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Quella
2025-09-24 10:53:28 +08:00
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17
unitree_SDK/include/unitree/robot/internal/internal.hpp Normal file
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#ifndef __UT_ROBOT_SDK_INERNAL_HPP__
#define __UT_ROBOT_SDK_INERNAL_HPP__
#include <unitree/robot/internal/internal_api.hpp>
#include <unitree/robot/internal/internal_error.hpp>
#include <unitree/robot/internal/internal_request_response.hpp>
namespace unitree
{
namespace robot
{
using RequestPtr = std::shared_ptr<Request>;
using ResponsePtr = std::shared_ptr<Response>;
}
}
#endif//__UT_ROBOT_SDK_INERNAL_HPP__

120
unitree_SDK/include/unitree/robot/internal/internal_api.hpp Normal file
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#ifndef __UT_ROBOT_SDK_INERNAL_API_HPP__
#define __UT_ROBOT_SDK_INERNAL_API_HPP__
#include <unitree/common/decl.hpp>
#include <unitree/common/json/jsonize.hpp>
namespace unitree
{
namespace robot
{
/*
* @brief max internal api id
* @value: 100
*/
const int32_t ROBOT_INTERNAL_API_ID_MAX = 100;
///////////////////////////////////////////////////////////////
/*
* @brief invailed api id
* @value: -1
*/
const int32_t ROBOT_API_ID_NONE = -1;
/*
* @brief Get api version from server.
* @value: 1
*/
const int32_t ROBOT_API_ID_INTERNAL_API_VERSION = 1;
/*
* @brief Noop.
* @value: 2
*/
const int32_t ROBOT_API_ID_INTERNAL_API_NOOP = 2;
/*
* @brief Apply lease from server.
* @value: 101
*/
const int32_t ROBOT_API_ID_LEASE_APPLY = 101;
/*
* @brief Renewal lease term from server.
* @value: 102
*/
const int32_t ROBOT_API_ID_LEASE_RENEWAL = 102;
///////////////////////////////////////////////////////////////
/*
* @biref robot lease term default.
* @value: default 1000000 us
*/
const int32_t ROBOT_LEASE_TERM = 1000000;
/*
* micro: IS_INTERNAL_API
*/
#define IS_INTERNAL_API(apiId) ((apiId) <= ROBOT_MAX_INTERNAL_API_ID)
///////////////////////////////////////////////////////////////
/*
* @brief Input parameter type for ROBOT_API_ID_INTERNAL_APPLY_LEASE
* @class: ApplyLeaseParameter
*/
class ApplyLeaseParameter : public common::Jsonize
{
public:
ApplyLeaseParameter()
{}
~ApplyLeaseParameter()
{}
void fromJson(common::JsonMap& json)
{
common::FromJson(json["name"], name);
}
void toJson(common::JsonMap& json) const
{
common::ToJson(name, json["name"]);
}
public:
std::string name;
};
/*
* @brief Output data type for ROBOT_API_ID_INTERNAL_APPLY_LEASE
* @class: ApplyLeaseData
*/
class ApplyLeaseData : public common::Jsonize
{
public:
ApplyLeaseData() : id(0),term(0)
{}
~ApplyLeaseData()
{}
void fromJson(common::JsonMap& json)
{
common::FromJson(json["id"], id);
common::FromJson(json["term"], term);
}
void toJson(common::JsonMap& json) const
{
common::ToJson(id, json["id"]);
common::ToJson(term, json["term"]);
}
public:
int64_t id;
int64_t term;
};
}
}
#endif//__UT_ROBOT_SDK_INERNAL_API_HPP__

29
unitree_SDK/include/unitree/robot/internal/internal_error.hpp Normal file
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#ifndef __UT_ROBOT_INTERNAL_ERROR_HPP__
#define __UT_ROBOT_INTERNAL_ERROR_HPP__
#include <unitree/common/decl.hpp>
namespace unitree
{
namespace robot
{
UT_DECL_ERR(UT_ROBOT_OK, 0, "Success.")
UT_DECL_ERR(UT_ROBOT_ERR_UNKNOWN, 3001, "Unknown error.")
UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_SEND, 3102, "Send request error.")
UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_API_NOT_REG, 3103, "Api is not registed.")
UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_API_TIMEOUT, 3104, "Call api timeout error.")
UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_API_NOT_MATCH, 3105, "Response api not match error.")
UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_API_DATA, 3106, "Response data error.")
UT_DECL_ERR(UT_ROBOT_ERR_CLIENT_LEASE_INVALID, 3107, "Lease is invalid.")
UT_DECL_ERR(UT_ROBOT_ERR_SERVER_SEND, 3201, "Send response error.")
UT_DECL_ERR(UT_ROBOT_ERR_SERVER_INTERNAL, 3202, "Server internal error.")
UT_DECL_ERR(UT_ROBOT_ERR_SERVER_API_NOT_IMPL, 3203, "Api not implement error.")
UT_DECL_ERR(UT_ROBOT_ERR_SERVER_API_PARAMETER, 3204, "Api parameter error.")
UT_DECL_ERR(UT_ROBOT_ERR_SERVER_LEASE_DENIED, 3205, "Request denied by lease.")
UT_DECL_ERR(UT_ROBOT_ERR_SERVER_LEASE_NOT_EXIST, 3206, "Lease not exist in server cache.")
UT_DECL_ERR(UT_ROBOT_ERR_SERVER_LEASE_EXIST, 3207, "Lease is already exist in server cache.")
}
}
#endif//__UT_ROBOT_INTERNAL_ERROR_HPP__

