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unitree_SDK/include/unitree/idl/go2/LowCmd_.hpp
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unitree_SDK/include/unitree/idl/go2/LowCmd_.hpp
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: LowCmd_.idl
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Source: LowCmd_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP
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#define DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP
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#include "unitree/idl/go2/BmsCmd_.hpp"
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#include "unitree/idl/go2/MotorCmd_.hpp"
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#include <cstdint>
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#include <array>
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namespace unitree_go
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{
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namespace msg
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{
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namespace dds_
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{
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class LowCmd_
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{
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private:
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std::array<uint8_t, 2> head_ = { };
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uint8_t level_flag_ = 0;
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uint8_t frame_reserve_ = 0;
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std::array<uint32_t, 2> sn_ = { };
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std::array<uint32_t, 2> version_ = { };
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uint16_t bandwidth_ = 0;
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std::array<::unitree_go::msg::dds_::MotorCmd_, 20> motor_cmd_ = { };
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::unitree_go::msg::dds_::BmsCmd_ bms_cmd_;
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std::array<uint8_t, 40> wireless_remote_ = { };
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std::array<uint8_t, 12> led_ = { };
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std::array<uint8_t, 2> fan_ = { };
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uint8_t gpio_ = 0;
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uint32_t reserve_ = 0;
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uint32_t crc_ = 0;
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public:
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LowCmd_() = default;
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explicit LowCmd_(
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const std::array<uint8_t, 2>& head,
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uint8_t level_flag,
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uint8_t frame_reserve,
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const std::array<uint32_t, 2>& sn,
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const std::array<uint32_t, 2>& version,
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uint16_t bandwidth,
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const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd,
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const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd,
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const std::array<uint8_t, 40>& wireless_remote,
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const std::array<uint8_t, 12>& led,
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const std::array<uint8_t, 2>& fan,
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uint8_t gpio,
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uint32_t reserve,
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uint32_t crc) :
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head_(head),
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level_flag_(level_flag),
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frame_reserve_(frame_reserve),
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sn_(sn),
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version_(version),
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bandwidth_(bandwidth),
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motor_cmd_(motor_cmd),
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bms_cmd_(bms_cmd),
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wireless_remote_(wireless_remote),
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led_(led),
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fan_(fan),
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gpio_(gpio),
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reserve_(reserve),
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crc_(crc) { }
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const std::array<uint8_t, 2>& head() const { return this->head_; }
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std::array<uint8_t, 2>& head() { return this->head_; }
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void head(const std::array<uint8_t, 2>& _val_) { this->head_ = _val_; }
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void head(std::array<uint8_t, 2>&& _val_) { this->head_ = _val_; }
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uint8_t level_flag() const { return this->level_flag_; }
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uint8_t& level_flag() { return this->level_flag_; }
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void level_flag(uint8_t _val_) { this->level_flag_ = _val_; }
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uint8_t frame_reserve() const { return this->frame_reserve_; }
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uint8_t& frame_reserve() { return this->frame_reserve_; }
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void frame_reserve(uint8_t _val_) { this->frame_reserve_ = _val_; }
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const std::array<uint32_t, 2>& sn() const { return this->sn_; }
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std::array<uint32_t, 2>& sn() { return this->sn_; }
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void sn(const std::array<uint32_t, 2>& _val_) { this->sn_ = _val_; }
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void sn(std::array<uint32_t, 2>&& _val_) { this->sn_ = _val_; }
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const std::array<uint32_t, 2>& version() const { return this->version_; }
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std::array<uint32_t, 2>& version() { return this->version_; }
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void version(const std::array<uint32_t, 2>& _val_) { this->version_ = _val_; }
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void version(std::array<uint32_t, 2>&& _val_) { this->version_ = _val_; }
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uint16_t bandwidth() const { return this->bandwidth_; }
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uint16_t& bandwidth() { return this->bandwidth_; }
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void bandwidth(uint16_t _val_) { this->bandwidth_ = _val_; }
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const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() const { return this->motor_cmd_; }
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std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() { return this->motor_cmd_; }
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void motor_cmd(const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& _val_) { this->motor_cmd_ = _val_; }
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void motor_cmd(std::array<::unitree_go::msg::dds_::MotorCmd_, 20>&& _val_) { this->motor_cmd_ = _val_; }
