1428 lines
62 KiB
C++
1428 lines
62 KiB
C++
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: LowState_.idl
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Source: LowState_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_LOWSTATE__HPP
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#define DDSCXX_LOWSTATE__HPP
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#include "BmsState_.hpp"
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#include "IMUState_.hpp"
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#include "MotorState_.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 LowState_
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{
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private:
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std::array<uint8_t, 2> head_ = { };
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uint8_t level_flag_ = 0;
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uint8_t frame_reserve_ = 0;
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std::array<uint32_t, 2> sn_ = { };
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std::array<uint32_t, 2> version_ = { };
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uint16_t bandwidth_ = 0;
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::unitree_go::msg::dds_::IMUState_ imu_state_;
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std::array<::unitree_go::msg::dds_::MotorState_, 20> motor_state_ = { };
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::unitree_go::msg::dds_::BmsState_ bms_state_;
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std::array<int16_t, 4> foot_force_ = { };
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std::array<int16_t, 4> foot_force_est_ = { };
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uint32_t tick_ = 0;
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std::array<uint8_t, 40> wireless_remote_ = { };
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uint8_t bit_flag_ = 0;
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float adc_reel_ = 0.0f;
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uint8_t temperature_ntc1_ = 0;
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uint8_t temperature_ntc2_ = 0;
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float power_v_ = 0.0f;
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float power_a_ = 0.0f;
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std::array<uint16_t, 4> fan_frequency_ = { };
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uint32_t reserve_ = 0;
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uint32_t crc_ = 0;
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public:
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LowState_() = default;
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explicit LowState_(
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const std::array<uint8_t, 2>& head,
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uint8_t level_flag,
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uint8_t frame_reserve,
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const std::array<uint32_t, 2>& sn,
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const std::array<uint32_t, 2>& version,
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uint16_t bandwidth,
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const ::unitree_go::msg::dds_::IMUState_& imu_state,
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const std::array<::unitree_go::msg::dds_::MotorState_, 20>& motor_state,
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const ::unitree_go::msg::dds_::BmsState_& bms_state,
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const std::array<int16_t, 4>& foot_force,
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const std::array<int16_t, 4>& foot_force_est,
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uint32_t tick,
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const std::array<uint8_t, 40>& wireless_remote,
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uint8_t bit_flag,
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float adc_reel,
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uint8_t temperature_ntc1,
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uint8_t temperature_ntc2,
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float power_v,
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float power_a,
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const std::array<uint16_t, 4>& fan_frequency,
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uint32_t reserve,
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uint32_t crc) :
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head_(head),
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level_flag_(level_flag),
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frame_reserve_(frame_reserve),
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sn_(sn),
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version_(version),
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bandwidth_(bandwidth),
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imu_state_(imu_state),
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motor_state_(motor_state),
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bms_state_(bms_state),
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foot_force_(foot_force),
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foot_force_est_(foot_force_est),
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tick_(tick),
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wireless_remote_(wireless_remote),
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bit_flag_(bit_flag),
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adc_reel_(adc_reel),
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temperature_ntc1_(temperature_ntc1),
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temperature_ntc2_(temperature_ntc2),
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power_v_(power_v),
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power_a_(power_a),
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fan_frequency_(fan_frequency),
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reserve_(reserve),
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crc_(crc) { }
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const std::array<uint8_t, 2>& head() const { return this->head_; }
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std::array<uint8_t, 2>& head() { return this->head_; }
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void head(const std::array<uint8_t, 2>& _val_) { this->head_ = _val_; }
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void head(std::array<uint8_t, 2>&& _val_) { this->head_ = _val_; }
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uint8_t level_flag() const { return this->level_flag_; }
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uint8_t& level_flag() { return this->level_flag_; }
