856 lines
32 KiB
C++
856 lines
32 KiB
C++
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: BmsState_.idl
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Source: BmsState_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_UNITREE_IDL_HG_BMSSTATE__HPP
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#define DDSCXX_UNITREE_IDL_HG_BMSSTATE__HPP
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#include <cstdint>
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#include <array>
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namespace unitree_hg
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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 BmsState_
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{
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private:
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uint8_t version_high_ = 0;
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uint8_t version_low_ = 0;
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uint8_t fn_ = 0;
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std::array<uint16_t, 40> cell_vol_ = { };
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std::array<uint32_t, 3> bmsvoltage_ = { };
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int32_t current_ = 0;
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uint8_t soc_ = 0;
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uint8_t soh_ = 0;
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std::array<int16_t, 12> temperature_ = { };
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uint16_t cycle_ = 0;
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uint16_t manufacturer_date_ = 0;
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std::array<uint32_t, 5> bmsstate_ = { };
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std::array<uint32_t, 3> reserve_ = { };
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public:
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BmsState_() = default;
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explicit BmsState_(
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uint8_t version_high,
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uint8_t version_low,
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uint8_t fn,
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const std::array<uint16_t, 40>& cell_vol,
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const std::array<uint32_t, 3>& bmsvoltage,
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int32_t current,
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uint8_t soc,
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uint8_t soh,
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const std::array<int16_t, 12>& temperature,
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uint16_t cycle,
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uint16_t manufacturer_date,
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const std::array<uint32_t, 5>& bmsstate,
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const std::array<uint32_t, 3>& reserve) :
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version_high_(version_high),
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version_low_(version_low),
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fn_(fn),
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cell_vol_(cell_vol),
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bmsvoltage_(bmsvoltage),
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current_(current),
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soc_(soc),
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soh_(soh),
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temperature_(temperature),
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cycle_(cycle),
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manufacturer_date_(manufacturer_date),
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bmsstate_(bmsstate),
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reserve_(reserve) { }
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uint8_t version_high() const { return this->version_high_; }
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uint8_t& version_high() { return this->version_high_; }
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void version_high(uint8_t _val_) { this->version_high_ = _val_; }
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uint8_t version_low() const { return this->version_low_; }
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uint8_t& version_low() { return this->version_low_; }
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void version_low(uint8_t _val_) { this->version_low_ = _val_; }
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uint8_t fn() const { return this->fn_; }
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uint8_t& fn() { return this->fn_; }
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void fn(uint8_t _val_) { this->fn_ = _val_; }
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const std::array<uint16_t, 40>& cell_vol() const { return this->cell_vol_; }
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std::array<uint16_t, 40>& cell_vol() { return this->cell_vol_; }
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void cell_vol(const std::array<uint16_t, 40>& _val_) { this->cell_vol_ = _val_; }
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void cell_vol(std::array<uint16_t, 40>&& _val_) { this->cell_vol_ = _val_; }
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const std::array<uint32_t, 3>& bmsvoltage() const { return this->bmsvoltage_; }
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std::array<uint32_t, 3>& bmsvoltage() { return this->bmsvoltage_; }
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void bmsvoltage(const std::array<uint32_t, 3>& _val_) { this->bmsvoltage_ = _val_; }
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void bmsvoltage(std::array<uint32_t, 3>&& _val_) { this->bmsvoltage_ = _val_; }
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int32_t current() const { return this->current_; }
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int32_t& current() { return this->current_; }
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void current(int32_t _val_) { this->current_ = _val_; }
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uint8_t soc() const { return this->soc_; }
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uint8_t& soc() { return this->soc_; }
