_point(const std::array<::unitree_go::msg::dds_::PathPoint_, 10>& _val_) { this->path_point_ = _val_; }
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void path_point(std::array<::unitree_go::msg::dds_::PathPoint_, 10>&& _val_) { this->path_point_ = _val_; }
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bool operator==(const SportModeState_& _other) const
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{
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(void) _other;
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return stamp_ == _other.stamp_ &&
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error_code_ == _other.error_code_ &&
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imu_state_ == _other.imu_state_ &&
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mode_ == _other.mode_ &&
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progress_ == _other.progress_ &&
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gait_type_ == _other.gait_type_ &&
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foot_raise_height_ == _other.foot_raise_height_ &&
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position_ == _other.position_ &&
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body_height_ == _other.body_height_ &&
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velocity_ == _other.velocity_ &&
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yaw_speed_ == _other.yaw_speed_ &&
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range_obstacle_ == _other.range_obstacle_ &&
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foot_force_ == _other.foot_force_ &&
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foot_position_body_ == _other.foot_position_body_ &&
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foot_speed_body_ == _other.foot_speed_body_ &&
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path_point_ == _other.path_point_;
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}
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bool operator!=(const SportModeState_& _other) const
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{
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return !(*this == _other);
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}
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};
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}
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}
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}
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#include "dds/topic/TopicTraits.hpp"
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#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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namespace org {
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namespace eclipse {
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namespace cyclonedds {
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namespace topic {
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template <> constexpr const char* TopicTraits<::unitree_go::msg::dds_::SportModeState_>::getTypeName()
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{
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return "unitree_go::msg::dds_::SportModeState_";
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}
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template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::SportModeState_>::isKeyless()
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{
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return true;
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeState_>::type_map_blob_sz() { return 2316; }
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeState_>::type_info_blob_sz() { return 244; }
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template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeState_>::type_map_blob() {
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static const uint8_t blob[] = {
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0xfe, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00,
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0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, 0x79, 0x61, 0x77, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00,
|
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0x03, 0x00, 0x00, 0x00, 0x76, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00,
|
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0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x76, 0x79, 0x00, 0x00,
|
|
0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00,
|
|
0x05, 0x00, 0x00, 0x00, 0x76, 0x79, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, 0x7c, 0x00, 0x00, 0x00,
|
|
0x04, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x97, 0x49, 0x63, 0x0f, 0xff, 0x75, 0xcc, 0x17, 0x0a, 0xfb,
|
|
0x23, 0x87, 0x83, 0xf1, 0x9f, 0xa6, 0xcc, 0xdc, 0x5c, 0xaf, 0xde, 0xaa, 0xb8, 0xa7, 0x62, 0xe3,
|
|
0x10, 0x44, 0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b, 0xa9, 0x0b, 0xe9, 0x24, 0xc9, 0x35,
|
|
0xcc, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d,
|
|
0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25, 0xd2, 0x26, 0x28, 0xb6, 0xb7, 0x64, 0xcc, 0xf1,
|
|
0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, 0x67, 0x10, 0xef, 0xc8, 0x29, 0x31, 0x15, 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_::SportModeState_>::type_info_blob() {
|
|
static const uint8_t blob[] = {
|
|
0xf0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00,
|
|
0x14, 0x00, 0x00, 0x00, 0xf1, 0x9f, 0xa6, 0xcc, 0xdc, 0x5c, 0xaf, 0xde, 0xaa, 0xb8, 0xa7, 0x62,
|
|
0xe3, 0x10, 0x44, 0x00, 0x98, 0x01, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00,
|
|
0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b,
|
|
0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
|
0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, 0x67, 0x10, 0xef, 0xc8, 0x29, 0x31, 0x15, 0x00,
|
|
0x97, 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,
|
|
0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x97, 0x49,
|
|
0x63, 0x0f, 0xff, 0x75, 0xcc, 0x17, 0x0a, 0xfb, 0x23, 0x87, 0x83, 0x00, 0xad, 0x02, 0x00, 0x00,
|
|
0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
|
0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b, 0xa9, 0x0b, 0xe9, 0x24, 0xc9, 0x35, 0xcc, 0x00,
|
|
0x72, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25,
|
|
0xd2, 0x26, 0x28, 0xb6, 0xb7, 0x64, 0xcc, 0x00, 0x02, 0x01, 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_::SportModeState_>
|
|
{
|
|
static std::string value()
|
|
{
|
|
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::SportModeState_>::getTypeName();
|
|
}
|
|
};
|
|
|
|
}
|
|
}
|
|
|
|
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::SportModeState_)
|
|
|
|
namespace org{
|
|
namespace eclipse{
|
|
namespace cyclonedds{
|
|
namespace core{
|
|
namespace cdr{
|
|
|
|
template<>
|
|
propvec &get_type_props<::unitree_go::msg::dds_::SportModeState_>();
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool write(T& streamer, const ::unitree_go::msg::dds_::SportModeState_& 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(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.error_code()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.imu_state(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.mode()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.progress()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.gait_type()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
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 7:
|
|
