init
This commit is contained in:
13
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Normal file
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||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
|
||||
#else
|
||||
/* __ARMCC_VERSION = VRPPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
|
||||
#endif
|
||||
|
||||
|
||||
#elif defined(__clang__) && defined(__apple_build_version__)
|
||||
# define COMPILER_ID "AppleClang"
|
||||
# if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
# endif
|
||||
# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
|
||||
# if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# endif
|
||||
# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
|
||||
|
||||
#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
|
||||
# define COMPILER_ID "ARMClang"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
|
||||
|
||||
#elif defined(__clang__)
|
||||
# define COMPILER_ID "Clang"
|
||||
# if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
# endif
|
||||
# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
|
||||
# if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# endif
|
||||
|
||||
#elif defined(__GNUC__)
|
||||
# define COMPILER_ID "GNU"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
|
||||
# if defined(__GNUC_MINOR__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
|
||||
# endif
|
||||
# if defined(__GNUC_PATCHLEVEL__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif defined(_MSC_VER)
|
||||
# define COMPILER_ID "MSVC"
|
||||
/* _MSC_VER = VVRR */
|
||||
# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# if defined(_MSC_FULL_VER)
|
||||
# if _MSC_VER >= 1400
|
||||
/* _MSC_FULL_VER = VVRRPPPPP */
|
||||
# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
|
||||
# else
|
||||
/* _MSC_FULL_VER = VVRRPPPP */
|
||||
# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
|
||||
# endif
|
||||
# endif
|
||||
# if defined(_MSC_BUILD)
|
||||
# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
|
||||
# endif
|
||||
|
||||
#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
|
||||
# define COMPILER_ID "ADSP"
|
||||
#if defined(__VISUALDSPVERSION__)
|
||||
/* __VISUALDSPVERSION__ = 0xVVRRPP00 */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
|
||||
# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
|
||||
# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
|
||||
#endif
|
||||
|
||||
#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
|
||||
# define COMPILER_ID "IAR"
|
||||
# if defined(__VER__) && defined(__ICCARM__)
|
||||
# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
|
||||
# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
|
||||
# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
|
||||
# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
|
||||
# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
|
||||
# endif
|
||||
|
||||
#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
|
||||
# define COMPILER_ID "SDCC"
|
||||
# if defined(__SDCC_VERSION_MAJOR)
|
||||
# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
|
||||
# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
|
||||
# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
|
||||
# else
|
||||
/* SDCC = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(SDCC/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(SDCC % 10)
|
||||
# endif
|
||||
|
||||
|
||||
/* These compilers are either not known or too old to define an
|
||||
identification macro. Try to identify the platform and guess that
|
||||
it is the native compiler. */
|
||||
#elif defined(__hpux) || defined(__hpua)
|
||||
# define COMPILER_ID "HP"
|
||||
|
||||
#else /* unknown compiler */
|
||||
# define COMPILER_ID ""
|
||||
#endif
|
||||
|
||||
/* Construct the string literal in pieces to prevent the source from
|
||||
getting matched. Store it in a pointer rather than an array
|
||||
because some compilers will just produce instructions to fill the
|
||||
array rather than assigning a pointer to a static array. */
|
||||
char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
|
||||
#ifdef SIMULATE_ID
|
||||
char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
|
||||
#endif
|
||||
|
||||
#ifdef __QNXNTO__
|
||||
char const* qnxnto = "INFO" ":" "qnxnto[]";
|
||||
#endif
|
||||
|
||||
#if defined(__CRAYXE) || defined(__CRAYXC)
|
||||
char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
|
||||
#endif
|
||||
|
||||
#define STRINGIFY_HELPER(X) #X
|
||||
#define STRINGIFY(X) STRINGIFY_HELPER(X)
|
||||
|
||||
/* Identify known platforms by name. */
|
||||
#if defined(__linux) || defined(__linux__) || defined(linux)
|
||||
# define PLATFORM_ID "Linux"
|
||||
|
||||
#elif defined(__CYGWIN__)
|
||||
# define PLATFORM_ID "Cygwin"
|
||||
|
||||
#elif defined(__MINGW32__)
|
||||
# define PLATFORM_ID "MinGW"
|
||||
|
||||
#elif defined(__APPLE__)
|
||||
# define PLATFORM_ID "Darwin"
|
||||
|
||||
