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unitree_SDK/include/unitree/idl/hg/HandState_.hpp
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unitree_SDK/include/unitree/idl/hg/HandState_.hpp
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: HandState_.idl
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Source: HandState_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_UNITREE_IDL_HG_HANDSTATE__HPP
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#define DDSCXX_UNITREE_IDL_HG_HANDSTATE__HPP
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#include "unitree/idl/hg/IMUState_.hpp"
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#include "unitree/idl/hg/MotorState_.hpp"
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#include "unitree/idl/hg/PressSensorState_.hpp"
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#include <cstdint>
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#include <array>
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#include <vector>
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namespace unitree_hg
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{
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namespace msg
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{
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namespace dds_
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{
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class HandState_
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{
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private:
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std::vector<::unitree_hg::msg::dds_::MotorState_> motor_state_;
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std::vector<::unitree_hg::msg::dds_::PressSensorState_> press_sensor_state_;
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::unitree_hg::msg::dds_::IMUState_ imu_state_;
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float power_v_ = 0.0f;
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float power_a_ = 0.0f;
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float system_v_ = 0.0f;
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float device_v_ = 0.0f;
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std::array<uint32_t, 2> error_ = { };
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std::array<uint32_t, 2> reserve_ = { };
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public:
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HandState_() = default;
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explicit HandState_(
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const std::vector<::unitree_hg::msg::dds_::MotorState_>& motor_state,
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const std::vector<::unitree_hg::msg::dds_::PressSensorState_>& press_sensor_state,
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const ::unitree_hg::msg::dds_::IMUState_& imu_state,
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float power_v,
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float power_a,
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float system_v,
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float device_v,
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const std::array<uint32_t, 2>& error,
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const std::array<uint32_t, 2>& reserve) :
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motor_state_(motor_state),
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press_sensor_state_(press_sensor_state),
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imu_state_(imu_state),
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power_v_(power_v),
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power_a_(power_a),
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system_v_(system_v),
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device_v_(device_v),
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error_(error),
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reserve_(reserve) { }
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const std::vector<::unitree_hg::msg::dds_::MotorState_>& motor_state() const { return this->motor_state_; }
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std::vector<::unitree_hg::msg::dds_::MotorState_>& motor_state() { return this->motor_state_; }
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void motor_state(const std::vector<::unitree_hg::msg::dds_::MotorState_>& _val_) { this->motor_state_ = _val_; }
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void motor_state(std::vector<::unitree_hg::msg::dds_::MotorState_>&& _val_) { this->motor_state_ = _val_; }
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const std::vector<::unitree_hg::msg::dds_::PressSensorState_>& press_sensor_state() const { return this->press_sensor_state_; }
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std::vector<::unitree_hg::msg::dds_::PressSensorState_>& press_sensor_state() { return this->press_sensor_state_; }
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void press_sensor_state(const std::vector<::unitree_hg::msg::dds_::PressSensorState_>& _val_) { this->press_sensor_state_ = _val_; }
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void press_sensor_state(std::vector<::unitree_hg::msg::dds_::PressSensorState_>&& _val_) { this->press_sensor_state_ = _val_; }
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const ::unitree_hg::msg::dds_::IMUState_& imu_state() const { return this->imu_state_; }
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::unitree_hg::msg::dds_::IMUState_& imu_state() { return this->imu_state_; }
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void imu_state(const ::unitree_hg::msg::dds_::IMUState_& _val_) { this->imu_state_ = _val_; }
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void imu_state(::unitree_hg::msg::dds_::IMUState_&& _val_) { this->imu_state_ = _val_; }
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float power_v() const { return this->power_v_; }
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float& power_v() { return this->power_v_; }
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void power_v(float _val_) { this->power_v_ = _val_; }
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float power_a() const { return this->power_a_; }
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float& power_a() { return this->power_a_; }
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void power_a(float _val_) { this->power_a_ = _val_; }
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float system_v() const { return this->system_v_; }
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float& system_v() { return this->system_v_; }
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void system_v(float _val_) { this->system_v_ = _val_; }
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float device_v() const { return this->device_v_; }
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float& device_v() { return this->device_v_; }
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void device_v(float _val_) { this->device_v_ = _val_; }
