966 lines
36 KiB
C++
966 lines
36 KiB
C++
/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: LidarState_.idl
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Source: LidarState_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_LIDARSTATE__HPP
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#define DDSCXX_LIDARSTATE__HPP
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#include <cstdint>
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#include <array>
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#include <string>
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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 LidarState_
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{
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private:
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double stamp_ = 0.0;
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std::string firmware_version_;
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std::string software_version_;
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std::string sdk_version_;
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float sys_rotation_speed_ = 0.0f;
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float com_rotation_speed_ = 0.0f;
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uint8_t error_state_ = 0;
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float cloud_frequency_ = 0.0f;
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float cloud_packet_loss_rate_ = 0.0f;
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uint32_t cloud_size_ = 0;
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uint32_t cloud_scan_num_ = 0;
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float imu_frequency_ = 0.0f;
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float imu_packet_loss_rate_ = 0.0f;
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std::array<float, 3> imu_rpy_ = { };
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double serial_recv_stamp_ = 0.0;
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uint32_t serial_buffer_size_ = 0;
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uint32_t serial_buffer_read_ = 0;
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public:
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LidarState_() = default;
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explicit LidarState_(
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double stamp,
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const std::string& firmware_version,
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const std::string& software_version,
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const std::string& sdk_version,
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float sys_rotation_speed,
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float com_rotation_speed,
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uint8_t error_state,
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float cloud_frequency,
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float cloud_packet_loss_rate,
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uint32_t cloud_size,
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uint32_t cloud_scan_num,
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float imu_frequency,
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float imu_packet_loss_rate,
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const std::array<float, 3>& imu_rpy,
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double serial_recv_stamp,
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uint32_t serial_buffer_size,
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uint32_t serial_buffer_read) :
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stamp_(stamp),
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firmware_version_(firmware_version),
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software_version_(software_version),
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sdk_version_(sdk_version),
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sys_rotation_speed_(sys_rotation_speed),
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com_rotation_speed_(com_rotation_speed),
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error_state_(error_state),
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cloud_frequency_(cloud_frequency),
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cloud_packet_loss_rate_(cloud_packet_loss_rate),
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cloud_size_(cloud_size),
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cloud_scan_num_(cloud_scan_num),
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imu_frequency_(imu_frequency),
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imu_packet_loss_rate_(imu_packet_loss_rate),
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imu_rpy_(imu_rpy),
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serial_recv_stamp_(serial_recv_stamp),
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serial_buffer_size_(serial_buffer_size),
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serial_buffer_read_(serial_buffer_read) { }
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double stamp() const { return this->stamp_; }
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double& stamp() { return this->stamp_; }
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void stamp(double _val_) { this->stamp_ = _val_; }
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const std::string& firmware_version() const { return this->firmware_version_; }
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std::string& firmware_version() { return this->firmware_version_; }
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void firmware_version(const std::string& _val_) { this->firmware_version_ = _val_; }
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void firmware_version(std::string&& _val_) { this->firmware_version_ = _val_; }
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const std::string& software_version() const { return this->software_version_; }
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std::string& software_version() { return this->software_version_; }
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void software_version(const std::string& _val_) { this->software_version_ = _val_; }
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void software_version(std::string&& _val_) { this->software_version_ = _val_; }
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const std::string& sdk_version() const { return this->sdk_version_; }
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std::string& sdk_version() { return this->sdk_version_; }
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void sdk_version(const std::string& _val_) { this->sdk_version_ = _val_; }
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void sdk_version(std::string&& _val_) { this->sdk_version_ = _val_; }
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float sys_rotation_speed() const { return this->sys_rotation_speed_; }
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float& sys_rotation_speed() { return this->sys_rotation_speed_; }
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void sys_rotation_speed(float _val_) { this->sys_rotation_speed_ = _val_; }
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float com_rotation_speed() const { return this->com_rotation_speed_; }
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float& com_rotation_speed() { return this->com_rotation_speed_; }
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void com_rotation_speed(float _val_) { this->com_rotation_speed_ = _val_; }
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uint8_t error_state() const { return this->error_state_; }
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uint8_t& error_state() { return this->error_state_; }
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void error_state(uint8_t _val_) { this->error_state_ = _val_; }
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float cloud_frequency() const { return this->cloud_frequency_; }
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float& cloud_frequency() { return this->cloud_frequency_; }