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void level_flag(uint8_t _val_) { this->level_flag_ = _val_; }
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uint8_t frame_reserve() const { return this->frame_reserve_; }
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uint8_t& frame_reserve() { return this->frame_reserve_; }
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void frame_reserve(uint8_t _val_) { this->frame_reserve_ = _val_; }
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const std::array<uint32_t, 2>& sn() const { return this->sn_; }
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std::array<uint32_t, 2>& sn() { return this->sn_; }
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void sn(const std::array<uint32_t, 2>& _val_) { this->sn_ = _val_; }
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void sn(std::array<uint32_t, 2>&& _val_) { this->sn_ = _val_; }
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const std::array<uint32_t, 2>& version() const { return this->version_; }
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std::array<uint32_t, 2>& version() { return this->version_; }
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void version(const std::array<uint32_t, 2>& _val_) { this->version_ = _val_; }
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void version(std::array<uint32_t, 2>&& _val_) { this->version_ = _val_; }
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uint16_t bandwidth() const { return this->bandwidth_; }
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uint16_t& bandwidth() { return this->bandwidth_; }
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void bandwidth(uint16_t _val_) { this->bandwidth_ = _val_; }
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const ::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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const std::array<::unitree_go::msg::dds_::MotorState_, 20>& motor_state() const { return this->motor_state_; }
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std::array<::unitree_go::msg::dds_::MotorState_, 20>& motor_state() { return this->motor_state_; }
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void motor_state(const std::array<::unitree_go::msg::dds_::MotorState_, 20>& _val_) { this->motor_state_ = _val_; }
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void motor_state(std::array<::unitree_go::msg::dds_::MotorState_, 20>&& _val_) { this->motor_state_ = _val_; }
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const ::unitree_go::msg::dds_::BmsState_& bms_state() const { return this->bms_state_; }
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::unitree_go::msg::dds_::BmsState_& bms_state() { return this->bms_state_; }
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void bms_state(const ::unitree_go::msg::dds_::BmsState_& _val_) { this->bms_state_ = _val_; }
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void bms_state(::unitree_go::msg::dds_::BmsState_&& _val_) { this->bms_state_ = _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<int16_t, 4>& foot_force_est() const { return this->foot_force_est_; }
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std::array<int16_t, 4>& foot_force_est() { return this->foot_force_est_; }
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void foot_force_est(const std::array<int16_t, 4>& _val_) { this->foot_force_est_ = _val_; }
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void foot_force_est(std::array<int16_t, 4>&& _val_) { this->foot_force_est_ = _val_; }
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uint32_t tick() const { return this->tick_; }
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uint32_t& tick() { return this->tick_; }
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void tick(uint32_t _val_) { this->tick_ = _val_; }
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const std::array<uint8_t, 40>& wireless_remote() const { return this->wireless_remote_; }
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std::array<uint8_t, 40>& wireless_remote() { return this->wireless_remote_; }
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void wireless_remote(const std::array<uint8_t, 40>& _val_) { this->wireless_remote_ = _val_; }
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void wireless_remote(std::array<uint8_t, 40>&& _val_) { this->wireless_remote_ = _val_; }
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uint8_t bit_flag() const { return this->bit_flag_; }
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uint8_t& bit_flag() { return this->bit_flag_; }
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void bit_flag(uint8_t _val_) { this->bit_flag_ = _val_; }
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float adc_reel() const { return this->adc_reel_; }
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float& adc_reel() { return this->adc_reel_; }
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void adc_reel(float _val_) { this->adc_reel_ = _val_; }
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uint8_t temperature_ntc1() const { return this->temperature_ntc1_; }
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uint8_t& temperature_ntc1() { return this->temperature_ntc1_; }
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void temperature_ntc1(uint8_t _val_) { this->temperature_ntc1_ = _val_; }
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uint8_t temperature_ntc2() const { return this->temperature_ntc2_; }
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uint8_t& temperature_ntc2() { return this->temperature_ntc2_; }
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void temperature_ntc2(uint8_t _val_) { this->temperature_ntc2_ = _val_; }
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float power_v() const { return this->power_v_; }
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float& power_v() { return this->power_v_; }
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void power_v(float _val_) { this->power_v_ = _val_; }
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float power_a() const { return this->power_a_; }
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float& power_a() { return this->power_a_; }
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void power_a(float _val_) { this->power_a_ = _val_; }
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const std::array<uint16_t, 4>& fan_frequency() const { return this->fan_frequency_; }
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std::array<uint16_t, 4>& fan_frequency() { return this->fan_frequency_; }
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void fan_frequency(const std::array<uint16_t, 4>& _val_) { this->fan_frequency_ = _val_; }
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void fan_frequency(std::array<uint16_t, 4>&& _val_) { this->fan_frequency_ = _val_; }
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uint32_t reserve() const { return this->reserve_; }
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uint32_t& reserve() { return this->reserve_; }