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const std::array<uint32_t, 2>& error() const { return this->error_; }
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std::array<uint32_t, 2>& error() { return this->error_; }
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void error(const std::array<uint32_t, 2>& _val_) { this->error_ = _val_; }
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void error(std::array<uint32_t, 2>&& _val_) { this->error_ = _val_; }
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const std::array<uint32_t, 2>& reserve() const { return this->reserve_; }
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std::array<uint32_t, 2>& reserve() { return this->reserve_; }
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void reserve(const std::array<uint32_t, 2>& _val_) { this->reserve_ = _val_; }
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void reserve(std::array<uint32_t, 2>&& _val_) { this->reserve_ = _val_; }
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bool operator==(const HandState_& _other) const
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{
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(void) _other;
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return motor_state_ == _other.motor_state_ &&
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press_sensor_state_ == _other.press_sensor_state_ &&
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imu_state_ == _other.imu_state_ &&
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power_v_ == _other.power_v_ &&
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power_a_ == _other.power_a_ &&
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system_v_ == _other.system_v_ &&
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device_v_ == _other.device_v_ &&
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error_ == _other.error_ &&
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reserve_ == _other.reserve_;
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}
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bool operator!=(const HandState_& _other) const
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{
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return !(*this == _other);
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}
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};
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}
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}
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}
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#include "dds/topic/TopicTraits.hpp"
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#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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namespace org {
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namespace eclipse {
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namespace cyclonedds {
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namespace topic {
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template <> constexpr const char* TopicTraits<::unitree_hg::msg::dds_::HandState_>::getTypeName()
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{
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return "unitree_hg::msg::dds_::HandState_";
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}
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template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::HandState_>::isSelfContained()
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{
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return false;
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}
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template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::HandState_>::isKeyless()
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{
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return true;
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::HandState_>::type_map_blob_sz() { return 2244; }
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template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::HandState_>::type_info_blob_sz() { return 244; }
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template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::HandState_>::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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|
||||
0x6e, 0x46, 0x6a, 0x66, 0xb2, 0x55, 0xf2, 0x7d, 0x41, 0x66, 0x75, 0x41, 0x77, 0xd8, 0x6f, 0xa2,
|
||||
0x7c, 0xd2, 0x5b, 0x04, 0x03, 0xf1, 0xfc, 0x68, 0x71, 0x76, 0x65, 0x12, 0x06, 0x55, 0x84, 0x73,
|
||||
0xdf, 0x44, 0x22, 0x80, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::HandState_>::type_info_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0xf0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf1, 0x69, 0x9e, 0xb3, 0x27, 0x0c, 0x7d, 0x77, 0x88, 0xed, 0x03, 0xbe,
|
||||
0xbe, 0x16, 0xb9, 0x00, 0xf6, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00,
|
||||
0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x7c, 0xc5, 0x84, 0xed, 0x94, 0x0b, 0x8f,
|
||||
0x30, 0x18, 0xf1, 0x8d, 0xe0, 0xed, 0x24, 0x00, 0xda, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
||||
0xf1, 0x03, 0x93, 0x1d, 0x83, 0x67, 0x60, 0x08, 0x26, 0x6e, 0x46, 0x6a, 0x66, 0xb2, 0x55, 0x00,
|
||||
0x6f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xfc, 0x68, 0x71, 0x76, 0x65, 0x12, 0x06,
|
||||
0x55, 0x84, 0x73, 0xdf, 0x44, 0x22, 0x80, 0x00, 0x97, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40,
|
||||
0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xb9, 0xf2, 0x80,
|
||||
0x69, 0x66, 0x06, 0x0f, 0xc0, 0xf9, 0x13, 0xa4, 0x7b, 0x8a, 0xb9, 0x00, 0x96, 0x01, 0x00, 0x00,
|
||||
0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
||||
0xf2, 0xa8, 0x6c, 0xba, 0xb3, 0xae, 0x0a, 0xa9, 0x8a, 0x1e, 0x74, 0x66, 0x43, 0xa0, 0x99, 0x00,
|
||||
0x6a, 0x01, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xcd, 0x53, 0x1f, 0x52, 0x24, 0x7f, 0x1d,
|
||||
0x07, 0xb3, 0x82, 0x0f, 0xf4, 0x2b, 0x21, 0x00, 0xce, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
||||
0xf2, 0x7d, 0x41, 0x66, 0x75, 0x41, 0x77, 0xd8, 0x6f, 0xa2, 0x7c, 0xd2, 0x5b, 0x04, 0x03, 0x00,
|
||||
0x02, 0x01, 0x00, 0x00, };
|
||||
return blob;
|
||||
}
|
||||
#endif //DDSCXX_HAS_TYPE_DISCOVERY
|
||||
|
||||
} //namespace topic
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
namespace dds {
|
||||
namespace topic {
|
||||
|
||||
template <>
|
||||
struct topic_type_name<::unitree_hg::msg::dds_::HandState_>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::HandState_>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::HandState_)
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_hg::msg::dds_::HandState_>();
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool write(T& streamer, const ::unitree_hg::msg::dds_::HandState_& 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(false, false))
|
||||
return false;
|
||||
{
|
||||
uint32_t se_1 = uint32_t(instance.motor_state().size());
|
||||
if (!write(streamer, se_1))
|
||||
return false;
|
||||
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
||||
if (!write(streamer, instance.motor_state()[i_1], prop))
|
||||
return false;
|
||||
} //i_1