#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
|
||||
# define PLATFORM_ID "Windows"
|
||||
|
||||
#elif defined(__FreeBSD__) || defined(__FreeBSD)
|
||||
# define PLATFORM_ID "FreeBSD"
|
||||
|
||||
#elif defined(__NetBSD__) || defined(__NetBSD)
|
||||
# define PLATFORM_ID "NetBSD"
|
||||
|
||||
#elif defined(__OpenBSD__) || defined(__OPENBSD)
|
||||
# define PLATFORM_ID "OpenBSD"
|
||||
|
||||
#elif defined(__sun) || defined(sun)
|
||||
# define PLATFORM_ID "SunOS"
|
||||
|
||||
#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
|
||||
# define PLATFORM_ID "AIX"
|
||||
|
||||
#elif defined(__hpux) || defined(__hpux__)
|
||||
# define PLATFORM_ID "HP-UX"
|
||||
|
||||
#elif defined(__HAIKU__)
|
||||
# define PLATFORM_ID "Haiku"
|
||||
|
||||
#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
|
||||
# define PLATFORM_ID "BeOS"
|
||||
|
||||
#elif defined(__QNX__) || defined(__QNXNTO__)
|
||||
# define PLATFORM_ID "QNX"
|
||||
|
||||
#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
|
||||
# define PLATFORM_ID "Tru64"
|
||||
|
||||
#elif defined(__riscos) || defined(__riscos__)
|
||||
# define PLATFORM_ID "RISCos"
|
||||
|
||||
#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
|
||||
# define PLATFORM_ID "SINIX"
|
||||
|
||||
#elif defined(__UNIX_SV__)
|
||||
# define PLATFORM_ID "UNIX_SV"
|
||||
|
||||
#elif defined(__bsdos__)
|
||||
# define PLATFORM_ID "BSDOS"
|
||||
|
||||
#elif defined(_MPRAS) || defined(MPRAS)
|
||||
# define PLATFORM_ID "MP-RAS"
|
||||
|
||||
#elif defined(__osf) || defined(__osf__)
|
||||
# define PLATFORM_ID "OSF1"
|
||||
|
||||
#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
|
||||
# define PLATFORM_ID "SCO_SV"
|
||||
|
||||
#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
|
||||
# define PLATFORM_ID "ULTRIX"
|
||||
|
||||
#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
|
||||
# define PLATFORM_ID "Xenix"
|
||||
|
||||
#elif defined(__WATCOMC__)
|
||||
# if defined(__LINUX__)
|
||||
# define PLATFORM_ID "Linux"
|
||||
|
||||
# elif defined(__DOS__)
|
||||
# define PLATFORM_ID "DOS"
|
||||
|
||||
# elif defined(__OS2__)
|
||||
# define PLATFORM_ID "OS2"
|
||||
|
||||
# elif defined(__WINDOWS__)
|
||||
# define PLATFORM_ID "Windows3x"
|
||||
|
||||
# else /* unknown platform */
|
||||
# define PLATFORM_ID
|
||||
# endif
|
||||
|
||||
#elif defined(__INTEGRITY)
|
||||
# if defined(INT_178B)
|
||||
# define PLATFORM_ID "Integrity178"
|
||||
|
||||
# else /* regular Integrity */
|
||||
# define PLATFORM_ID "Integrity"
|
||||
# endif
|
||||
|
||||
#else /* unknown platform */
|
||||
# define PLATFORM_ID
|
||||
|
||||
#endif
|
||||
|
||||
/* For windows compilers MSVC and Intel we can determine
|
||||
the architecture of the compiler being used. This is because
|
||||
the compilers do not have flags that can change the architecture,
|
||||
but rather depend on which compiler is being used
|
||||
*/
|
||||
#if defined(_WIN32) && defined(_MSC_VER)
|
||||
# if defined(_M_IA64)
|
||||
# define ARCHITECTURE_ID "IA64"
|
||||
|
||||
# elif defined(_M_X64) || defined(_M_AMD64)
|
||||
# define ARCHITECTURE_ID "x64"
|
||||
|
||||
# elif defined(_M_IX86)
|
||||
# define ARCHITECTURE_ID "X86"
|
||||
|
||||
# elif defined(_M_ARM64)
|
||||
# define ARCHITECTURE_ID "ARM64"
|
||||
|
||||
# elif defined(_M_ARM)
|
||||
# if _M_ARM == 4
|
||||
# define ARCHITECTURE_ID "ARMV4I"
|
||||
# elif _M_ARM == 5
|
||||
# define ARCHITECTURE_ID "ARMV5I"
|
||||
# else
|
||||
# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
|
||||
# endif
|
||||
|
||||
# elif defined(_M_MIPS)
|
||||
# define ARCHITECTURE_ID "MIPS"
|
||||
|
||||
# elif defined(_M_SH)
|
||||
# define ARCHITECTURE_ID "SHx"
|
||||
|
||||
# else /* unknown architecture */
|
||||
# define ARCHITECTURE_ID ""
|
||||
# endif
|
||||
|
||||
#elif defined(__WATCOMC__)
|
||||
# if defined(_M_I86)
|
||||
# define ARCHITECTURE_ID "I86"
|
||||
|
||||
# elif defined(_M_IX86)
|
||||
# define ARCHITECTURE_ID "X86"
|
||||
|
||||
# else /* unknown architecture */
|
||||
# define ARCHITECTURE_ID ""
|
||||
# endif
|
||||
|
||||
#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
|
||||
# if defined(__ICCARM__)
|
||||
# define ARCHITECTURE_ID "ARM"
|
||||
|
||||
# elif defined(__ICCRX__)
|
||||
# define ARCHITECTURE_ID "RX"
|
||||
|
||||
# elif defined(__ICCRH850__)
|
||||
# define ARCHITECTURE_ID "RH850"
|
||||
|
||||
# elif defined(__ICCRL78__)
|
||||
# define ARCHITECTURE_ID "RL78"
|
||||
|
||||
# elif defined(__ICCRISCV__)
|
||||
# define ARCHITECTURE_ID "RISCV"
|
||||
|
||||
# elif defined(__ICCAVR__)
|
||||
# define ARCHITECTURE_ID "AVR"
|
||||
|
||||
# elif defined(__ICC430__)
|
||||
# define ARCHITECTURE_ID "MSP430"
|
||||
|
||||
# elif defined(__ICCV850__)
|
||||
# define ARCHITECTURE_ID "V850"
|
||||
|
||||
# elif defined(__ICC8051__)
|
||||
# define ARCHITECTURE_ID "8051"
|
||||
|
||||
# else /* unknown architecture */
|
||||
# define ARCHITECTURE_ID ""
|
||||
# endif
|
||||
|
||||
#elif defined(__ghs__)