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void reserve(uint32_t _val_) { this->reserve_ = _val_; }
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uint32_t crc() const { return this->crc_; }
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uint32_t& crc() { return this->crc_; }
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void crc(uint32_t _val_) { this->crc_ = _val_; }
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bool operator==(const LowState_& _other) const
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{
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(void) _other;
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return head_ == _other.head_ &&
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level_flag_ == _other.level_flag_ &&
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frame_reserve_ == _other.frame_reserve_ &&
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sn_ == _other.sn_ &&
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version_ == _other.version_ &&
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bandwidth_ == _other.bandwidth_ &&
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imu_state_ == _other.imu_state_ &&
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motor_state_ == _other.motor_state_ &&
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bms_state_ == _other.bms_state_ &&
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foot_force_ == _other.foot_force_ &&
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foot_force_est_ == _other.foot_force_est_ &&
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tick_ == _other.tick_ &&
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wireless_remote_ == _other.wireless_remote_ &&
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bit_flag_ == _other.bit_flag_ &&
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adc_reel_ == _other.adc_reel_ &&
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temperature_ntc1_ == _other.temperature_ntc1_ &&
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temperature_ntc2_ == _other.temperature_ntc2_ &&
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power_v_ == _other.power_v_ &&
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power_a_ == _other.power_a_ &&
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fan_frequency_ == _other.fan_frequency_ &&
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reserve_ == _other.reserve_ &&
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crc_ == _other.crc_;
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}
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bool operator!=(const LowState_& _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_::LowState_>::getTypeName()
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{
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return "unitree_go::msg::dds_::LowState_";
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}
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template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LowState_>::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_::LowState_>::type_map_blob_sz() { return 3184; }
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowState_>::type_info_blob_sz() { return 244; }
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template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowState_>::type_map_blob() {
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static const uint8_t blob[] = {
|
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0x7e, 0x04, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0x85, 0x3a, 0x99, 0xe2, 0x3d, 0x0d, 0xaa,
|
||
|
|
0x16, 0x10, 0xb6, 0x5c, 0x52, 0x6b, 0x40, 0x00, 0xff, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
|
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0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xef, 0x01, 0x00, 0x00, 0x16, 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, 0x02, 0x02, 0x96, 0xe8, 0x9a, 0x29, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xa2, 0x18, 0x71, 0x24, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xf0, 0xd2, 0xa4, 0x1c, 0x00, 0x16, 0x00, 0x00, 0x00,
|
||
|
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0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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||
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0x02, 0x07, 0xaf, 0xbe, 0x94, 0xcd, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x2a, 0xf7,
|
||
|
|
0x2f, 0x10, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x36,
|
||
|
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0x67, 0x6c, 0x2b, 0x00, 0x19, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x4b,
|
||
|
|
0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, 0x67, 0x10, 0xef, 0xc8, 0x29, 0x31, 0x15, 0x9e, 0x5f, 0x37,
|
||
|
|
0x13, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf1,
|
||
|
|
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0xf1, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a,
|
||
|
|
0xf8, 0xdb, 0x05, 0xe1, 0x27, 0x36, 0xb1, 0xbe, 0xb2, 0x1e, 0x53, 0xdc, 0x19, 0x00, 0x00, 0x00,
|
||
|
|
0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xe1, 0x18, 0xaf, 0x07, 0x0b, 0xa2, 0x0b, 0xc2, 0xe0,
|
||
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0x10, 0xb6, 0x5c, 0x52, 0x6b, 0x40, 0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25, 0xd2, 0x26,
|
||
|
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0x28, 0xb6, 0xb7, 0x64, 0xcc, 0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, 0x67, 0x10, 0xef,
|
||
|
|
0xc8, 0x29, 0x31, 0x15, 0xf2, 0xd2, 0xbc, 0xfb, 0x97, 0xbe, 0x37, 0xa8, 0xbc, 0x9c, 0x41, 0xe5,
|
||
|
|
0x0b, 0xa1, 0xc9, 0xf1, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8, 0xdb, 0x05, 0xe1, 0x27, 0x36,
|
||
|
|
0xb1, 0xbe, 0xf2, 0x2e, 0xd8, 0x57, 0xec, 0xb6, 0xb3, 0x05, 0x79, 0x80, 0x8c, 0x15, 0xfd, 0x14,
|
||
|
|
0x3d, 0xf1, 0xe1, 0x18, 0xaf, 0x07, 0x0b, 0xa2, 0x0b, 0xc2, 0xe0, 0x37, 0x0c, 0xec, 0x4c, 0xbb,
|
||
|
|
};
|
||
|
|
return blob;
|
||
|
|
}
|
||
|
|
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowState_>::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, 0x85, 0x3a, 0x99, 0xe2, 0x3d, 0x0d, 0xaa, 0x16, 0x10, 0xb6, 0x5c,
|
||
|
|
0x52, 0x6b, 0x40, 0x00, 0x03, 0x02, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00,
|
||
|
|
0x03, 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, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8, 0xdb, 0x05, 0xe1, 0x27, 0x36, 0xb1, 0xbe, 0x00,
|
||
|
|
0xd2, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xe1, 0x18, 0xaf, 0x07, 0x0b, 0xa2, 0x0b,
|
||
|
|
0xc2, 0xe0, 0x37, 0x0c, 0xec, 0x4c, 0xbb, 0x00, 0xca, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40,
|
||
|
|
0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x08, 0xf2, 0x39,
|
||
|
|
0xc4, 0x71, 0xd3, 0xa2, 0x7e, 0x67, 0xe7, 0xc7, 0x72, 0x31, 0x84, 0x00, 0x56, 0x03, 0x00, 0x00,
|
||
|
|
0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 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, 0xd2, 0xbc, 0xfb, 0x97, 0xbe, 0x37, 0xa8,