|
||||
} //end sequence 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(false, false))
|
||||
return false;
|
||||
{
|
||||
uint32_t se_1 = uint32_t(instance.press_sensor_state().size());
|
||||
if (!write(streamer, se_1))
|
||||
return false;
|
||||
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
||||
if (!write(streamer, instance.press_sensor_state()[i_1], prop))
|
||||
return false;
|
||||
} //i_1
|
||||
} //end sequence 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.imu_state(), prop))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.power_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.power_a()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.system_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.device_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!write(streamer, instance.error()[0], instance.error().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
}
|
||||
prop = streamer.next_entity(prop);
|
||||
}
|
||||
return streamer.finish_struct(*props);
|
||||
}
|
||||
|
||||
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||||
bool write(S& str, const ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>();
|
||||
str.set_mode(cdr_stream::stream_mode::write, as_key);
|
||||
return write(str, instance, props.data());
|
||||
}
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool read(T& streamer, ::unitree_hg::msg::dds_::HandState_& 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(false, false))
|
||||
return false;
|
||||
{
|
||||
uint32_t se_1 = uint32_t(instance.motor_state().size());
|
||||
if (!read(streamer, se_1))
|
||||
return false;
|
||||
instance.motor_state().resize(se_1);
|
||||
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
||||
if (!read(streamer, instance.motor_state()[i_1], prop))
|
||||
return false;
|
||||
} //i_1
|
||||
} //end sequence 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(false, false))
|
||||
return false;
|
||||
{
|
||||
uint32_t se_1 = uint32_t(instance.press_sensor_state().size());
|
||||
if (!read(streamer, se_1))
|
||||
return false;
|
||||
instance.press_sensor_state().resize(se_1);
|
||||
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
||||
if (!read(streamer, instance.press_sensor_state()[i_1], prop))
|
||||
return false;
|
||||
} //i_1
|
||||
} //end sequence 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.imu_state(), prop))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.power_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.power_a()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.system_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.device_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!read(streamer, instance.error()[0], instance.error().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
}
|
||||
prop = streamer.next_entity(prop);
|
||||
}
|
||||
return streamer.finish_struct(*props);
|
||||
}
|
||||
|
||||
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||||
bool read(S& str, ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>();
|
||||
str.set_mode(cdr_stream::stream_mode::read, as_key);
|
||||
return read(str, instance, props.data());
|
||||
}
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool move(T& streamer, const ::unitree_hg::msg::dds_::HandState_& 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(false, false))
|
||||
return false;
|
||||
{
|
||||
uint32_t se_1 = uint32_t(instance.motor_state().size());
|
||||
if (!move(streamer, se_1))
|
||||
return false;
|
||||
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
||||
if (!move(streamer, instance.motor_state()[i_1], prop))
|
||||
return false;
|
||||
} //i_1
|
||||
} //end sequence 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(false, false))
|
||||
return false;
|
||||
{
|
||||
uint32_t se_1 = uint32_t(instance.press_sensor_state().size());
|
||||
if (!move(streamer, se_1))
|
||||
return false;
|
||||
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
||||
if (!move(streamer, instance.press_sensor_state()[i_1], prop))
|
||||
return false;
|
||||
} //i_1
|
||||
} //end sequence 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.imu_state(), prop))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.power_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.power_a()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.system_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.device_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!move(streamer, instance.error()[0], instance.error().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
}
|
||||
prop = streamer.next_entity(prop);
|
||||
}
|
||||
return streamer.finish_struct(*props);
|
||||
}
|
||||
|
||||
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||||
bool move(S& str, const ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>();
|
||||
str.set_mode(cdr_stream::stream_mode::move, as_key);
|
||||
return move(str, instance, props.data());
|
||||
}
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool max(T& streamer, const ::unitree_hg::msg::dds_::HandState_& 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(false, false))
|
||||
return false;
|
||||
{
|
||||
uint32_t se_1 = 0;
|
||||
if (!max(streamer, se_1))
|
||||
return false;
|
||||
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
||||
if (!max(streamer, instance.motor_state()[i_1], prop))
|
||||
return false;
|
||||
} //i_1
|
||||
} //end sequence 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
streamer.position(SIZE_MAX);
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(false, false))
|
||||
return false;
|
||||
{
|
||||
uint32_t se_1 = 0;
|
||||
if (!max(streamer, se_1))
|
||||
return false;
|
||||
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
||||
if (!max(streamer, instance.press_sensor_state()[i_1], prop))
|
||||
return false;
|
||||
} //i_1
|
||||
} //end sequence 1
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
streamer.position(SIZE_MAX);
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.imu_state(), prop))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.power_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.power_a()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.system_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.device_v()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 7:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, true))
|
||||
return false;
|
||||
if (!max(streamer, instance.error()[0], instance.error().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
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.reserve()[0], instance.reserve().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
}
|
||||
prop = streamer.next_entity(prop);
|
||||
}
|
||||
return streamer.finish_struct(*props);
|
||||
}
|
||||
|
||||
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
||||
bool max(S& str, const ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>();
|
||||
str.set_mode(cdr_stream::stream_mode::max, as_key);
|
||||
return max(str, instance, props.data());
|
||||
}
|
||||
|
||||
} //namespace cdr
|
||||
} //namespace core
|
||||
} //namespace cyclonedds
|
||||
} //namespace eclipse
|
||||
} //namespace org
|
||||
|
||||
#endif // DDSCXX_UNITREE_IDL_HG_HANDSTATE__HPP
|
||||
Reference in New Issue
Block a user