|
||||
# if defined(__PPC64__)
|
||||
# define ARCHITECTURE_ID "PPC64"
|
||||
|
||||
# elif defined(__ppc__)
|
||||
# define ARCHITECTURE_ID "PPC"
|
||||
|
||||
# elif defined(__ARM__)
|
||||
# define ARCHITECTURE_ID "ARM"
|
||||
|
||||
# elif defined(__x86_64__)
|
||||
# define ARCHITECTURE_ID "x64"
|
||||
|
||||
# elif defined(__i386__)
|
||||
# define ARCHITECTURE_ID "X86"
|
||||
|
||||
# else /* unknown architecture */
|
||||
# define ARCHITECTURE_ID ""
|
||||
# endif
|
||||
#else
|
||||
# define ARCHITECTURE_ID
|
||||
#endif
|
||||
|
||||
/* Convert integer to decimal digit literals. */
|
||||
#define DEC(n) \
|
||||
('0' + (((n) / 10000000)%10)), \
|
||||
('0' + (((n) / 1000000)%10)), \
|
||||
('0' + (((n) / 100000)%10)), \
|
||||
('0' + (((n) / 10000)%10)), \
|
||||
('0' + (((n) / 1000)%10)), \
|
||||
('0' + (((n) / 100)%10)), \
|
||||
('0' + (((n) / 10)%10)), \
|
||||
('0' + ((n) % 10))
|
||||
|
||||
/* Convert integer to hex digit literals. */
|
||||
#define HEX(n) \
|
||||
('0' + ((n)>>28 & 0xF)), \
|
||||
('0' + ((n)>>24 & 0xF)), \
|
||||
('0' + ((n)>>20 & 0xF)), \
|
||||
('0' + ((n)>>16 & 0xF)), \
|
||||
('0' + ((n)>>12 & 0xF)), \
|
||||
('0' + ((n)>>8 & 0xF)), \
|
||||
('0' + ((n)>>4 & 0xF)), \
|
||||
('0' + ((n) & 0xF))
|
||||
|
||||
/* Construct a string literal encoding the version number components. */
|
||||
#ifdef COMPILER_VERSION_MAJOR
|
||||
char const info_version[] = {
|
||||
'I', 'N', 'F', 'O', ':',
|
||||
'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
|
||||
COMPILER_VERSION_MAJOR,
|
||||
# ifdef COMPILER_VERSION_MINOR
|
||||
'.', COMPILER_VERSION_MINOR,
|
||||
# ifdef COMPILER_VERSION_PATCH
|
||||
'.', COMPILER_VERSION_PATCH,
|
||||
# ifdef COMPILER_VERSION_TWEAK
|
||||
'.', COMPILER_VERSION_TWEAK,
|
||||
# endif
|
||||
# endif
|
||||
# endif
|
||||
']','\0'};
|
||||
#endif
|
||||
|
||||
/* Construct a string literal encoding the internal version number. */
|
||||
#ifdef COMPILER_VERSION_INTERNAL
|
||||
char const info_version_internal[] = {
|
||||
'I', 'N', 'F', 'O', ':',
|
||||
'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
|
||||
'i','n','t','e','r','n','a','l','[',
|
||||
COMPILER_VERSION_INTERNAL,']','\0'};
|
||||
#endif
|
||||
|
||||
/* Construct a string literal encoding the version number components. */
|
||||
#ifdef SIMULATE_VERSION_MAJOR
|
||||
char const info_simulate_version[] = {
|
||||
'I', 'N', 'F', 'O', ':',
|
||||
's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
|
||||
SIMULATE_VERSION_MAJOR,
|
||||
# ifdef SIMULATE_VERSION_MINOR
|
||||
'.', SIMULATE_VERSION_MINOR,
|
||||
# ifdef SIMULATE_VERSION_PATCH
|
||||
'.', SIMULATE_VERSION_PATCH,
|
||||
# ifdef SIMULATE_VERSION_TWEAK
|
||||
'.', SIMULATE_VERSION_TWEAK,
|
||||
# endif
|
||||
# endif
|
||||
# endif
|
||||
']','\0'};
|
||||
#endif
|
||||
|
||||
/* Construct the string literal in pieces to prevent the source from
|
||||
getting matched. Store it in a pointer rather than an array
|
||||
because some compilers will just produce instructions to fill the
|
||||
array rather than assigning a pointer to a static array. */
|
||||
char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
|
||||
char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
|
||||
|
||||
|
||||
|
||||
|
||||
#if !defined(__STDC__)
|
||||
# if (defined(_MSC_VER) && !defined(__clang__)) \
|
||||
|| (defined(__ibmxl__) || defined(__IBMC__))
|
||||
# define C_DIALECT "90"
|
||||
# else
|
||||
# define C_DIALECT
|
||||
# endif
|
||||
#elif __STDC_VERSION__ >= 201000L
|
||||
# define C_DIALECT "11"
|
||||
#elif __STDC_VERSION__ >= 199901L
|
||||
# define C_DIALECT "99"
|
||||
#else
|
||||
# define C_DIALECT "90"
|
||||
#endif
|
||||
const char* info_language_dialect_default =
|
||||
"INFO" ":" "dialect_default[" C_DIALECT "]";
|
||||
|
||||
/*--------------------------------------------------------------------------*/
|
||||
|
||||
#ifdef ID_VOID_MAIN
|
||||
void main() {}
|
||||
#else
|
||||
# if defined(__CLASSIC_C__)
|
||||
int main(argc, argv) int argc; char *argv[];
|
||||
# else
|
||||
int main(int argc, char* argv[])
|
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||||
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||||
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|
||||
|
||||
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||||
|
||||
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||||
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||||
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||||
src/msg/PubServoInfo_.i: src/msg/PubServoInfo_.cpp.i
|
||||
|
||||
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||||
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||||
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||||
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|
||||
|
||||
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|
||||
|
||||
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||||