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 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.body_height()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 9:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!write(streamer, instance.velocity()[0], instance.velocity().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.yaw_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!write(streamer, instance.range_obstacle()[0], instance.range_obstacle().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!write(streamer, instance.foot_force()[0], instance.foot_force().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
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.foot_position_body()[0], instance.foot_position_body().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 (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!write(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 15:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, false))
|
|
return false;
|
|
for (const auto & a_1:instance.path_point()) { //array depth 1
|
|
if (!write(streamer, a_1, prop))
|
|
return false;
|
|
} //array depth 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
}
|
|
prop = streamer.next_entity(prop);
|
|
}
|
|
return streamer.finish_struct(*props);
|
|
}
|
|
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
|
bool write(S& str, const ::unitree_go::msg::dds_::SportModeState_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>();
|
|
str.set_mode(cdr_stream::stream_mode::write, as_key);
|
|
return write(str, instance, props.data());
|
|
}
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool read(T& streamer, ::unitree_go::msg::dds_::SportModeState_& 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(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.error_code()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.imu_state(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.mode()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.progress()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.gait_type()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
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 7:
|
|
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 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.body_height()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 9:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!read(streamer, instance.velocity()[0], instance.velocity().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.yaw_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!read(streamer, instance.range_obstacle()[0], instance.range_obstacle().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!read(streamer, instance.foot_force()[0], instance.foot_force().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
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.foot_position_body()[0], instance.foot_position_body().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 (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!read(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 15:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, false))
|
|
return false;
|
|
for (auto & a_1:instance.path_point()) { //array depth 1
|
|
if (!read(streamer, a_1, prop))
|
|
return false;
|
|
} //array depth 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
}
|
|
prop = streamer.next_entity(prop);
|
|
}
|
|
return streamer.finish_struct(*props);
|
|
}
|
|
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
|
bool read(S& str, ::unitree_go::msg::dds_::SportModeState_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>();
|
|
str.set_mode(cdr_stream::stream_mode::read, as_key);
|
|
return read(str, instance, props.data());
|
|
}
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool move(T& streamer, const ::unitree_go::msg::dds_::SportModeState_& 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(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.error_code()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.imu_state(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.mode()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.progress()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.gait_type()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
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 7:
|
|
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 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.body_height()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 9:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.velocity()[0], instance.velocity().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.yaw_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.range_obstacle()[0], instance.range_obstacle().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.foot_force()[0], instance.foot_force().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
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.foot_position_body()[0], instance.foot_position_body().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 (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 15:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, false))
|
|
return false;
|
|
for (const auto & a_1:instance.path_point()) { //array depth 1
|
|
if (!move(streamer, a_1, prop))
|
|
return false;
|
|
} //array depth 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
}
|
|
prop = streamer.next_entity(prop);
|
|
}
|
|
return streamer.finish_struct(*props);
|
|
}
|
|
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
|
bool move(S& str, const ::unitree_go::msg::dds_::SportModeState_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>();
|
|
str.set_mode(cdr_stream::stream_mode::move, as_key);
|
|
return move(str, instance, props.data());
|
|
}
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool max(T& streamer, const ::unitree_go::msg::dds_::SportModeState_& 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(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.error_code()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.imu_state(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.mode()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.progress()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.gait_type()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
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 7:
|
|
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 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.body_height()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 9:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.velocity()[0], instance.velocity().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.yaw_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.range_obstacle()[0], instance.range_obstacle().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.foot_force()[0], instance.foot_force().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
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.foot_position_body()[0], instance.foot_position_body().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 (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 15:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, false))
|
|
return false;
|
|
for (const auto & a_1:instance.path_point()) { //array depth 1
|
|
if (!max(streamer, a_1, prop))
|
|
return false;
|
|
} //array depth 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
}
|
|
prop = streamer.next_entity(prop);
|
|
}
|
|
return streamer.finish_struct(*props);
|
|
}
|
|
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
|
bool max(S& str, const ::unitree_go::msg::dds_::SportModeState_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>();
|
|
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_SPORTMODESTATE__HPP
|