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const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() const { return this->bms_cmd_; }
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::unitree_go::msg::dds_::BmsCmd_& bms_cmd() { return this->bms_cmd_; }
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void bms_cmd(const ::unitree_go::msg::dds_::BmsCmd_& _val_) { this->bms_cmd_ = _val_; }
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void bms_cmd(::unitree_go::msg::dds_::BmsCmd_&& _val_) { this->bms_cmd_ = _val_; }
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const std::array<uint8_t, 40>& wireless_remote() const { return this->wireless_remote_; }
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std::array<uint8_t, 40>& wireless_remote() { return this->wireless_remote_; }
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void wireless_remote(const std::array<uint8_t, 40>& _val_) { this->wireless_remote_ = _val_; }
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void wireless_remote(std::array<uint8_t, 40>&& _val_) { this->wireless_remote_ = _val_; }
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const std::array<uint8_t, 12>& led() const { return this->led_; }
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std::array<uint8_t, 12>& led() { return this->led_; }
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void led(const std::array<uint8_t, 12>& _val_) { this->led_ = _val_; }
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void led(std::array<uint8_t, 12>&& _val_) { this->led_ = _val_; }
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const std::array<uint8_t, 2>& fan() const { return this->fan_; }
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std::array<uint8_t, 2>& fan() { return this->fan_; }
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void fan(const std::array<uint8_t, 2>& _val_) { this->fan_ = _val_; }
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void fan(std::array<uint8_t, 2>&& _val_) { this->fan_ = _val_; }
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uint8_t gpio() const { return this->gpio_; }
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uint8_t& gpio() { return this->gpio_; }
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void gpio(uint8_t _val_) { this->gpio_ = _val_; }
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uint32_t reserve() const { return this->reserve_; }
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uint32_t& reserve() { return this->reserve_; }
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void reserve(uint32_t _val_) { this->reserve_ = _val_; }
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uint32_t crc() const { return this->crc_; }
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uint32_t& crc() { return this->crc_; }
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void crc(uint32_t _val_) { this->crc_ = _val_; }
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bool operator==(const LowCmd_& _other) const
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{
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(void) _other;
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return head_ == _other.head_ &&
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level_flag_ == _other.level_flag_ &&
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frame_reserve_ == _other.frame_reserve_ &&
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sn_ == _other.sn_ &&
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version_ == _other.version_ &&
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bandwidth_ == _other.bandwidth_ &&
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motor_cmd_ == _other.motor_cmd_ &&
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bms_cmd_ == _other.bms_cmd_ &&
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wireless_remote_ == _other.wireless_remote_ &&
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led_ == _other.led_ &&
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fan_ == _other.fan_ &&
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gpio_ == _other.gpio_ &&
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reserve_ == _other.reserve_ &&
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crc_ == _other.crc_;
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}
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bool operator!=(const LowCmd_& _other) const
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{
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return !(*this == _other);
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}
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};
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}
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}
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}
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#include "dds/topic/TopicTraits.hpp"
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#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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namespace org {
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namespace eclipse {
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namespace cyclonedds {
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namespace topic {
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template <> constexpr const char* TopicTraits<::unitree_go::msg::dds_::LowCmd_>::getTypeName()
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{
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return "unitree_go::msg::dds_::LowCmd_";
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}
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template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LowCmd_>::isKeyless()
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{
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return true;
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_map_blob_sz() { return 1710; }
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_info_blob_sz() { return 196; }
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template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_map_blob() {
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||||
static const uint8_t blob[] = {
|
||||
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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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||||
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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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|
||||
0x03, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20,
|
||||
0xa9, 0x05, 0x40, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6, 0x2a,
|
||||
0x3f, 0x63, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30,
|
||||
0x3b, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff,
|
||||
0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0xf1,
|
||||
0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_info_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6,
|
||||
0x2a, 0x3f, 0x63, 0x00, 0x67, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17,
|
||||
0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x92, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
||||
0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0x00,
|
||||
0x42, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20,
|
||||
0xa9, 0x05, 0x40, 0x00, 0x2a, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef,
|
||||
0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x00, 0xf2, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
||||
0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00,
|
||||
0x7a, 0x00, 0x00, 0x00, };
|
||||
return blob;
|
||||
}
|
||||
#endif //DDSCXX_HAS_TYPE_DISCOVERY
|
||||
|
||||
} //namespace topic
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
namespace dds {
|
||||
namespace topic {
|
||||
|
||||
template <>
|
||||