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||||
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|
||||
|
||||
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||||
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||||
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||||
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|
||||
|
||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
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||||
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|
||||
|
||||
# Help Target
|
||||
help:
|
||||
@echo "The following are some of the valid targets for this Makefile:"
|
||||
@echo "... all (the default if no target is provided)"
|
||||
@echo "... clean"
|
||||
@echo "... depend"
|
||||
@echo "... rebuild_cache"
|
||||
@echo "... edit_cache"
|
||||
@echo "... get_arm_joint_angle"
|
||||
@echo "... arm_zero_control"
|
||||
@echo "... joint_enable_control"
|
||||
@echo "... multiple_joint_angle_control"
|
||||
@echo "... joint_angle_control"
|
||||
@echo "... src/arm_zero_control.o"
|
||||
@echo "... src/arm_zero_control.i"
|
||||
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|
||||
@echo "... src/get_arm_joint_angle.o"
|
||||
@echo "... src/get_arm_joint_angle.i"
|
||||
@echo "... src/get_arm_joint_angle.s"
|
||||
@echo "... src/joint_angle_control.o"
|
||||
@echo "... src/joint_angle_control.i"
|
||||
@echo "... src/joint_angle_control.s"
|
||||
@echo "... src/joint_enable_control.o"
|
||||
@echo "... src/joint_enable_control.i"
|
||||
@echo "... src/joint_enable_control.s"
|
||||
@echo "... src/msg/ArmString_.o"
|
||||
@echo "... src/msg/ArmString_.i"
|
||||
@echo "... src/msg/ArmString_.s"
|
||||
@echo "... src/msg/PubServoInfo_.o"
|
||||
@echo "... src/msg/PubServoInfo_.i"
|
||||
@echo "... src/msg/PubServoInfo_.s"
|
||||
@echo "... src/multiple_joint_angle_control.o"
|
||||
@echo "... src/multiple_joint_angle_control.i"
|
||||
@echo "... src/multiple_joint_angle_control.s"
|
||||
.PHONY : help
|
||||
|
||||
|
||||
|
||||
#=============================================================================
|
||||
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|
||||
|
||||
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|
||||
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|
||||
# because they might be regenerated.
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||||
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||||
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|
||||
|
||||
BIN
arm/build/arm_zero_control
Executable file
BIN
arm/build/arm_zero_control
Executable file
Binary file not shown.
49
arm/build/cmake_install.cmake
Normal file
49
arm/build/cmake_install.cmake
Normal file
@@ -0,0 +1,49 @@
|
||||
# Install script for directory: /home/unitree/unitreeApp/arm
|
||||
|
||||
# Set the install prefix
|
||||
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
|
||||
set(CMAKE_INSTALL_PREFIX "/usr/local")
|
||||
endif()
|
||||
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
|
||||
|
||||
# Set the install configuration name.
|
||||
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
|
||||
if(BUILD_TYPE)
|
||||
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
|
||||
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_CONFIG_NAME "")
|
||||
endif()
|
||||
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
|
||||
endif()
|
||||
|
||||
# Set the component getting installed.
|
||||
if(NOT CMAKE_INSTALL_COMPONENT)
|
||||
if(COMPONENT)
|
||||
message(STATUS "Install component: \"${COMPONENT}\"")
|
||||
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_COMPONENT)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Install shared libraries without execute permission?
|
||||
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
|
||||
set(CMAKE_INSTALL_SO_NO_EXE "1")
|
||||
endif()
|
||||
|
||||
# Is this installation the result of a crosscompile?
|
||||
if(NOT DEFINED CMAKE_CROSSCOMPILING)
|
||||
set(CMAKE_CROSSCOMPILING "FALSE")
|
||||
endif()
|
||||
|
||||
if(CMAKE_INSTALL_COMPONENT)
|
||||
set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
|
||||
else()
|
||||
set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
|
||||
endif()
|
||||
|
||||
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
|
||||
"${CMAKE_INSTALL_MANIFEST_FILES}")
|
||||
file(WRITE "/home/unitree/unitreeApp/arm/build/${CMAKE_INSTALL_MANIFEST}"
|
||||
"${CMAKE_INSTALL_MANIFEST_CONTENT}")
|
||||
BIN
arm/build/get_arm_joint_angle
Executable file
BIN
arm/build/get_arm_joint_angle
Executable file
Binary file not shown.
BIN
arm/build/joint_angle_control
Executable file
BIN
arm/build/joint_angle_control
Executable file
Binary file not shown.
BIN
arm/build/joint_enable_control
Executable file
BIN
arm/build/joint_enable_control
Executable file
Binary file not shown.
BIN
arm/build/multiple_joint_angle_control
Executable file
BIN
arm/build/multiple_joint_angle_control
Executable file
Binary file not shown.