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void cloud_frequency(float _val_) { this->cloud_frequency_ = _val_; }
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float cloud_packet_loss_rate() const { return this->cloud_packet_loss_rate_; }
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float& cloud_packet_loss_rate() { return this->cloud_packet_loss_rate_; }
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void cloud_packet_loss_rate(float _val_) { this->cloud_packet_loss_rate_ = _val_; }
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uint32_t cloud_size() const { return this->cloud_size_; }
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uint32_t& cloud_size() { return this->cloud_size_; }
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void cloud_size(uint32_t _val_) { this->cloud_size_ = _val_; }
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uint32_t cloud_scan_num() const { return this->cloud_scan_num_; }
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uint32_t& cloud_scan_num() { return this->cloud_scan_num_; }
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void cloud_scan_num(uint32_t _val_) { this->cloud_scan_num_ = _val_; }
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float imu_frequency() const { return this->imu_frequency_; }
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float& imu_frequency() { return this->imu_frequency_; }
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void imu_frequency(float _val_) { this->imu_frequency_ = _val_; }
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float imu_packet_loss_rate() const { return this->imu_packet_loss_rate_; }
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float& imu_packet_loss_rate() { return this->imu_packet_loss_rate_; }
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void imu_packet_loss_rate(float _val_) { this->imu_packet_loss_rate_ = _val_; }
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const std::array<float, 3>& imu_rpy() const { return this->imu_rpy_; }
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std::array<float, 3>& imu_rpy() { return this->imu_rpy_; }
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void imu_rpy(const std::array<float, 3>& _val_) { this->imu_rpy_ = _val_; }
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void imu_rpy(std::array<float, 3>&& _val_) { this->imu_rpy_ = _val_; }
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double serial_recv_stamp() const { return this->serial_recv_stamp_; }
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double& serial_recv_stamp() { return this->serial_recv_stamp_; }
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void serial_recv_stamp(double _val_) { this->serial_recv_stamp_ = _val_; }
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uint32_t serial_buffer_size() const { return this->serial_buffer_size_; }
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uint32_t& serial_buffer_size() { return this->serial_buffer_size_; }
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void serial_buffer_size(uint32_t _val_) { this->serial_buffer_size_ = _val_; }
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uint32_t serial_buffer_read() const { return this->serial_buffer_read_; }
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uint32_t& serial_buffer_read() { return this->serial_buffer_read_; }
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void serial_buffer_read(uint32_t _val_) { this->serial_buffer_read_ = _val_; }
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bool operator==(const LidarState_& _other) const
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{
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(void) _other;
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return stamp_ == _other.stamp_ &&
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firmware_version_ == _other.firmware_version_ &&
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software_version_ == _other.software_version_ &&
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sdk_version_ == _other.sdk_version_ &&
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sys_rotation_speed_ == _other.sys_rotation_speed_ &&
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com_rotation_speed_ == _other.com_rotation_speed_ &&
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error_state_ == _other.error_state_ &&
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cloud_frequency_ == _other.cloud_frequency_ &&
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cloud_packet_loss_rate_ == _other.cloud_packet_loss_rate_ &&
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cloud_size_ == _other.cloud_size_ &&
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cloud_scan_num_ == _other.cloud_scan_num_ &&
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imu_frequency_ == _other.imu_frequency_ &&
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imu_packet_loss_rate_ == _other.imu_packet_loss_rate_ &&
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imu_rpy_ == _other.imu_rpy_ &&
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serial_recv_stamp_ == _other.serial_recv_stamp_ &&
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serial_buffer_size_ == _other.serial_buffer_size_ &&
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serial_buffer_read_ == _other.serial_buffer_read_;
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}
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bool operator!=(const LidarState_& _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_::LidarState_>::getTypeName()
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{
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return "unitree_go::msg::dds_::LidarState_";
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}
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template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LidarState_>::isSelfContained()
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{
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return false;
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}
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template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LidarState_>::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_::LidarState_>::type_map_blob_sz() { return 1074; }
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LidarState_>::type_info_blob_sz() { return 100; }
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template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LidarState_>::type_map_blob() {
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static const uint8_t blob[] = {
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0x65, 0x74, 0x5f, 0x6c, 0x6f, 0x73, 0x73, 0x5f, 0x72, 0x61, 0x74, 0x65, 0x00, 0x00, 0x00, 0x00,
|
|
0x22, 0x00, 0x00, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
|
0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x69, 0x6d, 0x75, 0x5f,
|
|
0x72, 0x70, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00,
|
|
0x01, 0x00, 0x0a, 0x00, 0x12, 0x00, 0x00, 0x00, 0x73, 0x65, 0x72, 0x69, 0x61, 0x6c, 0x5f, 0x72,
|
|
0x65, 0x63, 0x76, 0x5f, 0x73, 0x74, 0x61, 0x6d, 0x70, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00,
|
|
0x0f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x13, 0x00, 0x00, 0x00, 0x73, 0x65, 0x72, 0x69,
|
|
0x61, 0x6c, 0x5f, 0x62, 0x75, 0x66, 0x66, 0x65, 0x72, 0x5f, 0x73, 0x69, 0x7a, 0x65, 0x00, 0x00,
|
|
0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00,
|
|
0x13, 0x00, 0x00, 0x00, 0x73, 0x65, 0x72, 0x69, 0x61, 0x6c, 0x5f, 0x62, 0x75, 0x66, 0x66, 0x65,
|
|
0x72, 0x5f, 0x72, 0x65, 0x61, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
|
|
0x01, 0x00, 0x00, 0x00, 0xf2, 0x8f, 0xa2, 0x92, 0x4c, 0x6c, 0x0a, 0x28, 0x18, 0x4a, 0x23, 0xb6,
|
|
0xc9, 0xbe, 0x51, 0xf1, 0xf6, 0x59, 0xd0, 0x29, 0xcd, 0xc5, 0x85, 0x69, 0x67, 0x4f, 0xce, 0x4d,
|
|
0x79, 0x1a, };
|
|
return blob;
|
|
}
|
|
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LidarState_>::type_info_blob() {
|
|
static const uint8_t blob[] = {
|
|
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
|
|
0x14, 0x00, 0x00, 0x00, 0xf1, 0xf6, 0x59, 0xd0, 0x29, 0xcd, 0xc5, 0x85, 0x69, 0x67, 0x4f, 0xce,
|
|