408
unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestHeader_.hpp Normal file
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/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: RequestHeader_.idl
Source: RequestHeader_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_REQUESTHEADER__HPP
#define DDSCXX_REQUESTHEADER__HPP
#include "RequestIdentity_.hpp"
#include "RequestLease_.hpp"
#include "RequestPolicy_.hpp"
namespace unitree_api
{
namespace msg
{
namespace dds_
{
class RequestHeader_
{
private:
::unitree_api::msg::dds_::RequestIdentity_ identity_;
::unitree_api::msg::dds_::RequestLease_ lease_;
::unitree_api::msg::dds_::RequestPolicy_ policy_;
public:
RequestHeader_() = default;
explicit RequestHeader_(
const ::unitree_api::msg::dds_::RequestIdentity_& identity,
const ::unitree_api::msg::dds_::RequestLease_& lease,
const ::unitree_api::msg::dds_::RequestPolicy_& policy) :
identity_(identity),
lease_(lease),
policy_(policy) { }
const ::unitree_api::msg::dds_::RequestIdentity_& identity() const { return this->identity_; }
::unitree_api::msg::dds_::RequestIdentity_& identity() { return this->identity_; }
void identity(const ::unitree_api::msg::dds_::RequestIdentity_& _val_) { this->identity_ = _val_; }
void identity(::unitree_api::msg::dds_::RequestIdentity_&& _val_) { this->identity_ = _val_; }
const ::unitree_api::msg::dds_::RequestLease_& lease() const { return this->lease_; }
::unitree_api::msg::dds_::RequestLease_& lease() { return this->lease_; }
void lease(const ::unitree_api::msg::dds_::RequestLease_& _val_) { this->lease_ = _val_; }
void lease(::unitree_api::msg::dds_::RequestLease_&& _val_) { this->lease_ = _val_; }
const ::unitree_api::msg::dds_::RequestPolicy_& policy() const { return this->policy_; }
::unitree_api::msg::dds_::RequestPolicy_& policy() { return this->policy_; }
void policy(const ::unitree_api::msg::dds_::RequestPolicy_& _val_) { this->policy_ = _val_; }
void policy(::unitree_api::msg::dds_::RequestPolicy_&& _val_) { this->policy_ = _val_; }
bool operator==(const RequestHeader_& _other) const
{
(void) _other;
return identity_ == _other.identity_ &&
lease_ == _other.lease_ &&
policy_ == _other.policy_;
}
bool operator!=(const RequestHeader_& _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_api::msg::dds_::RequestHeader_>::getTypeName()
{
return "unitree_api::msg::dds_::RequestHeader_";
}
template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::type_map_blob_sz() { return 1064; }
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::type_info_blob_sz() { return 244; }
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::type_map_blob() {
static const uint8_t blob[] = {
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return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::type_info_blob() {
static const uint8_t blob[] = {
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0x32, 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, 0x00, 0x37, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40,
0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x9b, 0x9a, 0x2d,
0x50, 0x17, 0x56, 0xf6, 0x0f, 0x8c, 0x92, 0x41, 0xb0, 0xee, 0xdb, 0x00, 0xc1, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0x00,
0x79, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xd7, 0x3d, 0x1a, 0x1e, 0x87, 0xee,
0x27, 0x8f, 0x84, 0xee, 0x9f, 0x41, 0xe3, 0x00, 0x59, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0x99, 0xe3, 0xb9, 0xf0, 0xba, 0xac, 0xdc, 0x09, 0x3a, 0x18, 0x6d, 0x89, 0x7a, 0x17, 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_api::msg::dds_::RequestHeader_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::RequestHeader_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::RequestHeader_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_api::msg::dds_::RequestHeader_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_api::msg::dds_::RequestHeader_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.identity(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.lease(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.policy(), prop))
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_api::msg::dds_::RequestHeader_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestHeader_>();
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_api::msg::dds_::RequestHeader_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.identity(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.lease(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.policy(), prop))
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_api::msg::dds_::RequestHeader_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestHeader_>();
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_api::msg::dds_::RequestHeader_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.identity(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.lease(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.policy(), prop))
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_api::msg::dds_::RequestHeader_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestHeader_>();
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_api::msg::dds_::RequestHeader_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.identity(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.lease(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.policy(), prop))
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_api::msg::dds_::RequestHeader_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestHeader_>();
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_REQUESTHEADER__HPP

302
unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestIdentity_.hpp Normal file
View File

