492 lines
17 KiB
C++
492 lines
17 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: Imu.idl
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Source: Imu.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_IMU_HPP
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#define DDSCXX_IMU_HPP
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#include <cstdint>
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#include <array>
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namespace msgs
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{
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class Imu
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{
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private:
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std::array<float, 4> q_ = { };
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std::array<float, 3> gyro_ = { };
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std::array<float, 3> accel_ = { };
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std::array<float, 3> rpy_ = { };
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uint8_t tmp_ = 0;
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public:
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Imu() = default;
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explicit Imu(
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const std::array<float, 4>& q,
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const std::array<float, 3>& gyro,
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const std::array<float, 3>& accel,
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const std::array<float, 3>& rpy,
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uint8_t tmp) :
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q_(q),
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gyro_(gyro),
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accel_(accel),
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rpy_(rpy),
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tmp_(tmp) { }
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const std::array<float, 4>& q() const { return this->q_; }
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std::array<float, 4>& q() { return this->q_; }
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void q(const std::array<float, 4>& _val_) { this->q_ = _val_; }
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void q(std::array<float, 4>&& _val_) { this->q_ = _val_; }
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const std::array<float, 3>& gyro() const { return this->gyro_; }
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std::array<float, 3>& gyro() { return this->gyro_; }
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void gyro(const std::array<float, 3>& _val_) { this->gyro_ = _val_; }
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void gyro(std::array<float, 3>&& _val_) { this->gyro_ = _val_; }
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const std::array<float, 3>& accel() const { return this->accel_; }
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std::array<float, 3>& accel() { return this->accel_; }
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void accel(const std::array<float, 3>& _val_) { this->accel_ = _val_; }
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void accel(std::array<float, 3>&& _val_) { this->accel_ = _val_; }
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const std::array<float, 3>& rpy() const { return this->rpy_; }
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std::array<float, 3>& rpy() { return this->rpy_; }
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void rpy(const std::array<float, 3>& _val_) { this->rpy_ = _val_; }
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void rpy(std::array<float, 3>&& _val_) { this->rpy_ = _val_; }
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uint8_t tmp() const { return this->tmp_; }
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uint8_t& tmp() { return this->tmp_; }
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void tmp(uint8_t _val_) { this->tmp_ = _val_; }
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bool operator==(const Imu& _other) const
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{
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(void) _other;
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return q_ == _other.q_ &&
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gyro_ == _other.gyro_ &&
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accel_ == _other.accel_ &&
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rpy_ == _other.rpy_ &&
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tmp_ == _other.tmp_;
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}
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bool operator!=(const Imu& _other) const
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{
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return !(*this == _other);
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}
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};
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}
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#include "dds/topic/TopicTraits.hpp"
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#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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namespace org {
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namespace eclipse {
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namespace cyclonedds {
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namespace topic {
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template <> constexpr const char* TopicTraits<::msgs::Imu>::getTypeName()
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{
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return "msgs::Imu";
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}
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template <> constexpr bool TopicTraits<::msgs::Imu>::isKeyless()
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{
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return true;
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::msgs::Imu>::type_map_blob_sz() { return 442; }
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template<> constexpr unsigned int TopicTraits<::msgs::Imu>::type_info_blob_sz() { return 100; }
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template<> inline const uint8_t * TopicTraits<::msgs::Imu>::type_map_blob() {
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static const uint8_t blob[] = {
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0xab, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xab, 0x8a, 0x74, 0xa0, 0x59, 0x30, 0x63,
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0x7f, 0xb3, 0x36, 0xe0, 0x64, 0x6f, 0xd3, 0x00, 0x93, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x83, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
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0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0x03, 0x09, 0x41, 0xe1, 0xdb, 0x58, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x98, 0x30,
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0x99, 0x65, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0xb0, 0x7d, 0x92, 0xed, 0x00, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xfa, 0x81, 0x6e, 0xdb, 0x00,
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0xde, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa1, 0x90, 0x68, 0x0b, 0xcf, 0x24, 0x8c,
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0xb4, 0x1b, 0xaa, 0x07, 0x8f, 0xf4, 0x93, 0x00, 0xc6, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
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0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x6d, 0x73, 0x67, 0x73,
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0x3a, 0x3a, 0x49, 0x6d, 0x75, 0x00, 0x00, 0x00, 0xa6, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
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0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00,
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0x1f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x67, 0x79, 0x72, 0x6f,
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0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
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0x61, 0x63, 0x63, 0x65, 0x6c, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00,
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0x04, 0x00, 0x00, 0x00, 0x72, 0x70, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00,