0x4d, 0x79, 0x1a, 0x00, 0x33, 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, 0x8f, 0xa2, 0x92, 0x4c, 0x6c, 0x0a, 0x28, 0x18, 0x4a, 0x23, 0xb6,
|
|
0xc9, 0xbe, 0x51, 0x00, 0xa5, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
|
0x00, 0x00, 0x00, 0x00, };
|
|
return blob;
|
|
}
|
|
#endif //DDSCXX_HAS_TYPE_DISCOVERY
|
|
|
|
} //namespace topic
|
|
} //namespace cyclonedds
|
|
} //namespace eclipse
|
|
} //namespace org
|
|
|
|
namespace dds {
|
|
namespace topic {
|
|
|
|
template <>
|
|
struct topic_type_name<::unitree_go::msg::dds_::LidarState_>
|
|
{
|
|
static std::string value()
|
|
{
|
|
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::LidarState_>::getTypeName();
|
|
}
|
|
};
|
|
|
|
}
|
|
}
|
|
|
|
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LidarState_)
|
|
|
|
namespace org{
|
|
namespace eclipse{
|
|
namespace cyclonedds{
|
|
namespace core{
|
|
namespace cdr{
|
|
|
|
template<>
|
|
propvec &get_type_props<::unitree_go::msg::dds_::LidarState_>();
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool write(T& streamer, const ::unitree_go::msg::dds_::LidarState_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.stamp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write_string(streamer, instance.firmware_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write_string(streamer, instance.software_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write_string(streamer, instance.sdk_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.sys_rotation_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.com_rotation_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.error_state()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.cloud_frequency()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.cloud_packet_loss_rate()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 9:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.cloud_size()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.cloud_scan_num()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.imu_frequency()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.imu_packet_loss_rate()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 13:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!write(streamer, instance.imu_rpy()[0], instance.imu_rpy().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 14:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.serial_recv_stamp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 15:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.serial_buffer_size()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 16:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.serial_buffer_read()))
|
|
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_::LidarState_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>();
|
|
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_::LidarState_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.stamp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read_string(streamer, instance.firmware_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read_string(streamer, instance.software_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read_string(streamer, instance.sdk_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.sys_rotation_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.com_rotation_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.error_state()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.cloud_frequency()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.cloud_packet_loss_rate()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 9:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.cloud_size()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.cloud_scan_num()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.imu_frequency()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.imu_packet_loss_rate()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 13:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!read(streamer, instance.imu_rpy()[0], instance.imu_rpy().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 14:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.serial_recv_stamp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 15:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.serial_buffer_size()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 16:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.serial_buffer_read()))
|
|
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_::LidarState_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>();
|
|
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_::LidarState_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.stamp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move_string(streamer, instance.firmware_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move_string(streamer, instance.software_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move_string(streamer, instance.sdk_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.sys_rotation_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.com_rotation_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.error_state()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.cloud_frequency()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.cloud_packet_loss_rate()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 9:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.cloud_size()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.cloud_scan_num()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.imu_frequency()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.imu_packet_loss_rate()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 13:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.imu_rpy()[0], instance.imu_rpy().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 14:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.serial_recv_stamp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 15:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.serial_buffer_size()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 16:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.serial_buffer_read()))
|
|
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_::LidarState_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>();
|
|
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_::LidarState_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.stamp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max_string(streamer, instance.firmware_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max_string(streamer, instance.software_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max_string(streamer, instance.sdk_version(), 0))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.sys_rotation_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.com_rotation_speed()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.error_state()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.cloud_frequency()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.cloud_packet_loss_rate()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 9:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.cloud_size()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 10:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.cloud_scan_num()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 11:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.imu_frequency()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 12:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.imu_packet_loss_rate()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 13:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.imu_rpy()[0], instance.imu_rpy().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 14:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.serial_recv_stamp()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 15:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.serial_buffer_size()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 16:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.serial_buffer_read()))
|
|
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_::LidarState_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::LidarState_>();
|
|
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_LIDARSTATE__HPP
|