|
||
|
|
0xbc, 0x9c, 0x41, 0xe5, 0x0b, 0xa1, 0xc9, 0x00, 0x66, 0x01, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
||
|
|
0xf2, 0x2e, 0xd8, 0x57, 0xec, 0xb6, 0xb3, 0x05, 0x79, 0x80, 0x8c, 0x15, 0xfd, 0x14, 0x3d, 0x00,
|
||
|
|
0x5f, 0x01, 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_::LowState_>
|
||
|
|
{
|
||
|
|
static std::string value()
|
||
|
|
{
|
||
|
|
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::LowState_>::getTypeName();
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LowState_)
|
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namespace org{
|
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|
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namespace eclipse{
|
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|
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namespace cyclonedds{
|
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namespace core{
|
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|
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namespace cdr{
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template<>
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propvec &get_type_props<::unitree_go::msg::dds_::LowState_>();
|
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template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
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|
bool write(T& streamer, const ::unitree_go::msg::dds_::LowState_& instance, entity_properties_t *props) {
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(void)instance;
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|
|
if (!streamer.start_struct(*props))
|
||
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|
return false;
|
||
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|
auto prop = streamer.first_entity(props);
|
||
|
|
while (prop) {
|
||
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|
switch (prop->m_id) {
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||
|
|
case 0:
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||
|
|
if (!streamer.start_member(*prop))
|
||
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|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
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||
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|
return false;
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||
|
|
if (!write(streamer, instance.head()[0], instance.head().size()))
|
||
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|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
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||
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|
return false;
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||
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|
if (!streamer.finish_member(*prop))
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||
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|
return false;
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||
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|
break;
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||
|
|
case 1:
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||
|
|
if (!streamer.start_member(*prop))
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||
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|
return false;
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||
|
|
if (!write(streamer, instance.level_flag()))
|
||
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|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.frame_reserve()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.sn()[0], instance.sn().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.version()[0], instance.version().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 5:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.bandwidth()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.imu_state(), prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, false))
|
||
|
|
return false;
|
||
|
|
for (const auto & a_1:instance.motor_state()) { //array depth 1
|
||
|
|
if (!write(streamer, a_1, prop))
|
||
|
|
return false;
|
||
|
|
} //array depth 1
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 8:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.bms_state(), prop))
|
||
|
|
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.foot_force()[0], instance.foot_force().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.foot_force_est()[0], instance.foot_force_est().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 11:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.tick()))
|
||
|
|
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.wireless_remote()[0], instance.wireless_remote().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 (!write(streamer, instance.bit_flag()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 14:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.adc_reel()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 15:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.temperature_ntc1()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 16:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.temperature_ntc2()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 17:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.power_v()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 18:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.power_a()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 19:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.fan_frequency()[0], instance.fan_frequency().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 20:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.reserve()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 21:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.crc()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool write(S& str, const ::unitree_go::msg::dds_::LowState_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::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, ::unitree_go::msg::dds_::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.head()[0], instance.head().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.level_flag()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.frame_reserve()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.sn()[0], instance.sn().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.version()[0], instance.version().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 5:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.bandwidth()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.imu_state(), prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, false))
|
||
|
|
return false;
|
||
|
|
for (auto & a_1:instance.motor_state()) { //array depth 1
|
||
|
|
if (!read(streamer, a_1, prop))
|
||
|
|
return false;
|
||
|
|
} //array depth 1
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 8:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.bms_state(), prop))
|
||
|
|
