init
This commit is contained in:
762
unitree_SDK/include/unitree/idl/hg/LowState_.hpp
Normal file
762
unitree_SDK/include/unitree/idl/hg/LowState_.hpp
Normal file
@@ -0,0 +1,762 @@
|
||||
/****************************************************************
|
||||
|
||||
Generated by Eclipse Cyclone DDS IDL to CXX Translator
|
||||
File name: LowState_.idl
|
||||
Source: LowState_.hpp
|
||||
Cyclone DDS: v0.10.2
|
||||
|
||||
*****************************************************************/
|
||||
#ifndef DDSCXX_UNITREE_IDL_HG_LOWSTATE__HPP
|
||||
#define DDSCXX_UNITREE_IDL_HG_LOWSTATE__HPP
|
||||
|
||||
#include "unitree/idl/hg/IMUState_.hpp"
|
||||
|
||||
#include "unitree/idl/hg/MotorState_.hpp"
|
||||
|
||||
#include <cstdint>
|
||||
#include <array>
|
||||
|
||||
namespace unitree_hg
|
||||
{
|
||||
namespace msg
|
||||
{
|
||||
namespace dds_
|
||||
{
|
||||
class LowState_
|
||||
{
|
||||
private:
|
||||
std::array<uint32_t, 2> version_ = { };
|
||||
uint8_t mode_pr_ = 0;
|
||||
uint8_t mode_machine_ = 0;
|
||||
uint32_t tick_ = 0;
|
||||
::unitree_hg::msg::dds_::IMUState_ imu_state_;
|
||||
std::array<::unitree_hg::msg::dds_::MotorState_, 35> motor_state_ = { };
|
||||
std::array<uint8_t, 40> wireless_remote_ = { };
|
||||
std::array<uint32_t, 4> reserve_ = { };
|
||||
uint32_t crc_ = 0;
|
||||
|
||||
public:
|
||||
LowState_() = default;
|
||||
|
||||
explicit LowState_(
|
||||
const std::array<uint32_t, 2>& version,
|
||||
uint8_t mode_pr,
|
||||
uint8_t mode_machine,
|
||||
uint32_t tick,
|
||||
const ::unitree_hg::msg::dds_::IMUState_& imu_state,
|
||||
const std::array<::unitree_hg::msg::dds_::MotorState_, 35>& motor_state,
|
||||
const std::array<uint8_t, 40>& wireless_remote,
|
||||
const std::array<uint32_t, 4>& reserve,
|
||||
uint32_t crc) :
|
||||
version_(version),
|
||||
mode_pr_(mode_pr),
|
||||
mode_machine_(mode_machine),
|
||||
tick_(tick),
|
||||
imu_state_(imu_state),
|
||||
motor_state_(motor_state),
|
||||
wireless_remote_(wireless_remote),
|
||||
reserve_(reserve),
|
||||
crc_(crc) { }
|
||||
|
||||
const std::array<uint32_t, 2>& version() const { return this->version_; }
|
||||
std::array<uint32_t, 2>& version() { return this->version_; }
|
||||
void version(const std::array<uint32_t, 2>& _val_) { this->version_ = _val_; }
|
||||
void version(std::array<uint32_t, 2>&& _val_) { this->version_ = _val_; }
|
||||
uint8_t mode_pr() const { return this->mode_pr_; }
|
||||
uint8_t& mode_pr() { return this->mode_pr_; }
|
||||
void mode_pr(uint8_t _val_) { this->mode_pr_ = _val_; }
|
||||
uint8_t mode_machine() const { return this->mode_machine_; }
|
||||
uint8_t& mode_machine() { return this->mode_machine_; }
|
||||
void mode_machine(uint8_t _val_) { this->mode_machine_ = _val_; }
|
||||
uint32_t tick() const { return this->tick_; }
|
||||
uint32_t& tick() { return this->tick_; }
|
||||
void tick(uint32_t _val_) { this->tick_ = _val_; }
|
||||
const ::unitree_hg::msg::dds_::IMUState_& imu_state() const { return this->imu_state_; }
|
||||
::unitree_hg::msg::dds_::IMUState_& imu_state() { return this->imu_state_; }
|
||||
void imu_state(const ::unitree_hg::msg::dds_::IMUState_& _val_) { this->imu_state_ = _val_; }
|
||||
void imu_state(::unitree_hg::msg::dds_::IMUState_&& _val_) { this->imu_state_ = _val_; }
|
||||
const std::array<::unitree_hg::msg::dds_::MotorState_, 35>& motor_state() const { return this->motor_state_; }
|
||||
std::array<::unitree_hg::msg::dds_::MotorState_, 35>& motor_state() { return this->motor_state_; }
|
||||
void motor_state(const std::array<::unitree_hg::msg::dds_::MotorState_, 35>& _val_) { this->motor_state_ = _val_; }
|
||||
void motor_state(std::array<::unitree_hg::msg::dds_::MotorState_, 35>&& _val_) { this->motor_state_ = _val_; }
|
||||
const std::array<uint8_t, 40>& wireless_remote() const { return this->wireless_remote_; }
|
||||
std::array<uint8_t, 40>& wireless_remote() { return this->wireless_remote_; }
|
||||
void wireless_remote(const std::array<uint8_t, 40>& _val_) { this->wireless_remote_ = _val_; }
|
||||
void wireless_remote(std::array<uint8_t, 40>&& _val_) { this->wireless_remote_ = _val_; }
|
||||
const std::array<uint32_t, 4>& reserve() const { return this->reserve_; }
|
||||
std::array<uint32_t, 4>& reserve() { return this->reserve_; }
|
||||
void reserve(const std::array<uint32_t, 4>& _val_) { this->reserve_ = _val_; }
|
||||
void reserve(std::array<uint32_t, 4>&& _val_) { this->reserve_ = _val_; }
|
||||
uint32_t crc() const { return this->crc_; }
|
||||
uint32_t& crc() { return this->crc_; }
|
||||
void crc(uint32_t _val_) { this->crc_ = _val_; }
|
||||
|
||||
bool operator==(const LowState_& _other) const
|
||||
{
|
||||
(void) _other;
|
||||
return version_ == _other.version_ &&
|
||||
mode_pr_ == _other.mode_pr_ &&
