937 lines
34 KiB
C++
937 lines
34 KiB
C++
/****************************************************************
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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 <cstdint>
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#include <array>
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namespace msgs
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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<float, 12> q_ = { };
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std::array<float, 12> dq_ = { };
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std::array<float, 12> ddq_ = { };
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std::array<float, 12> tau_est_ = { };
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std::array<float, 12> tmp_ = { };
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std::array<float, 4> contact_ = { };
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std::array<float, 4> quat_ = { };
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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 imu_tmp_ = 0;
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float voltage_ = 0.0f;
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float current_ = 0.0f;
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public:
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LowState() = default;
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explicit LowState(
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const std::array<float, 12>& q,
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const std::array<float, 12>& dq,
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const std::array<float, 12>& ddq,
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const std::array<float, 12>& tau_est,
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const std::array<float, 12>& tmp,
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const std::array<float, 4>& contact,
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const std::array<float, 4>& quat,
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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 imu_tmp,
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float voltage,
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float current) :
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q_(q),
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dq_(dq),
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ddq_(ddq),
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tau_est_(tau_est),
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tmp_(tmp),
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contact_(contact),
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quat_(quat),
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gyro_(gyro),
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accel_(accel),
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rpy_(rpy),
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imu_tmp_(imu_tmp),
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voltage_(voltage),
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current_(current) { }
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const std::array<float, 12>& q() const { return this->q_; }
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std::array<float, 12>& q() { return this->q_; }
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void q(const std::array<float, 12>& _val_) { this->q_ = _val_; }
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void q(std::array<float, 12>&& _val_) { this->q_ = _val_; }
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const std::array<float, 12>& dq() const { return this->dq_; }
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std::array<float, 12>& dq() { return this->dq_; }
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void dq(const std::array<float, 12>& _val_) { this->dq_ = _val_; }
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void dq(std::array<float, 12>&& _val_) { this->dq_ = _val_; }
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const std::array<float, 12>& ddq() const { return this->ddq_; }
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std::array<float, 12>& ddq() { return this->ddq_; }
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void ddq(const std::array<float, 12>& _val_) { this->ddq_ = _val_; }
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void ddq(std::array<float, 12>&& _val_) { this->ddq_ = _val_; }
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const std::array<float, 12>& tau_est() const { return this->tau_est_; }
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std::array<float, 12>& tau_est() { return this->tau_est_; }
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void tau_est(const std::array<float, 12>& _val_) { this->tau_est_ = _val_; }
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void tau_est(std::array<float, 12>&& _val_) { this->tau_est_ = _val_; }
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const std::array<float, 12>& tmp() const { return this->tmp_; }
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std::array<float, 12>& tmp() { return this->tmp_; }
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void tmp(const std::array<float, 12>& _val_) { this->tmp_ = _val_; }
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void tmp(std::array<float, 12>&& _val_) { this->tmp_ = _val_; }
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const std::array<float, 4>& contact() const { return this->contact_; }
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std::array<float, 4>& contact() { return this->contact_; }
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void contact(const std::array<float, 4>& _val_) { this->contact_ = _val_; }
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void contact(std::array<float, 4>&& _val_) { this->contact_ = _val_; }
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const std::array<float, 4>& quat() const { return this->quat_; }
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std::array<float, 4>& quat() { return this->quat_; }
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void quat(const std::array<float, 4>& _val_) { this->quat_ = _val_; }
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void quat(std::array<float, 4>&& _val_) { this->quat_ = _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 imu_tmp() const { return this->imu_tmp_; }
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uint8_t& imu_tmp() { return this->imu_tmp_; }
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void imu_tmp(uint8_t _val_) { this->imu_tmp_ = _val_; }
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float voltage() const { return this->voltage_; }
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float& voltage() { return this->voltage_; }
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void voltage(float _val_) { this->voltage_ = _val_; }
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float current() const { return this->current_; }
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float& current() { return this->current_; }
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void current(float _val_) { this->current_ = _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 q_ == _other.q_ &&
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dq_ == _other.dq_ &&
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ddq_ == _other.ddq_ &&
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tau_est_ == _other.tau_est_ &&
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tmp_ == _other.tmp_ &&
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contact_ == _other.contact_ &&
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quat_ == _other.quat_ &&
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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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imu_tmp_ == _other.imu_tmp_ &&
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voltage_ == _other.voltage_ &&
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current_ == _other.current_;
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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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#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::LowState>::getTypeName()
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{
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return "msgs::LowState";
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}
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template <> constexpr bool TopicTraits<::msgs::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<::msgs::LowState>::type_map_blob_sz() { return 930; }
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template<> constexpr unsigned int TopicTraits<::msgs::LowState>::type_info_blob_sz() { return 100; }
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template<> inline const uint8_t * TopicTraits<::msgs::LowState>::type_map_blob() {
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static const uint8_t blob[] = {
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0x73, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xec, 0xa8, 0x61, 0xd2, 0xd7, 0x0d, 0xa1,
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0x5b, 0xdc, 0x10, 0x55, 0xb8, 0xdc, 0x20, 0x00, 0x5b, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x4b, 0x01, 0x00, 0x00, 0x0d, 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, 0x0c, 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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0x0c, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 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, 0x0c, 0x09, 0xe9, 0x16,