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.foot_force()[0], instance.foot_force().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.foot_force_est()[0], instance.foot_force_est().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 11:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.tick()))
|
||
|
|
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.wireless_remote()[0], instance.wireless_remote().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 (!read(streamer, instance.bit_flag()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 14:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.adc_reel()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 15:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.temperature_ntc1()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 16:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.temperature_ntc2()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 17:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.power_v()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 18:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.power_a()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 19:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.fan_frequency()[0], instance.fan_frequency().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 20:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.reserve()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 21:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.crc()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool read(S& str, ::unitree_go::msg::dds_::LowState_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::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 ::unitree_go::msg::dds_::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.head()[0], instance.head().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.level_flag()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.frame_reserve()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.sn()[0], instance.sn().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.version()[0], instance.version().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 5:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.bandwidth()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.imu_state(), prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, false))
|
||
|
|
return false;
|
||
|
|
for (const auto & a_1:instance.motor_state()) { //array depth 1
|
||
|
|
if (!move(streamer, a_1, prop))
|
||
|
|
return false;
|
||
|
|
} //array depth 1
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 8:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.bms_state(), prop))
|
||
|
|
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.foot_force()[0], instance.foot_force().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.foot_force_est()[0], instance.foot_force_est().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 11:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.tick()))
|
||
|
|
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.wireless_remote()[0], instance.wireless_remote().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 (!move(streamer, instance.bit_flag()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 14:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.adc_reel()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 15:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.temperature_ntc1()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 16:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.temperature_ntc2()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 17:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.power_v()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 18:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.power_a()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 19:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.fan_frequency()[0], instance.fan_frequency().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 20:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.reserve()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 21:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.crc()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool move(S& str, const ::unitree_go::msg::dds_::LowState_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::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 ::unitree_go::msg::dds_::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.head()[0], instance.head().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.level_flag()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.frame_reserve()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.sn()[0], instance.sn().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.version()[0], instance.version().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 5:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.bandwidth()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.imu_state(), prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, false))
|
||
|
|
return false;
|
||
|
|
for (const auto & a_1:instance.motor_state()) { //array depth 1
|
||
|
|
if (!max(streamer, a_1, prop))
|
||
|
|
return false;
|
||
|
|
} //array depth 1
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 8:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.bms_state(), prop))
|
||
|
|
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.foot_force()[0], instance.foot_force().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.foot_force_est()[0], instance.foot_force_est().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 11:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.tick()))
|
||
|
|
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.wireless_remote()[0], instance.wireless_remote().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 (!max(streamer, instance.bit_flag()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 14:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.adc_reel()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 15:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.temperature_ntc1()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 16:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.temperature_ntc2()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 17:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.power_v()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 18:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.power_a()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 19:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.fan_frequency()[0], instance.fan_frequency().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 20:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.reserve()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 21:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.crc()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool max(S& str, const ::unitree_go::msg::dds_::LowState_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::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
|