|
||||
mode_machine_ == _other.mode_machine_ &&
|
||||
tick_ == _other.tick_ &&
|
||||
imu_state_ == _other.imu_state_ &&
|
||||
motor_state_ == _other.motor_state_ &&
|
||||
wireless_remote_ == _other.wireless_remote_ &&
|
||||
reserve_ == _other.reserve_ &&
|
||||
crc_ == _other.crc_;
|
||||
}
|
||||
|
||||
bool operator!=(const LowState_& _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_hg::msg::dds_::LowState_>::getTypeName()
|
||||
{
|
||||
return "unitree_hg::msg::dds_::LowState_";
|
||||
}
|
||||
|
||||
template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::LowState_>::isKeyless()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
|
||||
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::LowState_>::type_map_blob_sz() { return 1850; }
|
||||
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::LowState_>::type_info_blob_sz() { return 196; }
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::LowState_>::type_map_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0x9a, 0x02, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x2f, 0x38, 0x29, 0x6b, 0x52, 0xaa, 0x02,
|
||||
0x30, 0xb9, 0x2d, 0x37, 0x8b, 0x1e, 0x39, 0x00, 0xef, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xdf, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00,
|
||||
0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x2a, 0xf7, 0x2f, 0x10, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xb6, 0x9f, 0x36, 0x51, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xed, 0xb8, 0xc4, 0x0a, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xe5, 0xe5, 0xc0, 0x75, 0x00, 0x19, 0x00, 0x00, 0x00,
|
||||
0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0xfc, 0x68, 0x71, 0x76, 0x65, 0x12, 0x06, 0x55, 0x84,
|
||||
0x73, 0xdf, 0x44, 0x22, 0x80, 0x9e, 0x5f, 0x37, 0x13, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
|
||||
0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf1, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x23, 0xf1, 0x7c, 0xc5, 0x84, 0xed, 0x94, 0x0b, 0x8f, 0x30, 0x18, 0xf1, 0x8d, 0xe0, 0xed, 0x24,
|
||||
0xb2, 0x1e, 0x53, 0xdc, 0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x28, 0x02, 0xa8, 0x2f, 0x18, 0xc9, 0x00, 0x00,
|
||||
0x16, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x04, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xf5, 0xad, 0x59, 0xc5, 0xf1, 0xfc, 0x68, 0x71, 0x76,
|
||||
0x65, 0x12, 0x06, 0x55, 0x84, 0x73, 0xdf, 0x44, 0x22, 0x80, 0x00, 0x00, 0x93, 0x00, 0x00, 0x00,
|
||||
0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x83, 0x00, 0x00, 0x00,
|
||||
0x05, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x75, 0xb9, 0xaa, 0xa0, 0x00, 0x00,
|
||||
0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x6b, 0x3b, 0x2d, 0x85, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x03, 0x09, 0x0e, 0x12, 0x75, 0x69, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0xb0, 0x7d,
|
||||
0x92, 0xed, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0xee,
|
||||
0xf4, 0x38, 0xf7, 0xf1, 0x7c, 0xc5, 0x84, 0xed, 0x94, 0x0b, 0x8f, 0x30, 0x18, 0xf1, 0x8d, 0xe0,
|
||||
0xed, 0x24, 0x00, 0x00, 0xd6, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0xc6, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xe9, 0x16, 0x89, 0x09, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x8a, 0xf7, 0xae, 0xdf, 0x00, 0x16, 0x00, 0x00, 0x00,
|
||||
0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x02, 0x03, 0xee, 0xf4, 0x38, 0xf7, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x09, 0x0a, 0xcf, 0x8b, 0xe1, 0x00, 0x16, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0xa5, 0xfe,
|
||||
0x26, 0xd5, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xd1,
|
||||
0x41, 0x1a, 0xed, 0x00, 0x16, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00,
|
||||
0x32, 0x04, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf2, 0x2b, 0xe9, 0x70, 0x6c, 0x95, 0x87, 0xe8,
|
||||
0xd8, 0xaf, 0xd8, 0xbf, 0xc6, 0xde, 0x7b, 0x00, 0x8a, 0x01, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
|
||||
0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
|
||||
0x72, 0x65, 0x65, 0x5f, 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
|
||||
0x5f, 0x3a, 0x3a, 0x4c, 0x6f, 0x77, 0x53, 0x74, 0x61, 0x74, 0x65, 0x5f, 0x00, 0x00, 0x00, 0x00,
|
||||
0x52, 0x01, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x00, 0x00,
|
||||
0x08, 0x00, 0x00, 0x00, 0x76, 0x65, 0x72, 0x73, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x08, 0x00, 0x00, 0x00,
|
||||
0x6d, 0x6f, 0x64, 0x65, 0x5f, 0x70, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1b, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65,
|
||||
0x5f, 0x6d, 0x61, 0x63, 0x68, 0x69, 0x6e, 0x65, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00,
|
||||