21
arm/src/arm_zero_control.cpp
Normal file
21
arm/src/arm_zero_control.cpp
Normal file
@@ -0,0 +1,21 @@
|
||||
#include <unitree/robot/channel/channel_publisher.hpp>
|
||||
#include <unitree/common/time/time_tool.hpp>
|
||||
#include "msg/ArmString_.hpp"
|
||||
|
||||
#define TOPIC "rt/arm_Command"
|
||||
|
||||
using namespace unitree::robot;
|
||||
using namespace unitree::common;
|
||||
|
||||
int main()
|
||||
{
|
||||
ChannelFactory::Instance()->Init(0);
|
||||
ChannelPublisher<unitree_arm::msg::dds_::ArmString_> publisher(TOPIC);
|
||||
publisher.InitChannel();
|
||||
|
||||
unitree_arm::msg::dds_::ArmString_ msg{};
|
||||
msg.data_() = "{\"seq\":4,\"address\":1,\"funcode\":7}";
|
||||
publisher.Write(msg);
|
||||
|
||||
return 0;
|
||||
}
|
||||
41
arm/src/get_arm_joint_angle.cpp
Normal file
41
arm/src/get_arm_joint_angle.cpp
Normal file
@@ -0,0 +1,41 @@
|
||||
#include <unitree/robot/channel/channel_subscriber.hpp>
|
||||
#include <unitree/common/time/time_tool.hpp>
|
||||
#include "msg/PubServoInfo_.hpp"
|
||||
#include "msg/ArmString_.hpp"
|
||||
|
||||
#define TOPIC "current_servo_angle"
|
||||
#define TOPIC1 "rt/arm_Feedback"
|
||||
|
||||
using namespace unitree::robot;
|
||||
using namespace unitree::common;
|
||||
|
||||
void Handler(const void* msg)
|
||||
{
|
||||
const unitree_arm::msg::dds_::PubServoInfo_* pm = (const unitree_arm::msg::dds_::PubServoInfo_*)msg;
|
||||
|
||||
std::cout << "servo0_data:" << pm->servo0_data_() << ", servo1_data:" << pm->servo1_data_() << ", servo2_data:" << pm->servo2_data_()<< ", servo3_data:" << pm->servo3_data_()<< ", servo4_data:" << pm->servo4_data_()<< ", servo5_data:" << pm->servo5_data_()<< ", servo6_data:" << pm->servo6_data_() << std::endl;
|
||||
}
|
||||
|
||||
void Handler1(const void* msg)
|
||||
{
|
||||
const unitree_arm::msg::dds_::ArmString_* pm = (const unitree_arm::msg::dds_::ArmString_*)msg;
|
||||
|
||||
std::cout << "armFeedback_data:" << pm->data_() << std::endl;
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
ChannelFactory::Instance()->Init(0);
|
||||
ChannelSubscriber<unitree_arm::msg::dds_::PubServoInfo_> subscriber(TOPIC);
|
||||
subscriber.InitChannel(Handler);
|
||||
|
||||
ChannelSubscriber<unitree_arm::msg::dds_::ArmString_> subscriber1(TOPIC1);
|
||||
subscriber1.InitChannel(Handler1);
|
||||
|
||||
while (true)
|
||||
{
|
||||
sleep(10);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
21
arm/src/joint_angle_control.cpp
Normal file
21
arm/src/joint_angle_control.cpp
Normal file
@@ -0,0 +1,21 @@
|
||||
#include <unitree/robot/channel/channel_publisher.hpp>
|
||||
#include <unitree/common/time/time_tool.hpp>
|
||||
#include "msg/ArmString_.hpp"
|
||||
|
||||
#define TOPIC "rt/arm_Command"
|
||||
|
||||
using namespace unitree::robot;
|
||||
using namespace unitree::common;
|
||||
|
||||
int main()
|
||||
{
|
||||
ChannelFactory::Instance()->Init(0);
|
||||
ChannelPublisher<unitree_arm::msg::dds_::ArmString_> publisher(TOPIC);
|
||||
publisher.InitChannel();
|
||||
|
||||
unitree_arm::msg::dds_::ArmString_ msg{};
|
||||
msg.data_() = "{\"seq\":4,\"address\":1,\"funcode\":1,\"data\":{\"id\":5,\"angle\":60,\"delay_ms\":0}}";
|
||||
publisher.Write(msg);
|
||||
|
||||
return 0;
|
||||
}
|
||||
21
arm/src/joint_enable_control.cpp
Normal file
21
arm/src/joint_enable_control.cpp
Normal file
@@ -0,0 +1,21 @@
|
||||
#include <unitree/robot/channel/channel_publisher.hpp>
|
||||
#include <unitree/common/time/time_tool.hpp>
|
||||
#include "msg/ArmString_.hpp"
|
||||
|
||||
#define TOPIC "rt/arm_Command"
|
||||
|
||||
using namespace unitree::robot;
|
||||
using namespace unitree::common;
|
||||
|
||||
int main()
|
||||
{
|
||||
ChannelFactory::Instance()->Init(0);
|
||||
ChannelPublisher<unitree_arm::msg::dds_::ArmString_> publisher(TOPIC);
|
||||
publisher.InitChannel();
|
||||
|
||||
unitree_arm::msg::dds_::ArmString_ msg{};
|
||||
msg.data_() = "{\"seq\":4,\"address\":1,\"funcode\":5,\"data\":{\"mode\":0}}";
|
||||
publisher.Write(msg);
|
||||
|
||||
return 0;
|
||||
}
|
||||
53
arm/src/msg/ArmString_.cpp
Normal file
53
arm/src/msg/ArmString_.cpp
Normal file
@@ -0,0 +1,53 @@
|
||||
/****************************************************************
|
||||
|
||||
Generated by Eclipse Cyclone DDS IDL to CXX Translator
|
||||
File name: ArmString_.idl
|
||||
Source: ArmString_.cpp
|
||||
Cyclone DDS: v0.10.2
|
||||
|
||||
*****************************************************************/
|
||||
#include "ArmString_.hpp"
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_arm::msg::dds_::ArmString_>() {
|
||||
static thread_local std::mutex mtx;
|
||||
static thread_local propvec props;
|
||||
static thread_local entity_properties_t *props_end = nullptr;
|
||||
static thread_local std::atomic_bool initialized {false};
|
||||
key_endpoint keylist;
|
||||
if (initialized.load(std::memory_order_relaxed)) {
|
||||
auto ptr = props.data();
|
||||
while (ptr < props_end)
|
||||
(ptr++)->is_present = false;
|
||||
return props;
|
||||
}
|
||||
std::lock_guard<std::mutex> lock(mtx);
|
||||
if (initialized.load(std::memory_order_relaxed)) {
|
||||
auto ptr = props.data();
|
||||
while (ptr < props_end)
|
||||
(ptr++)->is_present = false;
|
||||
return props;
|
||||
}
|
||||
props.clear();
|
||||
|
||||
props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final)); //root
|
||||
props.push_back(entity_properties_t(1, 0, false, bb_unset, extensibility::ext_final, false)); //::data_