@@ -0,0 +1,302 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: RequestIdentity_.idl
Source: RequestIdentity_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_REQUESTIDENTITY__HPP
#define DDSCXX_REQUESTIDENTITY__HPP
#include <cstdint>
namespace unitree_api
{
namespace msg
{
namespace dds_
{
class RequestIdentity_
{
private:
int64_t id_ = 0;
int64_t api_id_ = 0;
public:
RequestIdentity_() = default;
explicit RequestIdentity_(
int64_t id,
int64_t api_id) :
id_(id),
api_id_(api_id) { }
int64_t id() const { return this->id_; }
int64_t& id() { return this->id_; }
void id(int64_t _val_) { this->id_ = _val_; }
int64_t api_id() const { return this->api_id_; }
int64_t& api_id() { return this->api_id_; }
void api_id(int64_t _val_) { this->api_id_ = _val_; }
bool operator==(const RequestIdentity_& _other) const
{
(void) _other;
return id_ == _other.id_ &&
api_id_ == _other.api_id_;
}
bool operator!=(const RequestIdentity_& _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_api::msg::dds_::RequestIdentity_>::getTypeName()
{
return "unitree_api::msg::dds_::RequestIdentity_";
}
template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::type_map_blob_sz() { return 266; }
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::type_map_blob() {
static const uint8_t blob[] = {
0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89,
0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xb8, 0x0b, 0xb7, 0x74, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xd3, 0x3a, 0xff, 0x5d, 0x00,
0x8d, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a,
0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0x00, 0x75, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x31, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x29, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x61, 0x70, 0x69, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64,
0x73, 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x49, 0x64, 0x65, 0x6e, 0x74,
0x69, 0x74, 0x79, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x00, 0x03, 0x00, 0x00, 0x00,
0x69, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x61, 0x70, 0x69, 0x5f, 0x69, 0x64, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xf8, 0x8b, 0x48,
0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0xf1, 0x8f, 0x78, 0x20, 0x91,
0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7,
0xd6, 0x60, 0xe6, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, 0xd6, 0x89,
0x3c, 0xdd, 0x22, 0x00, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, };
return blob;
}
#endif //DDSCXX_HAS_TYPE_DISCOVERY
} //namespace topic
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
namespace dds {
namespace topic {
template <>
struct topic_type_name<::unitree_api::msg::dds_::RequestIdentity_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::RequestIdentity_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::RequestIdentity_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_api::msg::dds_::RequestIdentity_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_api::msg::dds_::RequestIdentity_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.id()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.api_id()))
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_api::msg::dds_::RequestIdentity_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestIdentity_>();
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_api::msg::dds_::RequestIdentity_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.id()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.api_id()))
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_api::msg::dds_::RequestIdentity_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestIdentity_>();
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_api::msg::dds_::RequestIdentity_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.id()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.api_id()))
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_api::msg::dds_::RequestIdentity_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestIdentity_>();
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_api::msg::dds_::RequestIdentity_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.id()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.api_id()))
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_api::msg::dds_::RequestIdentity_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestIdentity_>();
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_REQUESTIDENTITY__HPP

260
unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp Normal file
View File

@@ -0,0 +1,260 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: RequestLease_.idl
Source: RequestLease_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_REQUESTLEASE__HPP
#define DDSCXX_REQUESTLEASE__HPP
#include <cstdint>
namespace unitree_api
{
namespace msg
{
namespace dds_
{
class RequestLease_
{
private:
int64_t id_ = 0;
public:
RequestLease_() = default;
explicit RequestLease_(
int64_t id) :
id_(id) { }
int64_t id() const { return this->id_; }
int64_t& id() { return this->id_; }
void id(int64_t _val_) { this->id_ = _val_; }
bool operator==(const RequestLease_& _other) const
{
(void) _other;
return id_ == _other.id_;
}
bool operator!=(const RequestLease_& _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_api::msg::dds_::RequestLease_>::getTypeName()
{
return "unitree_api::msg::dds_::RequestLease_";
}
template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::RequestLease_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestLease_>::type_map_blob_sz() { return 218; }
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestLease_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestLease_>::type_map_blob() {
static const uint8_t blob[] = {
0x3b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xe7, 0xaa, 0x98, 0x61, 0xf7, 0xb0, 0x22,
0x20, 0x9b, 0xda, 0x6c, 0x89, 0x3f, 0xca, 0x00, 0x23, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0xb8, 0x0b, 0xb7, 0x74, 0x00,
0x6d, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xd7, 0x3d, 0x1a, 0x1e, 0x87, 0xee,
0x27, 0x8f, 0x84, 0xee, 0x9f, 0x41, 0xe3, 0x00, 0x55, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x2e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x61, 0x70, 0x69, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64,
0x73, 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x4c, 0x65, 0x61, 0x73, 0x65,
0x5f, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x69, 0x64, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xd7, 0x3d,
0x1a, 0x1e, 0x87, 0xee, 0x27, 0x8f, 0x84, 0xee, 0x9f, 0x41, 0xe3, 0xf1, 0xe7, 0xaa, 0x98, 0x61,
0xf7, 0xb0, 0x22, 0x20, 0x9b, 0xda, 0x6c, 0x89, 0x3f, 0xca, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestLease_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0xe7, 0xaa, 0x98, 0x61, 0xf7, 0xb0, 0x22, 0x20, 0x9b, 0xda, 0x6c,
0x89, 0x3f, 0xca, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xd7, 0x3d, 0x1a, 0x1e, 0x87, 0xee, 0x27, 0x8f, 0x84, 0xee,
0x9f, 0x41, 0xe3, 0x00, 0x59, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, };
return blob;
}
#endif //DDSCXX_HAS_TYPE_DISCOVERY
} //namespace topic
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
namespace dds {
namespace topic {
template <>
struct topic_type_name<::unitree_api::msg::dds_::RequestLease_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::RequestLease_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::RequestLease_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_api::msg::dds_::RequestLease_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_api::msg::dds_::RequestLease_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.id()))
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_api::msg::dds_::RequestLease_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestLease_>();
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_api::msg::dds_::RequestLease_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.id()))
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_api::msg::dds_::RequestLease_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestLease_>();
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_api::msg::dds_::RequestLease_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.id()))
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_api::msg::dds_::RequestLease_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestLease_>();
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_api::msg::dds_::RequestLease_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.id()))
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_api::msg::dds_::RequestLease_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestLease_>();
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_REQUESTLEASE__HPP

