553 lines
20 KiB
C++
553 lines
20 KiB
C++
/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: LowCmd.idl
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Source: LowCmd.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_LOWCMD_HPP
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#define DDSCXX_LOWCMD_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 LowCmd
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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> tau_ff_ = { };
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std::array<float, 12> kp_ = { };
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std::array<float, 12> kv_ = { };
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uint8_t e_stop_ = 0;
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public:
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LowCmd() = default;
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explicit LowCmd(
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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>& tau_ff,
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const std::array<float, 12>& kp,
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const std::array<float, 12>& kv,
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uint8_t e_stop) :
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q_(q),
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dq_(dq),
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tau_ff_(tau_ff),
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kp_(kp),
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kv_(kv),
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e_stop_(e_stop) { }
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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>& tau_ff() const { return this->tau_ff_; }
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std::array<float, 12>& tau_ff() { return this->tau_ff_; }
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void tau_ff(const std::array<float, 12>& _val_) { this->tau_ff_ = _val_; }
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void tau_ff(std::array<float, 12>&& _val_) { this->tau_ff_ = _val_; }
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const std::array<float, 12>& kp() const { return this->kp_; }
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std::array<float, 12>& kp() { return this->kp_; }
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void kp(const std::array<float, 12>& _val_) { this->kp_ = _val_; }
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void kp(std::array<float, 12>&& _val_) { this->kp_ = _val_; }
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const std::array<float, 12>& kv() const { return this->kv_; }
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std::array<float, 12>& kv() { return this->kv_; }
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void kv(const std::array<float, 12>& _val_) { this->kv_ = _val_; }
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void kv(std::array<float, 12>&& _val_) { this->kv_ = _val_; }
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uint8_t e_stop() const { return this->e_stop_; }
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uint8_t& e_stop() { return this->e_stop_; }
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void e_stop(uint8_t _val_) { this->e_stop_ = _val_; }
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bool operator==(const LowCmd& _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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tau_ff_ == _other.tau_ff_ &&
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kp_ == _other.kp_ &&
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kv_ == _other.kv_ &&
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e_stop_ == _other.e_stop_;
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}
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bool operator!=(const LowCmd& _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::LowCmd>::getTypeName()
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{
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return "msgs::LowCmd";
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}
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template <> constexpr bool TopicTraits<::msgs::LowCmd>::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::LowCmd>::type_map_blob_sz() { return 518; }
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template<> constexpr unsigned int TopicTraits<::msgs::LowCmd>::type_info_blob_sz() { return 100; }
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template<> inline const uint8_t * TopicTraits<::msgs::LowCmd>::type_map_blob() {
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static const uint8_t blob[] = {
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0xc7, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x99, 0xbb, 0x1c, 0xa1, 0x69, 0x8f, 0x02,
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0x5f, 0xc8, 0x64, 0x19, 0x21, 0x0b, 0x6a, 0x00, 0xaf, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9f, 0x00, 0x00, 0x00, 0x06, 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, 0x16, 0xfc,
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0x75, 0xc7, 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, 0x26, 0xb5, 0x68, 0xe4, 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, 0x82, 0xd0, 0x91, 0x47, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x41, 0x60, 0xe3, 0x55, 0x00, 0x0d, 0x01, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0xf2, 0x2b, 0x33, 0x3f, 0xba, 0x68, 0xf3, 0xc8, 0xf8, 0xfe, 0xcd, 0x5a,
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0x4f, 0x81, 0xbf, 0x00, 0xf5, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x15, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x4c, 0x6f,
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0x77, 0x43, 0x6d, 0x64, 0x00, 0x00, 0x00, 0x00, 0xd1, 0x00, 0x00, 0x00, 0x06, 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, 0x0c, 0x09, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00,
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0x1d, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x09, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
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0x74, 0x61, 0x75, 0x5f, 0x66, 0x66, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0x00, 0x00, 0x00,
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0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0x0c, 0x09, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x1d, 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, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x76, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00,
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0x07, 0x00, 0x00, 0x00, 0x65, 0x5f, 0x73, 0x74, 0x6f, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x2b, 0x33, 0x3f, 0xba, 0x68, 0xf3, 0xc8,
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0xf8, 0xfe, 0xcd, 0x5a, 0x4f, 0x81, 0xbf, 0xf1, 0x99, 0xbb, 0x1c, 0xa1, 0x69, 0x8f, 0x02, 0x5f,
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0xc8, 0x64, 0x19, 0x21, 0x0b, 0x6a, };
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return blob;
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}
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template<> inline const uint8_t * TopicTraits<::msgs::LowCmd>::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, 0x99, 0xbb, 0x1c, 0xa1, 0x69, 0x8f, 0x02, 0x5f, 0xc8, 0x64, 0x19,
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0x21, 0x0b, 0x6a, 0x00, 0xb3, 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, 0x2b, 0x33, 0x3f, 0xba, 0x68, 0xf3, 0xc8, 0xf8, 0xfe, 0xcd, 0x5a,
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0x4f, 0x81, 0xbf, 0x00, 0xf9, 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::LowCmd>
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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::LowCmd>::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::LowCmd)
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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::LowCmd>();
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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::LowCmd& 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.dq()[0], instance.dq().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.tau_ff()[0], instance.tau_ff().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.kp()[0], instance.kp().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 (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.kv()[0], instance.kv().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 5:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.e_stop()))
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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::LowCmd& instance, bool as_key) {
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auto &props = get_type_props<::msgs::LowCmd>();
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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::LowCmd& 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.dq()[0], instance.dq().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 (!read(streamer, instance.tau_ff()[0], instance.tau_ff().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 (!read(streamer, instance.kp()[0], instance.kp().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 (!streamer.start_consecutive(true, true))
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return false;
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if (!read(streamer, instance.kv()[0], instance.kv().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 5:
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if (!streamer.start_member(*prop))
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return false;
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if (!read(streamer, instance.e_stop()))
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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 read(S& str, ::msgs::LowCmd& instance, bool as_key) {
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auto &props = get_type_props<::msgs::LowCmd>();
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str.set_mode(cdr_stream::stream_mode::read, as_key);
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return read(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 >
|
|
bool move(T& streamer, const ::msgs::LowCmd& 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.tau_ff()[0], instance.tau_ff().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.kp()[0], instance.kp().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.kv()[0], instance.kv().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.e_stop()))
|
|
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::LowCmd& instance, bool as_key) {
|
|
auto &props = get_type_props<::msgs::LowCmd>();
|
|
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::LowCmd& 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.tau_ff()[0], instance.tau_ff().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.kp()[0], instance.kp().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.kv()[0], instance.kv().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.e_stop()))
|
|
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::LowCmd& instance, bool as_key) {
|
|
auto &props = get_type_props<::msgs::LowCmd>();
|
|
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_LOWCMD_HPP
|