|
||||
|
||||
entity_properties_t::finish(props, keylist);
|
||||
props_end = props.data() + props.size();
|
||||
initialized.store(true, std::memory_order_release);
|
||||
return props;
|
||||
}
|
||||
|
||||
} //namespace cdr
|
||||
} //namespace core
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
232
arm/src/msg/ArmString_.hpp
Normal file
232
arm/src/msg/ArmString_.hpp
Normal file
@@ -0,0 +1,232 @@
|
||||
/****************************************************************
|
||||
|
||||
Generated by Eclipse Cyclone DDS IDL to CXX Translator
|
||||
File name: ArmString_.idl
|
||||
Source: ArmString_.hpp
|
||||
Cyclone DDS: v0.10.2
|
||||
|
||||
*****************************************************************/
|
||||
#ifndef DDSCXX_ARMSTRING__HPP
|
||||
#define DDSCXX_ARMSTRING__HPP
|
||||
|
||||
#include <string>
|
||||
|
||||
namespace unitree_arm
|
||||
{
|
||||
namespace msg
|
||||
{
|
||||
namespace dds_
|
||||
{
|
||||
class ArmString_
|
||||
{
|
||||
private:
|
||||
std::string data__;
|
||||
|
||||
public:
|
||||
ArmString_() = default;
|
||||
|
||||
explicit ArmString_(
|
||||
const std::string& data_) :
|
||||
data__(data_) { }
|
||||
|
||||
const std::string& data_() const { return this->data__; }
|
||||
std::string& data_() { return this->data__; }
|
||||
void data_(const std::string& _val_) { this->data__ = _val_; }
|
||||
void data_(std::string&& _val_) { this->data__ = _val_; }
|
||||
|
||||
bool operator==(const ArmString_& _other) const
|
||||
{
|
||||
(void) _other;
|
||||
return data__ == _other.data__;
|
||||
}
|
||||
|
||||
bool operator!=(const ArmString_& _other) const
|
||||
{
|
||||
return !(*this == _other);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#include "dds/topic/TopicTraits.hpp"
|
||||
#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
|
||||
|
||||
namespace org {
|
||||
namespace eclipse {
|
||||
namespace cyclonedds {
|
||||
namespace topic {
|
||||
|
||||
template <> constexpr const char* TopicTraits<::unitree_arm::msg::dds_::ArmString_>::getTypeName()
|
||||
{
|
||||
return "unitree_arm::msg::dds_::ArmString_";
|
||||
}
|
||||
|
||||
template <> constexpr bool TopicTraits<::unitree_arm::msg::dds_::ArmString_>::isSelfContained()
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
template <> constexpr bool TopicTraits<::unitree_arm::msg::dds_::ArmString_>::isKeyless()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
} //namespace topic
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
namespace dds {
|
||||
namespace topic {
|
||||
|
||||
template <>
|
||||
struct topic_type_name<::unitree_arm::msg::dds_::ArmString_>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_arm::msg::dds_::ArmString_>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::unitree_arm::msg::dds_::ArmString_)
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_arm::msg::dds_::ArmString_>();
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool write(T& streamer, const ::unitree_arm::msg::dds_::ArmString_& 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_string(streamer, instance.data_(), 0))
|
||||
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_arm::msg::dds_::ArmString_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_arm::msg::dds_::ArmString_>();
|
||||
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_arm::msg::dds_::ArmString_& 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_string(streamer, instance.data_(), 0))
|
||||
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_arm::msg::dds_::ArmString_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_arm::msg::dds_::ArmString_>();
|
||||
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_arm::msg::dds_::ArmString_& 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_string(streamer, instance.data_(), 0))
|
||||
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_arm::msg::dds_::ArmString_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_arm::msg::dds_::ArmString_>();
|
||||
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_arm::msg::dds_::ArmString_& 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_string(streamer, instance.data_(), 0))
|
||||
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_arm::msg::dds_::ArmString_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_arm::msg::dds_::ArmString_>();
|
||||
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_ARMSTRING__HPP
|
||||
59
arm/src/msg/PubServoInfo_.cpp
Normal file
59
arm/src/msg/PubServoInfo_.cpp
Normal file
@@ -0,0 +1,59 @@
|
||||
/****************************************************************
|
||||
|
||||
Generated by Eclipse Cyclone DDS IDL to CXX Translator
|
||||
File name: PubServoInfo_.idl
|
||||
Source: PubServoInfo_.cpp
|
||||
Cyclone DDS: v0.10.2
|
||||
|
||||
*****************************************************************/
|
||||
#include "PubServoInfo_.hpp"
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>() {
|
||||
static thread_local std::mutex mtx;
|
||||
static thread_local propvec props;
|
||||
static thread_local entity_properties_t *props_end = nullptr;
|
||||
static thread_local std::atomic_bool initialized {false};
|
||||
key_endpoint keylist;
|
||||
if (initialized.load(std::memory_order_relaxed)) {
|
||||
auto ptr = props.data();
|
||||
while (ptr < props_end)
|
||||
(ptr++)->is_present = false;
|
||||
return props;
|
||||
}
|
||||
std::lock_guard<std::mutex> lock(mtx);
|
||||