302
unitree_SDK/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp Normal file
View File

@@ -0,0 +1,302 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: RequestPolicy_.idl
Source: RequestPolicy_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_REQUESTPOLICY__HPP
#define DDSCXX_REQUESTPOLICY__HPP
#include <cstdint>
namespace unitree_api
{
namespace msg
{
namespace dds_
{
class RequestPolicy_
{
private:
int32_t priority_ = 0;
bool noreply_ = false;
public:
RequestPolicy_() = default;
explicit RequestPolicy_(
int32_t priority,
bool noreply) :
priority_(priority),
noreply_(noreply) { }
int32_t priority() const { return this->priority_; }
int32_t& priority() { return this->priority_; }
void priority(int32_t _val_) { this->priority_ = _val_; }
bool noreply() const { return this->noreply_; }
bool& noreply() { return this->noreply_; }
void noreply(bool _val_) { this->noreply_ = _val_; }
bool operator==(const RequestPolicy_& _other) const
{
(void) _other;
return priority_ == _other.priority_ &&
noreply_ == _other.noreply_;
}
bool operator!=(const RequestPolicy_& _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_api::msg::dds_::RequestPolicy_>::getTypeName()
{
return "unitree_api::msg::dds_::RequestPolicy_";
}
template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::type_map_blob_sz() { return 266; }
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::type_map_blob() {
static const uint8_t blob[] = {
0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x76, 0x57, 0x81, 0x5a, 0xa1, 0x5f, 0x25,
0x32, 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0xb9, 0x88, 0x29, 0x5c, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x14, 0x70, 0x9c, 0x93, 0x00,
0x8e, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x99, 0xe3, 0xb9, 0xf0, 0xba, 0xac, 0xdc,
0x09, 0x3a, 0x18, 0x6d, 0x89, 0x7a, 0x17, 0x00, 0x76, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x2f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x27, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x61, 0x70, 0x69, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64,
0x73, 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x50, 0x6f, 0x6c, 0x69, 0x63,
0x79, 0x5f, 0x00, 0x00, 0x3a, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x09, 0x00, 0x00, 0x00, 0x70, 0x72, 0x69, 0x6f,
0x72, 0x69, 0x74, 0x79, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x01, 0x00, 0x08, 0x00, 0x00, 0x00, 0x6e, 0x6f, 0x72, 0x65, 0x70, 0x6c, 0x79, 0x00,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x99, 0xe3, 0xb9,
0xf0, 0xba, 0xac, 0xdc, 0x09, 0x3a, 0x18, 0x6d, 0x89, 0x7a, 0x17, 0xf1, 0x76, 0x57, 0x81, 0x5a,
0xa1, 0x5f, 0x25, 0x32, 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x76, 0x57, 0x81, 0x5a, 0xa1, 0x5f, 0x25, 0x32, 0xc9, 0x00, 0x8d,
0x48, 0x4d, 0x4f, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x99, 0xe3, 0xb9, 0xf0, 0xba, 0xac, 0xdc, 0x09, 0x3a, 0x18, 0x6d,
0x89, 0x7a, 0x17, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, };
return blob;
}
#endif //DDSCXX_HAS_TYPE_DISCOVERY
} //namespace topic
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
namespace dds {
namespace topic {
template <>
struct topic_type_name<::unitree_api::msg::dds_::RequestPolicy_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::RequestPolicy_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::RequestPolicy_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_api::msg::dds_::RequestPolicy_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_api::msg::dds_::RequestPolicy_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.priority()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.noreply()))
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_api::msg::dds_::RequestPolicy_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestPolicy_>();
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_api::msg::dds_::RequestPolicy_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.priority()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.noreply()))
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_api::msg::dds_::RequestPolicy_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestPolicy_>();
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_api::msg::dds_::RequestPolicy_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.priority()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.noreply()))
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_api::msg::dds_::RequestPolicy_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestPolicy_>();
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_api::msg::dds_::RequestPolicy_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.priority()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.noreply()))
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_api::msg::dds_::RequestPolicy_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::RequestPolicy_>();
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_REQUESTPOLICY__HPP