struct topic_type_name<::unitree_go::msg::dds_::LowCmd_>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::LowCmd_>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LowCmd_)
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool write(T& streamer, const ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
|
||||
(void)instance;
|
||||
if (!streamer.start_struct(*props))
|
||||
return false;
|
||||
auto prop = streamer.first_entity(props);
|
||||
while (prop) {
|
||||
switch (prop->m_id) {
|
||||
case 0:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.head()[0], instance.head().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.level_flag()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.frame_reserve()))
|
||||
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.sn()[0], instance.sn().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.version()[0], instance.version().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.bandwidth()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
|
||||
if (!write(streamer, a_1, prop))
|
||||
return false;
|
||||
} //array depth 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.bms_cmd(), prop))
|
||||
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.wireless_remote()[0], instance.wireless_remote().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.led()[0], instance.led().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.fan()[0], instance.fan().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.gpio()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 13:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.crc()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
}
|
||||
prop = streamer.next_entity(prop);
|
||||
}
|
||||
return streamer.finish_struct(*props);
|
||||
}
|
||||
|
||||
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||||
bool write(S& str, const ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
str.set_mode(cdr_stream::stream_mode::write, as_key);
|
||||
return write(str, instance, props.data());
|
||||
}
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool read(T& streamer, ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
|
||||
(void)instance;
|
||||
if (!streamer.start_struct(*props))
|
||||
return false;
|
||||
auto prop = streamer.first_entity(props);
|
||||
while (prop) {
|
||||
switch (prop->m_id) {
|
||||
case 0:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.head()[0], instance.head().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.level_flag()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.frame_reserve()))
|
||||
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.sn()[0], instance.sn().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.version()[0], instance.version().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.bandwidth()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (auto & a_1:instance.motor_cmd()) { //array depth 1
|
||||
if (!read(streamer, a_1, prop))
|
||||
return false;
|
||||
} //array depth 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.bms_cmd(), prop))
|
||||
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.wireless_remote()[0], instance.wireless_remote().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.led()[0], instance.led().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.fan()[0], instance.fan().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.gpio()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 13:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.crc()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
}
|
||||
prop = streamer.next_entity(prop);
|
||||
}
|
||||
return streamer.finish_struct(*props);
|
||||
}
|
||||
|
||||
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||||
bool read(S& str, ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
str.set_mode(cdr_stream::stream_mode::read, as_key);
|
||||
return read(str, instance, props.data());
|
||||
}
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool move(T& streamer, const ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
|
||||
(void)instance;
|
||||
if (!streamer.start_struct(*props))
|
||||
return false;
|
||||
auto prop = streamer.first_entity(props);
|
||||
while (prop) {
|
||||
switch (prop->m_id) {
|
||||
case 0:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.head()[0], instance.head().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.level_flag()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.frame_reserve()))
|
||||
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.sn()[0], instance.sn().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.version()[0], instance.version().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.bandwidth()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
|
||||
if (!move(streamer, a_1, prop))
|
||||
return false;
|
||||
} //array depth 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.bms_cmd(), prop))
|
||||
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.wireless_remote()[0], instance.wireless_remote().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.led()[0], instance.led().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.fan()[0], instance.fan().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.gpio()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 13:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.crc()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
}
|
||||
prop = streamer.next_entity(prop);
|
||||
}
|
||||
return streamer.finish_struct(*props);
|
||||
}
|
||||
|
||||
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||||
bool move(S& str, const ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
str.set_mode(cdr_stream::stream_mode::move, as_key);
|
||||
return move(str, instance, props.data());
|
||||
}
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool max(T& streamer, const ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
|
||||
(void)instance;
|
||||
if (!streamer.start_struct(*props))
|
||||
return false;
|
||||
auto prop = streamer.first_entity(props);
|
||||
while (prop) {
|
||||
switch (prop->m_id) {
|
||||
case 0:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.head()[0], instance.head().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.level_flag()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.frame_reserve()))
|
||||
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.sn()[0], instance.sn().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.version()[0], instance.version().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.bandwidth()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
|
||||
if (!max(streamer, a_1, prop))
|
||||
return false;
|
||||
} //array depth 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.bms_cmd(), prop))
|
||||
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.wireless_remote()[0], instance.wireless_remote().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 9:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.led()[0], instance.led().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 10:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.fan()[0], instance.fan().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 11:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.gpio()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 12:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.reserve()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 13:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.crc()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
}
|
||||
prop = streamer.next_entity(prop);
|
||||
}
|
||||
return streamer.finish_struct(*props);
|
||||
}
|
||||
|
||||
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||||
bool max(S& str, const ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
|
||||
str.set_mode(cdr_stream::stream_mode::max, as_key);
|
||||
return max(str, instance, props.data());
|
||||
}
|
||||
|
||||
} //namespace cdr
|
||||
} //namespace core
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
#endif // DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP
|
||||
Reference in New Issue
Block a user