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void soc(uint8_t _val_) { this->soc_ = _val_; }
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uint8_t soh() const { return this->soh_; }
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uint8_t& soh() { return this->soh_; }
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void soh(uint8_t _val_) { this->soh_ = _val_; }
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const std::array<int16_t, 12>& temperature() const { return this->temperature_; }
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std::array<int16_t, 12>& temperature() { return this->temperature_; }
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void temperature(const std::array<int16_t, 12>& _val_) { this->temperature_ = _val_; }
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void temperature(std::array<int16_t, 12>&& _val_) { this->temperature_ = _val_; }
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uint16_t cycle() const { return this->cycle_; }
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uint16_t& cycle() { return this->cycle_; }
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void cycle(uint16_t _val_) { this->cycle_ = _val_; }
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uint16_t manufacturer_date() const { return this->manufacturer_date_; }
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uint16_t& manufacturer_date() { return this->manufacturer_date_; }
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void manufacturer_date(uint16_t _val_) { this->manufacturer_date_ = _val_; }
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const std::array<uint32_t, 5>& bmsstate() const { return this->bmsstate_; }
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std::array<uint32_t, 5>& bmsstate() { return this->bmsstate_; }
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void bmsstate(const std::array<uint32_t, 5>& _val_) { this->bmsstate_ = _val_; }
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void bmsstate(std::array<uint32_t, 5>&& _val_) { this->bmsstate_ = _val_; }
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const std::array<uint32_t, 3>& reserve() const { return this->reserve_; }
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std::array<uint32_t, 3>& reserve() { return this->reserve_; }
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void reserve(const std::array<uint32_t, 3>& _val_) { this->reserve_ = _val_; }
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void reserve(std::array<uint32_t, 3>&& _val_) { this->reserve_ = _val_; }
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bool operator==(const BmsState_& _other) const
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{
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(void) _other;
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return version_high_ == _other.version_high_ &&
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version_low_ == _other.version_low_ &&
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fn_ == _other.fn_ &&
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cell_vol_ == _other.cell_vol_ &&
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bmsvoltage_ == _other.bmsvoltage_ &&
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current_ == _other.current_ &&
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soc_ == _other.soc_ &&
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soh_ == _other.soh_ &&
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temperature_ == _other.temperature_ &&
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cycle_ == _other.cycle_ &&
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manufacturer_date_ == _other.manufacturer_date_ &&
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bmsstate_ == _other.bmsstate_ &&
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reserve_ == _other.reserve_;
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}
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bool operator!=(const BmsState_& _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_hg::msg::dds_::BmsState_>::getTypeName()
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{
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return "unitree_hg::msg::dds_::BmsState_";
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}
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template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::BmsState_>::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_hg::msg::dds_::BmsState_>::type_map_blob_sz() { return 874; }
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template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::BmsState_>::type_info_blob_sz() { return 100; }
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template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::BmsState_>::type_map_blob() {
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static const uint8_t blob[] = {
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0x36, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0x98, 0xd8, 0x09, 0xa6, 0x3f, 0x63,
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0xc7, 0xcb, 0x31, 0xa8, 0x18, 0x50, 0x6b, 0x00, 0x1e, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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||
|
|
0x62, 0x6d, 0x73, 0x73, 0x74, 0x61, 0x74, 0x65, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
|
||
|
|
0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||
|
|
0x03, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00,
|
||
|
|
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xdb, 0xa6,
|
||
|
|
0x86, 0x24, 0x98, 0xf5, 0x54, 0xba, 0x92, 0x7b, 0xa1, 0x8d, 0xe0, 0xf1, 0x4b, 0x98, 0xd8, 0x09,
|
||
|
|
0xa6, 0x3f, 0x63, 0xc7, 0xcb, 0x31, 0xa8, 0x18, 0x50, 0x6b, };
|
||
|
|
return blob;
|
||
|
|
}
|
||
|
|
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::BmsState_>::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, 0x4b, 0x98, 0xd8, 0x09, 0xa6, 0x3f, 0x63, 0xc7, 0xcb, 0x31, 0xa8,
|
||
|
|
0x18, 0x50, 0x6b, 0x00, 0x22, 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, 0x0c, 0xdb, 0xa6, 0x86, 0x24, 0x98, 0xf5, 0x54, 0xba, 0x92, 0x7b,
|
||
|
|
0xa1, 0x8d, 0xe0, 0x00, 0xee, 0x01, 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_hg::msg::dds_::BmsState_>
|
||
|
|
{
|
||
|
|
static std::string value()
|
||
|
|
{
|
||
|
|
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::BmsState_>::getTypeName();
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::BmsState_)
|
||
|
|
|
||
|
|