477
unitree_SDK/include/unitree/robot/internal/internal_idl_decl/Request_.hpp Normal file
View File

@@ -0,0 +1,477 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: Request_.idl
Source: Request_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_REQUEST__HPP
#define DDSCXX_REQUEST__HPP
#include "RequestHeader_.hpp"
#include <cstdint>
#include <vector>
#include <string>
namespace unitree_api
{
namespace msg
{
namespace dds_
{
class Request_
{
private:
::unitree_api::msg::dds_::RequestHeader_ header_;
std::string parameter_;
std::vector<uint8_t> binary_;
public:
Request_() = default;
explicit Request_(
const ::unitree_api::msg::dds_::RequestHeader_& header,
const std::string& parameter,
const std::vector<uint8_t>& binary) :
header_(header),
parameter_(parameter),
binary_(binary) { }
const ::unitree_api::msg::dds_::RequestHeader_& header() const { return this->header_; }
::unitree_api::msg::dds_::RequestHeader_& header() { return this->header_; }
void header(const ::unitree_api::msg::dds_::RequestHeader_& _val_) { this->header_ = _val_; }
void header(::unitree_api::msg::dds_::RequestHeader_&& _val_) { this->header_ = _val_; }
const std::string& parameter() const { return this->parameter_; }
std::string& parameter() { return this->parameter_; }
void parameter(const std::string& _val_) { this->parameter_ = _val_; }
void parameter(std::string&& _val_) { this->parameter_ = _val_; }
const std::vector<uint8_t>& binary() const { return this->binary_; }
std::vector<uint8_t>& binary() { return this->binary_; }
void binary(const std::vector<uint8_t>& _val_) { this->binary_ = _val_; }
void binary(std::vector<uint8_t>&& _val_) { this->binary_ = _val_; }
bool operator==(const Request_& _other) const
{
(void) _other;
return header_ == _other.header_ &&
parameter_ == _other.parameter_ &&
binary_ == _other.binary_;
}
bool operator!=(const Request_& _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_api::msg::dds_::Request_>::getTypeName()
{
return "unitree_api::msg::dds_::Request_";
}
template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::Request_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::Request_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::Request_>::type_map_blob_sz() { return 1382; }
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::Request_>::type_info_blob_sz() { return 292; }
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::Request_>::type_map_blob() {
static const uint8_t blob[] = {
0xbb, 0x01, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0xf1, 0xcb, 0xa4, 0xdc, 0x96, 0x5d, 0x39, 0x3a,
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0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::Request_>::type_info_blob() {
static const uint8_t blob[] = {
0x20, 0x01, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x88, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00,
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0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x00,
0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xe7, 0xaa, 0x98, 0x61, 0xf7, 0xb0, 0x22,
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0xf1, 0x76, 0x57, 0x81, 0x5a, 0xa1, 0x5f, 0x25, 0x32, 0xc9, 0x00, 0x8d, 0x48, 0x4d, 0x4f, 0x00,
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0x0f, 0x8c, 0x92, 0x41, 0xb0, 0xee, 0xdb, 0x00, 0xc1, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0x00,
0x79, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x0c, 0xd7, 0x3d, 0x1a, 0x1e, 0x87, 0xee,
0x27, 0x8f, 0x84, 0xee, 0x9f, 0x41, 0xe3, 0x00, 0x59, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0x99, 0xe3, 0xb9, 0xf0, 0xba, 0xac, 0xdc, 0x09, 0x3a, 0x18, 0x6d, 0x89, 0x7a, 0x17, 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_api::msg::dds_::Request_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::Request_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::Request_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_api::msg::dds_::Request_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_api::msg::dds_::Request_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.header(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write_string(streamer, instance.parameter(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.binary().size());
if (!write(streamer, se_1))
return false;
if (se_1 > 0 &&
!write(streamer, instance.binary()[0], se_1))
return false;
} //end sequence 1
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_api::msg::dds_::Request_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::Request_>();
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_api::msg::dds_::Request_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.header(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read_string(streamer, instance.parameter(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.binary().size());
if (!read(streamer, se_1))
return false;
instance.binary().resize(se_1);
if (se_1 > 0 &&
!read(streamer, instance.binary()[0], se_1))
return false;
} //end sequence 1
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_api::msg::dds_::Request_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::Request_>();
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_api::msg::dds_::Request_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.header(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move_string(streamer, instance.parameter(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.binary().size());
if (!move(streamer, se_1))
return false;
if (se_1 > 0 &&
!move(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
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_api::msg::dds_::Request_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::Request_>();
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_api::msg::dds_::Request_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.header(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max_string(streamer, instance.parameter(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
if (se_1 > 0 &&
!max(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
streamer.position(SIZE_MAX);
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_api::msg::dds_::Request_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::Request_>();
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_REQUEST__HPP

344
unitree_SDK/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp Normal file
View File