0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x05, 0x00, 0x00, 0x00, 0x74, 0x69, 0x63, 0x6b,
|
||||
0x00, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf2, 0x7d,
|
||||
0x41, 0x66, 0x75, 0x41, 0x77, 0xd8, 0x6f, 0xa2, 0x7c, 0xd2, 0x5b, 0x04, 0x03, 0x00, 0x00, 0x00,
|
||||
0x0a, 0x00, 0x00, 0x00, 0x69, 0x6d, 0x75, 0x5f, 0x73, 0x74, 0x61, 0x74, 0x65, 0x00, 0x00, 0x00,
|
||||
0x32, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf2, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x23, 0xf2, 0xa8, 0x6c, 0xba, 0xb3, 0xae, 0x0a, 0xa9, 0x8a, 0x1e, 0x74,
|
||||
0x66, 0x43, 0xa0, 0x99, 0x0c, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x74, 0x6f, 0x72, 0x5f, 0x73, 0x74,
|
||||
0x61, 0x74, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x28, 0x02, 0x00, 0x00,
|
||||
0x10, 0x00, 0x00, 0x00, 0x77, 0x69, 0x72, 0x65, 0x6c, 0x65, 0x73, 0x73, 0x5f, 0x72, 0x65, 0x6d,
|
||||
0x6f, 0x74, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x07, 0x00, 0x00,
|
||||
0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x12, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x63, 0x72, 0x63, 0x00, 0x00, 0x00, 0xf2, 0x7d, 0x41, 0x66, 0x75, 0x41, 0x77, 0xd8, 0x6f, 0xa2,
|
||||
0x7c, 0xd2, 0x5b, 0x04, 0x03, 0x00, 0x00, 0x00, 0xfe, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
|
||||
0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
|
||||
0x72, 0x65, 0x65, 0x5f, 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
|
||||
0x5f, 0x3a, 0x3a, 0x49, 0x4d, 0x55, 0x53, 0x74, 0x61, 0x74, 0x65, 0x5f, 0x00, 0x00, 0x00, 0x00,
|
||||
0xc6, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x00, 0x00,
|
||||
0x0b, 0x00, 0x00, 0x00, 0x71, 0x75, 0x61, 0x74, 0x65, 0x72, 0x6e, 0x69, 0x6f, 0x6e, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00,
|
||||
0x67, 0x79, 0x72, 0x6f, 0x73, 0x63, 0x6f, 0x70, 0x65, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x03, 0x09, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x61, 0x63, 0x63, 0x65, 0x6c, 0x65, 0x72, 0x6f,
|
||||
0x6d, 0x65, 0x74, 0x65, 0x72, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00,
|
||||
0x04, 0x00, 0x00, 0x00, 0x72, 0x70, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00,
|
||||
0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x74, 0x65, 0x6d, 0x70,
|
||||
0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0xf2, 0xa8, 0x6c, 0xba, 0xb3, 0xae,
|
||||
0x0a, 0xa9, 0x8a, 0x1e, 0x74, 0x66, 0x43, 0xa0, 0x99, 0x00, 0x00, 0x00, 0x66, 0x01, 0x00, 0x00,
|
||||
0xf2, 0x51, 0x01, 0x00, 0x2b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00,
|
||||
0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a,
|
||||
0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d, 0x6f, 0x74, 0x6f, 0x72, 0x53, 0x74, 0x61, 0x74,
|
||||
0x65, 0x5f, 0x00, 0x00, 0x2e, 0x01, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65,
|
||||
0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00,
|
||||
0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x64, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x09, 0x00, 0x08, 0x00, 0x00, 0x00, 0x74, 0x61, 0x75, 0x5f, 0x65, 0x73, 0x74, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
|
||||
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x03, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00,
|
||||
0x74, 0x65, 0x6d, 0x70, 0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x12, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x76, 0x6f, 0x6c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x00, 0x00,
|
||||
0x07, 0x00, 0x00, 0x00, 0x73, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x19, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x0b, 0x00, 0x00, 0x00,
|
||||
0x6d, 0x6f, 0x74, 0x6f, 0x72, 0x73, 0x74, 0x61, 0x74, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x22, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
|
||||
0x01, 0x00, 0x00, 0x00, 0x04, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65,
|
||||
0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x5e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
|
||||
0xf2, 0x2b, 0xe9, 0x70, 0x6c, 0x95, 0x87, 0xe8, 0xd8, 0xaf, 0xd8, 0xbf, 0xc6, 0xde, 0x7b, 0xf1,
|
||||
0x2f, 0x38, 0x29, 0x6b, 0x52, 0xaa, 0x02, 0x30, 0xb9, 0x2d, 0x37, 0x8b, 0x1e, 0x39, 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, 0xf2, 0xa8, 0x6c, 0xba,
|
||||
0xb3, 0xae, 0x0a, 0xa9, 0x8a, 0x1e, 0x74, 0x66, 0x43, 0xa0, 0x99, 0xf1, 0x7c, 0xc5, 0x84, 0xed,
|
||||
0x94, 0x0b, 0x8f, 0x30, 0x18, 0xf1, 0x8d, 0xe0, 0xed, 0x24, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::LowState_>::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, 0x2f, 0x38, 0x29, 0x6b, 0x52, 0xaa, 0x02, 0x30, 0xb9, 0x2d, 0x37,
|
||||
0x8b, 0x1e, 0x39, 0x00, 0xf3, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||||