namespace org{
|
||
|
|
namespace eclipse{
|
||
|
|
namespace cyclonedds{
|
||
|
|
namespace core{
|
||
|
|
namespace cdr{
|
||
|
|
|
||
|
|
template<>
|
||
|
|
propvec &get_type_props<::unitree_hg::msg::dds_::BmsState_>();
|
||
|
|
|
||
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||
|
|
bool write(T& streamer, const ::unitree_hg::msg::dds_::BmsState_& 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.version_high()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.version_low()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.fn()))
|
||
|
|
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.cell_vol()[0], instance.cell_vol().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.bmsvoltage()[0], instance.bmsvoltage().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 5:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.current()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.soc()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.soh()))
|
||
|
|
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.temperature()[0], instance.temperature().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 (!write(streamer, instance.cycle()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.manufacturer_date()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 11:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.bmsstate()[0], instance.bmsstate().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 12:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!write(streamer, instance.reserve()[0], instance.reserve().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
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_hg::msg::dds_::BmsState_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_hg::msg::dds_::BmsState_>();
|
||
|
|
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_hg::msg::dds_::BmsState_& 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.version_high()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.version_low()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.fn()))
|
||
|
|
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.cell_vol()[0], instance.cell_vol().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.bmsvoltage()[0], instance.bmsvoltage().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 5:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.current()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.soc()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.soh()))
|
||
|
|
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.temperature()[0], instance.temperature().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 (!read(streamer, instance.cycle()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.manufacturer_date()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 11:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.bmsstate()[0], instance.bmsstate().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 12:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!read(streamer, instance.reserve()[0], instance.reserve().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
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_hg::msg::dds_::BmsState_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_hg::msg::dds_::BmsState_>();
|
||
|
|
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_hg::msg::dds_::BmsState_& 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.version_high()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.version_low()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.fn()))
|
||
|
|
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.cell_vol()[0], instance.cell_vol().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.bmsvoltage()[0], instance.bmsvoltage().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.current()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.soc()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.soh()))
|
||
|
|
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.temperature()[0], instance.temperature().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 (!move(streamer, instance.cycle()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.manufacturer_date()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 11:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.bmsstate()[0], instance.bmsstate().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 12:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!move(streamer, instance.reserve()[0], instance.reserve().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
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_hg::msg::dds_::BmsState_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_hg::msg::dds_::BmsState_>();
|
||
|
|
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_hg::msg::dds_::BmsState_& 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.version_high()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 1:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.version_low()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.fn()))
|
||
|
|
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.cell_vol()[0], instance.cell_vol().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.bmsvoltage()[0], instance.bmsvoltage().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.current()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.soc()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.soh()))
|
||
|
|
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.temperature()[0], instance.temperature().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 (!max(streamer, instance.cycle()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 10:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.manufacturer_date()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 11:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.bmsstate()[0], instance.bmsstate().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_member(*prop))
|
||
|
|
return false;
|
||
|
|
break;
|
||
|
|
case 12:
|
||
|
|
if (!streamer.start_member(*prop))
|
||
|
|
return false;
|
||
|
|
if (!streamer.start_consecutive(true, true))
|
||
|
|
return false;
|
||
|
|
if (!max(streamer, instance.reserve()[0], instance.reserve().size()))
|
||
|
|
return false;
|
||
|
|
if (!streamer.finish_consecutive())
|
||
|
|
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_hg::msg::dds_::BmsState_& instance, bool as_key) {
|
||
|
|
auto &props = get_type_props<::unitree_hg::msg::dds_::BmsState_>();
|
||
|
|
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_UNITREE_IDL_HG_BMSSTATE__HPP
|