@@ -0,0 +1,344 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: ResponseHeader_.idl
Source: ResponseHeader_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_RESPONSEHEADER__HPP
#define DDSCXX_RESPONSEHEADER__HPP
#include "RequestIdentity_.hpp"
#include "ResponseStatus_.hpp"
namespace unitree_api
{
namespace msg
{
namespace dds_
{
class ResponseHeader_
{
private:
::unitree_api::msg::dds_::RequestIdentity_ identity_;
::unitree_api::msg::dds_::ResponseStatus_ status_;
public:
ResponseHeader_() = default;
explicit ResponseHeader_(
const ::unitree_api::msg::dds_::RequestIdentity_& identity,
const ::unitree_api::msg::dds_::ResponseStatus_& status) :
identity_(identity),
status_(status) { }
const ::unitree_api::msg::dds_::RequestIdentity_& identity() const { return this->identity_; }
::unitree_api::msg::dds_::RequestIdentity_& identity() { return this->identity_; }
void identity(const ::unitree_api::msg::dds_::RequestIdentity_& _val_) { this->identity_ = _val_; }
void identity(::unitree_api::msg::dds_::RequestIdentity_&& _val_) { this->identity_ = _val_; }
const ::unitree_api::msg::dds_::ResponseStatus_& status() const { return this->status_; }
::unitree_api::msg::dds_::ResponseStatus_& status() { return this->status_; }
void status(const ::unitree_api::msg::dds_::ResponseStatus_& _val_) { this->status_ = _val_; }
void status(::unitree_api::msg::dds_::ResponseStatus_&& _val_) { this->status_ = _val_; }
bool operator==(const ResponseHeader_& _other) const
{
(void) _other;
return identity_ == _other.identity_ &&
status_ == _other.status_;
}
bool operator!=(const ResponseHeader_& _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_api::msg::dds_::ResponseHeader_>::getTypeName()
{
return "unitree_api::msg::dds_::ResponseHeader_";
}
template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::type_map_blob_sz() { return 754; }
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::type_info_blob_sz() { return 196; }
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::type_map_blob() {
static const uint8_t blob[] = {
0xe7, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x9c, 0x43, 0xe5, 0x09, 0xd9, 0x26, 0x2e,
0x25, 0xe7, 0x3c, 0x21, 0xef, 0xbf, 0xee, 0x00, 0x51, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
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0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30,
0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, 0x9a, 0xcb, 0x44, 0x54, 0xf1, 0x8f, 0x78,
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0x64, 0x65, 0x6e, 0x74, 0x69, 0x74, 0x79, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x00,
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0x61, 0x70, 0x69, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a,
0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x53, 0x74, 0x61, 0x74, 0x75, 0x73, 0x5f, 0x00,
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0x5e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf2, 0x0f, 0x90, 0xcc, 0xa0, 0xee, 0x3b, 0x25,
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0xe7, 0x3c, 0x21, 0xef, 0xbf, 0xee, 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a, 0x29, 0xdc,
0xd6, 0x89, 0x3c, 0xdd, 0x22, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3,
0xe7, 0xd6, 0x60, 0xe6, 0xf2, 0x1a, 0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c,
0xff, 0x55, 0xda, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9,
0x73, 0x40, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::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, 0x9c, 0x43, 0xe5, 0x09, 0xd9, 0x26, 0x2e, 0x25, 0xe7, 0x3c, 0x21,
0xef, 0xbf, 0xee, 0x00, 0x55, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89,
0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x00, 0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, 0x00,
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0x07, 0xeb, 0x3e, 0x00, 0x99, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a,
0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0x00, 0x79, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0x1a, 0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c, 0xff, 0x55, 0xda, 0x00,
0x5b, 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_api::msg::dds_::ResponseHeader_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::ResponseHeader_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::ResponseHeader_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_api::msg::dds_::ResponseHeader_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_api::msg::dds_::ResponseHeader_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.identity(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.status(), prop))
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_api::msg::dds_::ResponseHeader_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::ResponseHeader_>();
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_api::msg::dds_::ResponseHeader_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.identity(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.status(), prop))
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_api::msg::dds_::ResponseHeader_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::ResponseHeader_>();
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_api::msg::dds_::ResponseHeader_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.identity(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.status(), prop))
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_api::msg::dds_::ResponseHeader_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::ResponseHeader_>();
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_api::msg::dds_::ResponseHeader_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.identity(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.status(), prop))
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_api::msg::dds_::ResponseHeader_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::ResponseHeader_>();
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_RESPONSEHEADER__HPP

