507 lines
21 KiB
C++
507 lines
21 KiB
C++
/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: LowCmd_.idl
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Source: LowCmd_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_UNITREE_IDL_HG_LOWCMD__HPP
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#define DDSCXX_UNITREE_IDL_HG_LOWCMD__HPP
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#include "unitree/idl/hg/MotorCmd_.hpp"
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#include <cstdint>
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#include <array>
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namespace unitree_hg
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{
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namespace msg
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{
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namespace dds_
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{
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class LowCmd_
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{
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private:
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uint8_t mode_pr_ = 0;
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uint8_t mode_machine_ = 0;
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std::array<::unitree_hg::msg::dds_::MotorCmd_, 35> motor_cmd_ = { };
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std::array<uint32_t, 4> reserve_ = { };
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uint32_t crc_ = 0;
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public:
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LowCmd_() = default;
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explicit LowCmd_(
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uint8_t mode_pr,
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uint8_t mode_machine,
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const std::array<::unitree_hg::msg::dds_::MotorCmd_, 35>& motor_cmd,
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const std::array<uint32_t, 4>& reserve,
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uint32_t crc) :
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mode_pr_(mode_pr),
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mode_machine_(mode_machine),
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motor_cmd_(motor_cmd),
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reserve_(reserve),
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crc_(crc) { }
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uint8_t mode_pr() const { return this->mode_pr_; }
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uint8_t& mode_pr() { return this->mode_pr_; }
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void mode_pr(uint8_t _val_) { this->mode_pr_ = _val_; }
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uint8_t mode_machine() const { return this->mode_machine_; }
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uint8_t& mode_machine() { return this->mode_machine_; }
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void mode_machine(uint8_t _val_) { this->mode_machine_ = _val_; }
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const std::array<::unitree_hg::msg::dds_::MotorCmd_, 35>& motor_cmd() const { return this->motor_cmd_; }
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std::array<::unitree_hg::msg::dds_::MotorCmd_, 35>& motor_cmd() { return this->motor_cmd_; }
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void motor_cmd(const std::array<::unitree_hg::msg::dds_::MotorCmd_, 35>& _val_) { this->motor_cmd_ = _val_; }
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void motor_cmd(std::array<::unitree_hg::msg::dds_::MotorCmd_, 35>&& _val_) { this->motor_cmd_ = _val_; }
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const std::array<uint32_t, 4>& reserve() const { return this->reserve_; }
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std::array<uint32_t, 4>& reserve() { return this->reserve_; }
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void reserve(const std::array<uint32_t, 4>& _val_) { this->reserve_ = _val_; }
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void reserve(std::array<uint32_t, 4>&& _val_) { this->reserve_ = _val_; }
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uint32_t crc() const { return this->crc_; }
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uint32_t& crc() { return this->crc_; }
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void crc(uint32_t _val_) { this->crc_ = _val_; }
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bool operator==(const LowCmd_& _other) const
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{
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(void) _other;
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return mode_pr_ == _other.mode_pr_ &&
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mode_machine_ == _other.mode_machine_ &&
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motor_cmd_ == _other.motor_cmd_ &&
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reserve_ == _other.reserve_ &&
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crc_ == _other.crc_;
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}
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bool operator!=(const LowCmd_& _other) const
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{
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return !(*this == _other);
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}
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};
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}
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}
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}
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#include "dds/topic/TopicTraits.hpp"
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#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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namespace org {
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namespace eclipse {
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namespace cyclonedds {
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namespace topic {
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template <> constexpr const char* TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::getTypeName()
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{
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return "unitree_hg::msg::dds_::LowCmd_";
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}
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template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::isKeyless()
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{
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return true;
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::type_map_blob_sz() { return 892; }
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template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::type_info_blob_sz() { return 148; }
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template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::type_map_blob() {
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static const uint8_t blob[] = {
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0x37, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf1, 0x65, 0x69, 0xfc, 0x15, 0xf0, 0xd4, 0x7a,
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0xa8, 0x60, 0x0b, 0x9e, 0x91, 0xfb, 0xbc, 0x00, 0x87, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x77, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xb6, 0x9f, 0x36, 0x51, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xed, 0xb8, 0xc4, 0x0a, 0x00,
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0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf1, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x23, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c, 0x62, 0xba,
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0xcd, 0x1e, 0x56, 0xc9, 0x5b, 0xcf, 0x19, 0xa4, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x07, 0x9c, 0x3b,
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0x62, 0x94, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xf5,
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0xad, 0x59, 0xc5, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c, 0x62, 0xba, 0xcd, 0x1e,
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0x56, 0xc9, 0x00, 0x00, 0x83, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x73, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x45, 0x80, 0xc2, 0x74, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x26, 0xb5, 0x68, 0xe4, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x87, 0x22, 0x16, 0x52, 0x00, 0x0b, 0x00, 0x00, 0x00,
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0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0xf6, 0x01, 0x00, 0x00,
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0x02, 0x00, 0x00, 0x00, 0xf2, 0x42, 0xb0, 0x28, 0x3a, 0xa7, 0xe1, 0xbb, 0x59, 0x2e, 0xc8, 0x98,
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0xa0, 0xdb, 0xed, 0x00, 0xe6, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x27, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f,
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0x68, 0x67, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4c,
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0x6f, 0x77, 0x43, 0x6d, 0x64, 0x5f, 0x00, 0x00, 0xb2, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
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0x6d, 0x6f, 0x64, 0x65, 0x5f, 0x70, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1b, 0x00, 0x00, 0x00,
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0x5f, 0x6d, 0x61, 0x63, 0x68, 0x69, 0x6e, 0x65, 0x00, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, 0x00,