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0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00, 0x74, 0x6d, 0x70, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa1, 0x90, 0x68,
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0x0b, 0xcf, 0x24, 0x8c, 0xb4, 0x1b, 0xaa, 0x07, 0x8f, 0xf4, 0x93, 0xf1, 0xab, 0x8a, 0x74, 0xa0,
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0x59, 0x30, 0x63, 0x7f, 0xb3, 0x36, 0xe0, 0x64, 0x6f, 0xd3, };
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return blob;
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}
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template<> inline const uint8_t * TopicTraits<::msgs::Imu>::type_info_blob() {
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static const uint8_t blob[] = {
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0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
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0x14, 0x00, 0x00, 0x00, 0xf1, 0xab, 0x8a, 0x74, 0xa0, 0x59, 0x30, 0x63, 0x7f, 0xb3, 0x36, 0xe0,
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0x64, 0x6f, 0xd3, 0x00, 0x97, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
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0x14, 0x00, 0x00, 0x00, 0xf2, 0xa1, 0x90, 0x68, 0x0b, 0xcf, 0x24, 0x8c, 0xb4, 0x1b, 0xaa, 0x07,
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0x8f, 0xf4, 0x93, 0x00, 0xca, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, };
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return blob;
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}
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#endif //DDSCXX_HAS_TYPE_DISCOVERY
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} //namespace topic
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} //namespace cyclonedds
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} //namespace eclipse
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} //namespace org
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namespace dds {
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namespace topic {
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template <>
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struct topic_type_name<::msgs::Imu>
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{
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static std::string value()
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{
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return org::eclipse::cyclonedds::topic::TopicTraits<::msgs::Imu>::getTypeName();
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}
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};
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}
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}
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REGISTER_TOPIC_TYPE(::msgs::Imu)
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namespace org{
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namespace eclipse{
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namespace cyclonedds{
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namespace core{
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namespace cdr{
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template<>
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propvec &get_type_props<::msgs::Imu>();
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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 ::msgs::Imu& 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);
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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;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.q()[0], instance.q().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 1:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.gyro()[0], instance.gyro().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 2:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.accel()[0], instance.accel().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 3:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.rpy()[0], instance.rpy().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 4:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.tmp()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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}
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prop = streamer.next_entity(prop);
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}
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return streamer.finish_struct(*props);
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}
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template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
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bool write(S& str, const ::msgs::Imu& instance, bool as_key) {
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auto &props = get_type_props<::msgs::Imu>();
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str.set_mode(cdr_stream::stream_mode::write, as_key);
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return write(str, instance, props.data());
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}
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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 read(T& streamer, ::msgs::Imu& 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);
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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;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!read(streamer, instance.q()[0], instance.q().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 1:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!read(streamer, instance.gyro()[0], instance.gyro().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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||
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|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.accel()[0], instance.accel().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.rpy()[0], instance.rpy().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.tmp()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool read(S& str, ::msgs::Imu& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::msgs::Imu>();
|
||
|
|
str.set_mode(cdr_stream::stream_mode::read, as_key);
|
||
|
|
return read(str, instance, props.data());
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||
|
|
bool move(T& streamer, const ::msgs::Imu& instance, entity_properties_t *props) {
|
||
|
|
(void)instance;
|
||
|
|
if (!streamer.start_struct(*props))
|
||
|
|
return false;
|
||
|
|
auto prop = streamer.first_entity(props);
|
||
|
|
while (prop) {
|
||
|
|
switch (prop->m_id) {
|
||
|
|
case 0:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.q()[0], instance.q().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.gyro()[0], instance.gyro().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.accel()[0], instance.accel().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.rpy()[0], instance.rpy().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.tmp()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool move(S& str, const ::msgs::Imu& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::msgs::Imu>();
|
||
|
|
str.set_mode(cdr_stream::stream_mode::move, as_key);
|
||
|
|
return move(str, instance, props.data());
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||
|
|
bool max(T& streamer, const ::msgs::Imu& instance, entity_properties_t *props) {
|
||
|
|
(void)instance;
|
||
|
|
if (!streamer.start_struct(*props))
|
||
|
|
return false;
|
||
|
|
auto prop = streamer.first_entity(props);
|
||
|
|
while (prop) {
|
||
|
|
switch (prop->m_id) {
|
||
|
|
case 0:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.q()[0], instance.q().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.gyro()[0], instance.gyro().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.accel()[0], instance.accel().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 3:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.rpy()[0], instance.rpy().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 4:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.tmp()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prop = streamer.next_entity(prop);
|
||
|
|
}
|
||
|
|
return streamer.finish_struct(*props);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||
|
|
bool max(S& str, const ::msgs::Imu& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::msgs::Imu>();
|
||
|
|
str.set_mode(cdr_stream::stream_mode::max, as_key);
|
||
|
|
return max(str, instance, props.data());
|
||
|
|
}
|
||
|
|
|
||
|
|
} //namespace cdr
|
||
|
|
} //namespace core
|
||
|
|
} //namespace cyclonedds
|
||
|
|
} //namespace eclipse
|
||
|
|
} //namespace org
|
||
|
|
|
||
|
|
#endif // DDSCXX_IMU_HPP
|