260
unitree_SDK/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp Normal file
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@@ -0,0 +1,260 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: ResponseStatus_.idl
Source: ResponseStatus_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_RESPONSESTATUS__HPP
#define DDSCXX_RESPONSESTATUS__HPP
#include <cstdint>
namespace unitree_api
{
namespace msg
{
namespace dds_
{
class ResponseStatus_
{
private:
int32_t code_ = 0;
public:
ResponseStatus_() = default;
explicit ResponseStatus_(
int32_t code) :
code_(code) { }
int32_t code() const { return this->code_; }
int32_t& code() { return this->code_; }
void code(int32_t _val_) { this->code_ = _val_; }
bool operator==(const ResponseStatus_& _other) const
{
(void) _other;
return code_ == _other.code_;
}
bool operator!=(const ResponseStatus_& _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_api::msg::dds_::ResponseStatus_>::getTypeName()
{
return "unitree_api::msg::dds_::ResponseStatus_";
}
template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::type_map_blob_sz() { return 218; }
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::type_map_blob() {
static const uint8_t blob[] = {
0x3b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf,
0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, 0x00, 0x23, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0xc1, 0x33, 0x67, 0x94, 0x00,
0x6f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x1a, 0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee,
0x04, 0x5d, 0x30, 0x0c, 0xff, 0x55, 0xda, 0x00, 0x57, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x61, 0x70, 0x69, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64,
0x73, 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x53, 0x74, 0x61, 0x74,
0x75, 0x73, 0x5f, 0x00, 0x1b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x00, 0x05, 0x00, 0x00, 0x00, 0x63, 0x6f, 0x64, 0x65,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x1a, 0x4c, 0x7d,
0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c, 0xff, 0x55, 0xda, 0xf1, 0x5b, 0x67, 0x75, 0x71,
0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f,
0xf9, 0x73, 0x40, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x1a, 0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c,
0xff, 0x55, 0xda, 0x00, 0x5b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, };
return blob;
}
#endif //DDSCXX_HAS_TYPE_DISCOVERY
} //namespace topic
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
namespace dds {
namespace topic {
template <>
struct topic_type_name<::unitree_api::msg::dds_::ResponseStatus_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::ResponseStatus_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::ResponseStatus_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_api::msg::dds_::ResponseStatus_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_api::msg::dds_::ResponseStatus_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.code()))
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_api::msg::dds_::ResponseStatus_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::ResponseStatus_>();
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_api::msg::dds_::ResponseStatus_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.code()))
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_api::msg::dds_::ResponseStatus_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::ResponseStatus_>();
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_api::msg::dds_::ResponseStatus_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.code()))
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_api::msg::dds_::ResponseStatus_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::ResponseStatus_>();
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_api::msg::dds_::ResponseStatus_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.code()))
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_api::msg::dds_::ResponseStatus_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::ResponseStatus_>();
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_RESPONSESTATUS__HPP