0x02, 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, 0x14, 0x00, 0x00, 0x00,
|
||||
0xf1, 0x7c, 0xc5, 0x84, 0xed, 0x94, 0x0b, 0x8f, 0x30, 0x18, 0xf1, 0x8d, 0xe0, 0xed, 0x24, 0x00,
|
||||
0xda, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
|
||||
0x14, 0x00, 0x00, 0x00, 0xf2, 0x2b, 0xe9, 0x70, 0x6c, 0x95, 0x87, 0xe8, 0xd8, 0xaf, 0xd8, 0xbf,
|
||||
0xc6, 0xde, 0x7b, 0x00, 0x8e, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
|
||||
0x02, 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, 0x14, 0x00, 0x00, 0x00,
|
||||
0xf2, 0xa8, 0x6c, 0xba, 0xb3, 0xae, 0x0a, 0xa9, 0x8a, 0x1e, 0x74, 0x66, 0x43, 0xa0, 0x99, 0x00,
|
||||
0x6a, 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_::LowState_>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::LowState_>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::LowState_)
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_hg::msg::dds_::LowState_>();
|
||||
|
||||
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_::LowState_& 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.version()[0], instance.version().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.mode_pr()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.mode_machine()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.tick()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
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 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (const auto & a_1:instance.motor_state()) { //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 6:
|
||||
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 7:
|
||||
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;
|
||||
case 8:
|
||||
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_hg::msg::dds_::LowState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::LowState_>();
|
||||
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_::LowState_& 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.version()[0], instance.version().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.mode_pr()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.mode_machine()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.tick()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
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 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (auto & a_1:instance.motor_state()) { //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 6:
|
||||
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 7:
|
||||
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;
|
||||
case 8:
|
||||
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_hg::msg::dds_::LowState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::LowState_>();
|
||||
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_::LowState_& 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.version()[0], instance.version().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.mode_pr()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.mode_machine()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.tick()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
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 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (const auto & a_1:instance.motor_state()) { //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 6:
|
||||
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 7:
|
||||
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;
|
||||
case 8:
|
||||
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_hg::msg::dds_::LowState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::LowState_>();
|
||||
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_::LowState_& 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.version()[0], instance.version().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.mode_pr()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.mode_machine()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.tick()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
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 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!streamer.start_consecutive(true, false))
|
||||
return false;
|
||||
for (const auto & a_1:instance.motor_state()) { //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 6:
|
||||
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 7:
|
||||
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;
|
||||
case 8:
|
||||
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_hg::msg::dds_::LowState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::LowState_>();
|
||||
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_LOWSTATE__HPP
|
||||
Reference in New Issue
Block a user