if (initialized.load(std::memory_order_relaxed)) {
|
||||
auto ptr = props.data();
|
||||
while (ptr < props_end)
|
||||
(ptr++)->is_present = false;
|
||||
return props;
|
||||
}
|
||||
props.clear();
|
||||
|
||||
props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final)); //root
|
||||
props.push_back(entity_properties_t(1, 0, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::servo0_data_
|
||||
props.push_back(entity_properties_t(1, 1, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::servo1_data_
|
||||
props.push_back(entity_properties_t(1, 2, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::servo2_data_
|
||||
props.push_back(entity_properties_t(1, 3, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::servo3_data_
|
||||
props.push_back(entity_properties_t(1, 4, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::servo4_data_
|
||||
props.push_back(entity_properties_t(1, 5, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::servo5_data_
|
||||
props.push_back(entity_properties_t(1, 6, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::servo6_data_
|
||||
|
||||
entity_properties_t::finish(props, keylist);
|
||||
props_end = props.data() + props.size();
|
||||
initialized.store(true, std::memory_order_release);
|
||||
return props;
|
||||
}
|
||||
|
||||
} //namespace cdr
|
||||
} //namespace core
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
459
arm/src/msg/PubServoInfo_.hpp
Normal file
459
arm/src/msg/PubServoInfo_.hpp
Normal file
@@ -0,0 +1,459 @@
|
||||
/****************************************************************
|
||||
|
||||
Generated by Eclipse Cyclone DDS IDL to CXX Translator
|
||||
File name: PubServoInfo_.idl
|
||||
Source: PubServoInfo_.hpp
|
||||
Cyclone DDS: v0.10.2
|
||||
|
||||
*****************************************************************/
|
||||
#ifndef DDSCXX_PUBSERVOINFO__HPP
|
||||
#define DDSCXX_PUBSERVOINFO__HPP
|
||||
|
||||
|
||||
namespace unitree_arm
|
||||
{
|
||||
namespace msg
|
||||
{
|
||||
namespace dds_
|
||||
{
|
||||
class PubServoInfo_
|
||||
{
|
||||
private:
|
||||
float servo0_data__ = 0.0f;
|
||||
float servo1_data__ = 0.0f;
|
||||
float servo2_data__ = 0.0f;
|
||||
float servo3_data__ = 0.0f;
|
||||
float servo4_data__ = 0.0f;
|
||||
float servo5_data__ = 0.0f;
|
||||
float servo6_data__ = 0.0f;
|
||||
|
||||
public:
|
||||
PubServoInfo_() = default;
|
||||
|
||||
explicit PubServoInfo_(
|
||||
float servo0_data_,
|
||||
float servo1_data_,
|
||||
float servo2_data_,
|
||||
float servo3_data_,
|
||||
float servo4_data_,
|
||||
float servo5_data_,
|
||||
float servo6_data_) :
|
||||
servo0_data__(servo0_data_),
|
||||
servo1_data__(servo1_data_),
|
||||
servo2_data__(servo2_data_),
|
||||
servo3_data__(servo3_data_),
|
||||
servo4_data__(servo4_data_),
|
||||
servo5_data__(servo5_data_),
|
||||
servo6_data__(servo6_data_) { }
|
||||
|
||||
float servo0_data_() const { return this->servo0_data__; }
|
||||
float& servo0_data_() { return this->servo0_data__; }
|
||||
void servo0_data_(float _val_) { this->servo0_data__ = _val_; }
|
||||
float servo1_data_() const { return this->servo1_data__; }
|
||||
float& servo1_data_() { return this->servo1_data__; }
|
||||
void servo1_data_(float _val_) { this->servo1_data__ = _val_; }
|
||||
float servo2_data_() const { return this->servo2_data__; }
|
||||
float& servo2_data_() { return this->servo2_data__; }
|
||||
void servo2_data_(float _val_) { this->servo2_data__ = _val_; }
|
||||
float servo3_data_() const { return this->servo3_data__; }
|
||||
float& servo3_data_() { return this->servo3_data__; }
|
||||
void servo3_data_(float _val_) { this->servo3_data__ = _val_; }
|
||||
float servo4_data_() const { return this->servo4_data__; }
|
||||
float& servo4_data_() { return this->servo4_data__; }
|
||||
void servo4_data_(float _val_) { this->servo4_data__ = _val_; }
|
||||
float servo5_data_() const { return this->servo5_data__; }
|
||||
float& servo5_data_() { return this->servo5_data__; }
|
||||
void servo5_data_(float _val_) { this->servo5_data__ = _val_; }
|
||||
float servo6_data_() const { return this->servo6_data__; }
|
||||
float& servo6_data_() { return this->servo6_data__; }
|
||||
void servo6_data_(float _val_) { this->servo6_data__ = _val_; }
|
||||
|
||||
bool operator==(const PubServoInfo_& _other) const
|
||||
{
|
||||
(void) _other;
|
||||
return servo0_data__ == _other.servo0_data__ &&
|
||||
servo1_data__ == _other.servo1_data__ &&
|
||||
servo2_data__ == _other.servo2_data__ &&
|
||||
servo3_data__ == _other.servo3_data__ &&
|
||||
servo4_data__ == _other.servo4_data__ &&
|
||||
servo5_data__ == _other.servo5_data__ &&
|
||||
servo6_data__ == _other.servo6_data__;
|
||||
}
|
||||
|
||||
bool operator!=(const PubServoInfo_& _other) const
|
||||
{
|
||||
return !(*this == _other);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#include "dds/topic/TopicTraits.hpp"
|
||||
#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
|
||||
|
||||
namespace org {
|
||||
namespace eclipse {
|
||||
namespace cyclonedds {
|
||||
namespace topic {
|
||||
|
||||
template <> constexpr const char* TopicTraits<::unitree_arm::msg::dds_::PubServoInfo_>::getTypeName()
|
||||
{
|
||||
return "unitree_arm::msg::dds_::PubServoInfo_";
|
||||
}
|
||||
|
||||
template <> constexpr bool TopicTraits<::unitree_arm::msg::dds_::PubServoInfo_>::isKeyless()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
} //namespace topic