454
unitree_SDK/include/unitree/robot/internal/internal_idl_decl/Response_.hpp Normal file
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@@ -0,0 +1,454 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: Response_.idl
Source: Response_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_RESPONSE__HPP
#define DDSCXX_RESPONSE__HPP
#include "ResponseHeader_.hpp"
#include <cstdint>
#include <vector>
#include <string>
namespace unitree_api
{
namespace msg
{
namespace dds_
{
class Response_
{
private:
::unitree_api::msg::dds_::ResponseHeader_ header_;
std::string data_;
std::vector<uint8_t> binary_;
public:
Response_() = default;
explicit Response_(
const ::unitree_api::msg::dds_::ResponseHeader_& header,
const std::string& data,
const std::vector<uint8_t>& binary) :
header_(header),
data_(data),
binary_(binary) { }
const ::unitree_api::msg::dds_::ResponseHeader_& header() const { return this->header_; }
::unitree_api::msg::dds_::ResponseHeader_& header() { return this->header_; }
void header(const ::unitree_api::msg::dds_::ResponseHeader_& _val_) { this->header_ = _val_; }
void header(::unitree_api::msg::dds_::ResponseHeader_&& _val_) { this->header_ = _val_; }
const std::string& data() const { return this->data_; }
std::string& data() { return this->data_; }
void data(const std::string& _val_) { this->data_ = _val_; }
void data(std::string&& _val_) { this->data_ = _val_; }
const std::vector<uint8_t>& binary() const { return this->binary_; }
std::vector<uint8_t>& binary() { return this->binary_; }
void binary(const std::vector<uint8_t>& _val_) { this->binary_ = _val_; }
void binary(std::vector<uint8_t>&& _val_) { this->binary_ = _val_; }
bool operator==(const Response_& _other) const
{
(void) _other;
return header_ == _other.header_ &&
data_ == _other.data_ &&
binary_ == _other.binary_;
}
bool operator!=(const Response_& _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_api::msg::dds_::Response_>::getTypeName()
{
return "unitree_api::msg::dds_::Response_";
}
template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::Response_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_api::msg::dds_::Response_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::Response_>::type_map_blob_sz() { return 1068; }
template<> constexpr unsigned int TopicTraits<::unitree_api::msg::dds_::Response_>::type_info_blob_sz() { return 244; }
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::Response_>::type_map_blob() {
static const uint8_t blob[] = {
0x53, 0x01, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf1, 0x48, 0xc9, 0x97, 0xd3, 0x79, 0xc3, 0xe1,
0x8c, 0x53, 0x0b, 0x5f, 0x8f, 0xe9, 0x46, 0x00, 0x58, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x48, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
0x19, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x9c, 0x43, 0xe5, 0x09, 0xd9,
0x26, 0x2e, 0x25, 0xe7, 0x3c, 0x21, 0xef, 0xbf, 0xee, 0x09, 0x9f, 0xb9, 0x95, 0x00, 0x00, 0x00,
0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x8d, 0x77, 0x7f, 0x38,
0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02,
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0xe9, 0x46, 0xf2, 0x0f, 0x90, 0xcc, 0xa0, 0xee, 0x3b, 0x25, 0x7f, 0xf8, 0x91, 0x0c, 0x07, 0xeb,
0x3e, 0xf1, 0x9c, 0x43, 0xe5, 0x09, 0xd9, 0x26, 0x2e, 0x25, 0xe7, 0x3c, 0x21, 0xef, 0xbf, 0xee,
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0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0xf2, 0x1a,
0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c, 0xff, 0x55, 0xda, 0xf1, 0x5b, 0x67,
0x75, 0x71, 0x30, 0x34, 0xdf, 0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_api::msg::dds_::Response_>::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, 0x48, 0xc9, 0x97, 0xd3, 0x79, 0xc3, 0xe1, 0x8c, 0x53, 0x0b, 0x5f,
0x8f, 0xe9, 0x46, 0x00, 0x5c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x9c, 0x43, 0xe5, 0x09, 0xd9, 0x26, 0x2e,
0x25, 0xe7, 0x3c, 0x21, 0xef, 0xbf, 0xee, 0x00, 0x55, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf1, 0x8f, 0x78, 0x20, 0x91, 0xd8, 0x0b, 0x89, 0x0d, 0xad, 0xf3, 0xe7, 0xd6, 0x60, 0xe6, 0x00,
0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x5b, 0x67, 0x75, 0x71, 0x30, 0x34, 0xdf,
0x53, 0x23, 0x66, 0x5f, 0xf9, 0x73, 0x40, 0x00, 0x27, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40,
0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd1, 0xc3, 0x2c,
0xc0, 0x22, 0x14, 0x90, 0x1a, 0x46, 0x4a, 0x6c, 0x51, 0x32, 0x5d, 0x00, 0xa1, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0x0f, 0x90, 0xcc, 0xa0, 0xee, 0x3b, 0x25, 0x7f, 0xf8, 0x91, 0x0c, 0x07, 0xeb, 0x3e, 0x00,
0x99, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xf8, 0x8b, 0x48, 0x81, 0xc6, 0xcf, 0x5a,
0x29, 0xdc, 0xd6, 0x89, 0x3c, 0xdd, 0x22, 0x00, 0x79, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0x1a, 0x4c, 0x7d, 0xe4, 0xfc, 0x64, 0xee, 0x04, 0x5d, 0x30, 0x0c, 0xff, 0x55, 0xda, 0x00,
0x5b, 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_api::msg::dds_::Response_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_api::msg::dds_::Response_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_api::msg::dds_::Response_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_api::msg::dds_::Response_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_api::msg::dds_::Response_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.header(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write_string(streamer, instance.data(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.binary().size());
if (!write(streamer, se_1))
return false;
if (se_1 > 0 &&
!write(streamer, instance.binary()[0], se_1))
return false;
} //end sequence 1
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_api::msg::dds_::Response_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::Response_>();
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_api::msg::dds_::Response_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.header(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read_string(streamer, instance.data(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.binary().size());
if (!read(streamer, se_1))
return false;
instance.binary().resize(se_1);
if (se_1 > 0 &&
!read(streamer, instance.binary()[0], se_1))
return false;
} //end sequence 1
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_api::msg::dds_::Response_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::Response_>();
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_api::msg::dds_::Response_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.header(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move_string(streamer, instance.data(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.binary().size());
if (!move(streamer, se_1))
return false;
if (se_1 > 0 &&
!move(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
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_api::msg::dds_::Response_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::Response_>();
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_api::msg::dds_::Response_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.header(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max_string(streamer, instance.data(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
if (se_1 > 0 &&
!max(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
streamer.position(SIZE_MAX);
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_api::msg::dds_::Response_& instance, bool as_key) {
auto &props = get_type_props<::unitree_api::msg::dds_::Response_>();
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_RESPONSE__HPP

23
unitree_SDK/include/unitree/robot/internal/internal_request_response.hpp Normal file
View File

@@ -0,0 +1,23 @@
#ifndef __UT_ROBOT_INTERNAL_REQUEST_RESPONSE_HPP__
#define __UT_ROBOT_INTERNAL_REQUEST_RESPONSE_HPP__
#include <unitree/robot/internal/internal_idl_decl/Request_.hpp>
#include <unitree/robot/internal/internal_idl_decl/Response_.hpp>
namespace unitree
{
namespace robot
{
using RequestIdentity = unitree_api::msg::dds_::RequestIdentity_;
using RequestLease = unitree_api::msg::dds_::RequestLease_;
using RequestPolicy = unitree_api::msg::dds_::RequestPolicy_;
using RequestHeader = unitree_api::msg::dds_::RequestHeader_;
using Request = unitree_api::msg::dds_::Request_;
using ResponseStatus = unitree_api::msg::dds_::ResponseStatus_;
using ResponseHeader = unitree_api::msg::dds_::ResponseHeader_;
using Response = unitree_api::msg::dds_::Response_;
}
}
#endif//__UT_ROBOT_INTERNAL_REQUEST_RESPONSE_HPP__