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0x89, 0x09, 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, 0x0c, 0x09, 0x8a, 0xf7, 0xae, 0xdf, 0x00, 0x00,
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0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0xfa, 0x81, 0x6e, 0xdb, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
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0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0x04, 0x09, 0x2f, 0x8a, 0x6b, 0xf3, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x21, 0xd7,
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0xdc, 0x6a, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x41, 0xe1, 0xdb, 0x58, 0x00, 0x00,
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0x16, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x98, 0x30, 0x99, 0x65, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
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0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0x03, 0x09, 0xb0, 0x7d, 0x92, 0xed, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x02, 0x04, 0x25, 0x70, 0x6e, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x09, 0xe4, 0x37, 0xba, 0x43, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x09, 0x43, 0xb5, 0xc9, 0x17, 0x00, 0xfe, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0xf2, 0xf7, 0x0b, 0xf4, 0x7b, 0xfb, 0x17, 0xea, 0xce, 0xcb, 0x7f, 0x4c, 0xbc, 0x81, 0x4c, 0x00,
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0xe6, 0x01, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x17, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x0f, 0x00, 0x00, 0x00, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x4c, 0x6f, 0x77, 0x53, 0x74, 0x61,
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0x74, 0x65, 0x00, 0x00, 0xc2, 0x01, 0x00, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0x0c, 0x09, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x1d, 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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0x0c, 0x09, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x1e, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x64, 0x71, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
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0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x61, 0x63, 0x63, 0x65,
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0x6c, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
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0x72, 0x70, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x02, 0x00, 0x08, 0x00, 0x00, 0x00, 0x69, 0x6d, 0x75, 0x5f, 0x74, 0x6d, 0x70, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00,
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0x08, 0x00, 0x00, 0x00, 0x76, 0x6f, 0x6c, 0x74, 0x61, 0x67, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00,
|
|
0x16, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x08, 0x00, 0x00, 0x00,
|
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0x63, 0x75, 0x72, 0x72, 0x65, 0x6e, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
|
|
0x01, 0x00, 0x00, 0x00, 0xf2, 0xf7, 0x0b, 0xf4, 0x7b, 0xfb, 0x17, 0xea, 0xce, 0xcb, 0x7f, 0x4c,
|
|
0xbc, 0x81, 0x4c, 0xf1, 0xec, 0xa8, 0x61, 0xd2, 0xd7, 0x0d, 0xa1, 0x5b, 0xdc, 0x10, 0x55, 0xb8,
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0xdc, 0x20, };
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return blob;
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}
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template<> inline const uint8_t * TopicTraits<::msgs::LowState>::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,
|
|
0x14, 0x00, 0x00, 0x00, 0xf1, 0xec, 0xa8, 0x61, 0xd2, 0xd7, 0x0d, 0xa1, 0x5b, 0xdc, 0x10, 0x55,
|
|
0xb8, 0xdc, 0x20, 0x00, 0x5f, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
|
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
|
|
0x14, 0x00, 0x00, 0x00, 0xf2, 0xf7, 0x0b, 0xf4, 0x7b, 0xfb, 0x17, 0xea, 0xce, 0xcb, 0x7f, 0x4c,
|
|
0xbc, 0x81, 0x4c, 0x00, 0xea, 0x01, 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::LowState>
|
|
{
|
|
static std::string value()
|
|
{
|
|
return org::eclipse::cyclonedds::topic::TopicTraits<::msgs::LowState>::getTypeName();
|
|
}
|
|
};
|
|
|
|
}
|
|
}
|
|
|
|
REGISTER_TOPIC_TYPE(::msgs::LowState)
|
|
|
|
namespace org{
|
|
namespace eclipse{
|
|
namespace cyclonedds{
|
|
namespace core{
|
|
namespace cdr{
|
|
|
|
template<>
|
|
propvec &get_type_props<::msgs::LowState>();
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool write(T& streamer, const ::msgs::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 (!write(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 (!write(streamer, instance.dq()[0], instance.dq().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 (!write(streamer, instance.ddq()[0], instance.ddq().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 (!write(streamer, instance.tau_est()[0], instance.tau_est().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.tmp()[0], instance.tmp().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 (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!write(streamer, instance.contact()[0], instance.contact().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!write(streamer, instance.quat()[0], instance.quat().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!write(streamer, instance.gyro()[0], instance.gyro().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 (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!write(streamer, instance.accel()[0], instance.accel().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
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.rpy()[0], instance.rpy().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.imu_tmp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.voltage()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.current()))
|
|
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 ::msgs::LowState& instance, bool as_key) {
|
|
auto &props = get_type_props<::msgs::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, ::msgs::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.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 (!read(streamer, instance.dq()[0], instance.dq().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 (!read(streamer, instance.ddq()[0], instance.ddq().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.tau_est()[0], instance.tau_est().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.tmp()[0], instance.tmp().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 (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!read(streamer, instance.contact()[0], instance.contact().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!read(streamer, instance.quat()[0], instance.quat().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!read(streamer, instance.gyro()[0], instance.gyro().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 (!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 9:
|
|
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 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.imu_tmp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.voltage()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.current()))
|
|
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::LowState& instance, bool as_key) {
|
|
auto &props = get_type_props<::msgs::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 ::msgs::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.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.dq()[0], instance.dq().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.ddq()[0], instance.ddq().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.tau_est()[0], instance.tau_est().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.tmp()[0], instance.tmp().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 (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.contact()[0], instance.contact().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.quat()[0], instance.quat().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.gyro()[0], instance.gyro().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 (!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 9:
|
|
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 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.imu_tmp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.voltage()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.current()))
|
|
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::LowState& instance, bool as_key) {
|
|
auto &props = get_type_props<::msgs::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 ::msgs::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.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.dq()[0], instance.dq().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.ddq()[0], instance.ddq().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.tau_est()[0], instance.tau_est().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.tmp()[0], instance.tmp().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 (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.contact()[0], instance.contact().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.quat()[0], instance.quat().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.gyro()[0], instance.gyro().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 (!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 9:
|
|
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 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.imu_tmp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.voltage()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.current()))
|
|
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::LowState& instance, bool as_key) {
|
|
auto &props = get_type_props<::msgs::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
|