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0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf2, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0x23, 0xf2, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, 0xf1,
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0x0a, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x74, 0x6f, 0x72, 0x5f, 0x63, 0x6d, 0x64, 0x00, 0x00, 0x00,
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0x22, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x04, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65,
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0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00,
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0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x70, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00,
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0x03, 0x00, 0x00, 0x00, 0x6b, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
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0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65,
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0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
|
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0xf2, 0x42, 0xb0, 0x28, 0x3a, 0xa7, 0xe1, 0xbb, 0x59, 0x2e, 0xc8, 0x98, 0xa0, 0xdb, 0xed, 0xf1,
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0x65, 0x69, 0xfc, 0x15, 0xf0, 0xd4, 0x7a, 0xa8, 0x60, 0x0b, 0x9e, 0x91, 0xfb, 0xbc, 0xf2, 0xa2,
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0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, 0xf1, 0xf1, 0x82, 0x7f,
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0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c, 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, };
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return blob;
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}
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template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::type_info_blob() {
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static const uint8_t blob[] = {
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0x90, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00,
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0x14, 0x00, 0x00, 0x00, 0xf1, 0x65, 0x69, 0xfc, 0x15, 0xf0, 0xd4, 0x7a, 0xa8, 0x60, 0x0b, 0x9e,
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0x91, 0xfb, 0xbc, 0x00, 0x8b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00,
|
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0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3,
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0x8c, 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, 0x00, 0x87, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40,
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0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0xb0, 0x28,
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0x3a, 0xa7, 0xe1, 0xbb, 0x59, 0x2e, 0xc8, 0x98, 0xa0, 0xdb, 0xed, 0x00, 0xea, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
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0xf2, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, 0xf1, 0x00,
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0xe6, 0x00, 0x00, 0x00, };
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return blob;
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}
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#endif //DDSCXX_HAS_TYPE_DISCOVERY
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} //namespace topic
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} //namespace cyclonedds
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} //namespace eclipse
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} //namespace org
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namespace dds {
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namespace topic {
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template <>
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struct topic_type_name<::unitree_hg::msg::dds_::LowCmd_>
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{
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static std::string value()
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{
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return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::LowCmd_>::getTypeName();
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}
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};
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}
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}
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REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::LowCmd_)
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namespace org{
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namespace eclipse{
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namespace cyclonedds{
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namespace core{
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namespace cdr{
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template<>
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propvec &get_type_props<::unitree_hg::msg::dds_::LowCmd_>();
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template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
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bool write(T& streamer, const ::unitree_hg::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
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(void)instance;
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if (!streamer.start_struct(*props))
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return false;
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auto prop = streamer.first_entity(props);
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while (prop) {
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switch (prop->m_id) {
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case 0:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.mode_pr()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 1:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.mode_machine()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 2:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, false))
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return false;
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for (const auto & a_1:instance.motor_cmd()) { //array depth 1
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if (!write(streamer, a_1, prop))
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return false;
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} //array depth 1
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 3:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.reserve()[0], instance.reserve().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 4:
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if (!streamer.start_member(*prop))
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return false;
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|
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_::LowCmd_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_hg::msg::dds_::LowCmd_>();
|
|
str.set_mode(cdr_stream::stream_mode::write, as_key);
|
|
return write(str, instance, props.data());
|
|
}
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool read(T& streamer, ::unitree_hg::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.mode_pr()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.mode_machine()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, false))
|
|
return false;
|
|
for (auto & a_1:instance.motor_cmd()) { //array depth 1
|
|
if (!read(streamer, a_1, prop))
|
|
return false;
|
|
} //array depth 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
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 4:
|
|
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_::LowCmd_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_hg::msg::dds_::LowCmd_>();
|
|
str.set_mode(cdr_stream::stream_mode::read, as_key);
|
|
return read(str, instance, props.data());
|
|
}
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool move(T& streamer, const ::unitree_hg::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.mode_pr()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.mode_machine()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, false))
|
|
return false;
|
|
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
|
|
if (!move(streamer, a_1, prop))
|
|
return false;
|
|
} //array depth 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
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 4:
|
|
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_::LowCmd_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_hg::msg::dds_::LowCmd_>();
|
|
str.set_mode(cdr_stream::stream_mode::move, as_key);
|
|
return move(str, instance, props.data());
|
|
}
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool max(T& streamer, const ::unitree_hg::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.mode_pr()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.mode_machine()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, false))
|
|
return false;
|
|
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
|
|
if (!max(streamer, a_1, prop))
|
|
return false;
|
|
} //array depth 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
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 4:
|
|
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_::LowCmd_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_hg::msg::dds_::LowCmd_>();
|
|
str.set_mode(cdr_stream::stream_mode::max, as_key);
|
|
return max(str, instance, props.data());
|
|
}
|
|
|
|
} //namespace cdr
|
|
} //namespace core
|
|
} //namespace cyclonedds
|
|
} //namespace eclipse
|
|
} //namespace org
|
|
|
|
#endif // DDSCXX_UNITREE_IDL_HG_LOWCMD__HPP
|