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
namespace dds {
|
||||
namespace topic {
|
||||
|
||||
template <>
|
||||
struct topic_type_name<::unitree_arm::msg::dds_::PubServoInfo_>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_arm::msg::dds_::PubServoInfo_>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::unitree_arm::msg::dds_::PubServoInfo_)
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>();
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool write(T& streamer, const ::unitree_arm::msg::dds_::PubServoInfo_& 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.servo0_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.servo1_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.servo2_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.servo3_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.servo4_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.servo5_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.servo6_data_()))
|
||||
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_arm::msg::dds_::PubServoInfo_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>();
|
||||
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_arm::msg::dds_::PubServoInfo_& 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.servo0_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.servo1_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.servo2_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.servo3_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.servo4_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.servo5_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.servo6_data_()))
|
||||
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_arm::msg::dds_::PubServoInfo_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>();
|
||||
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_arm::msg::dds_::PubServoInfo_& 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.servo0_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.servo1_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.servo2_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.servo3_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.servo4_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.servo5_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.servo6_data_()))
|
||||
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_arm::msg::dds_::PubServoInfo_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>();
|
||||
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_arm::msg::dds_::PubServoInfo_& 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.servo0_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.servo1_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.servo2_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.servo3_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.servo4_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.servo5_data_()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.servo6_data_()))
|
||||
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_arm::msg::dds_::PubServoInfo_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_arm::msg::dds_::PubServoInfo_>();
|
||||
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_PUBSERVOINFO__HPP
|
||||
56
arm/src/msg/SetServoAngle_.cpp
Normal file
56
arm/src/msg/SetServoAngle_.cpp
Normal file
@@ -0,0 +1,56 @@
|
||||
/****************************************************************
|
||||
|
||||
Generated by Eclipse Cyclone DDS IDL to CXX Translator
|
||||
File name: SetServoAngle_.idl
|
||||
Source: SetServoAngle_.cpp
|
||||
Cyclone DDS: v0.10.2
|
||||
|
||||
*****************************************************************/
|
||||
#include "SetServoAngle_.hpp"
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_arm::msg::dds_::SetServoAngle_>() {
|
||||
static thread_local std::mutex mtx;
|
||||
static thread_local propvec props;
|
||||
static thread_local entity_properties_t *props_end = nullptr;
|
||||
static thread_local std::atomic_bool initialized {false};
|
||||
key_endpoint keylist;
|
||||
if (initialized.load(std::memory_order_relaxed)) {
|
||||
auto ptr = props.data();
|
||||
while (ptr < props_end)
|
||||
(ptr++)->is_present = false;
|
||||
return props;
|
||||
}
|
||||
std::lock_guard<std::mutex> lock(mtx);
|
||||
if (initialized.load(std::memory_order_relaxed)) {
|
||||
auto ptr = props.data();
|
||||
while (ptr < props_end)
|
||||
(ptr++)->is_present = false;
|
||||
return props;
|
||||
}
|
||||
props.clear();
|
||||
|
||||
props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final)); //root
|
||||
props.push_back(entity_properties_t(1, 0, false, get_bit_bound<int32_t>(), extensibility::ext_final, false)); //::seq_
|
||||
props.push_back(entity_properties_t(1, 1, false, get_bit_bound<uint8_t>(), extensibility::ext_final, false)); //::id_
|
||||
props.push_back(entity_properties_t(1, 2, false, get_bit_bound<float>(), extensibility::ext_final, false)); //::angle_
|
||||
props.push_back(entity_properties_t(1, 3, false, get_bit_bound<int16_t>(), extensibility::ext_final, false)); //::delay_ms_
|
||||
|
||||
entity_properties_t::finish(props, keylist);
|
||||
props_end = props.data() + props.size();
|
||||
initialized.store(true, std::memory_order_release);
|
||||
return props;
|
||||
}
|
||||
|
||||
} //namespace cdr
|
||||
} //namespace core
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user