/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: LowCmd_.idl
Source: LowCmd_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP
#define DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP
#include "unitree/idl/go2/BmsCmd_.hpp"
#include "unitree/idl/go2/MotorCmd_.hpp"
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class LowCmd_
{
private:
std::array<uint8_t, 2> head_ = { };
uint8_t level_flag_ = 0;
uint8_t frame_reserve_ = 0;
std::array<uint32_t, 2> sn_ = { };
std::array<uint32_t, 2> version_ = { };
uint16_t bandwidth_ = 0;
std::array<::unitree_go::msg::dds_::MotorCmd_, 20> motor_cmd_ = { };
::unitree_go::msg::dds_::BmsCmd_ bms_cmd_;
std::array<uint8_t, 40> wireless_remote_ = { };
std::array<uint8_t, 12> led_ = { };
std::array<uint8_t, 2> fan_ = { };
uint8_t gpio_ = 0;
uint32_t reserve_ = 0;
uint32_t crc_ = 0;
public:
LowCmd_() = default;
explicit LowCmd_(
const std::array<uint8_t, 2>& head,
uint8_t level_flag,
uint8_t frame_reserve,
const std::array<uint32_t, 2>& sn,
const std::array<uint32_t, 2>& version,
uint16_t bandwidth,
const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd,
const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd,
const std::array<uint8_t, 40>& wireless_remote,
const std::array<uint8_t, 12>& led,
const std::array<uint8_t, 2>& fan,
uint8_t gpio,
uint32_t reserve,
uint32_t crc) :
head_(head),
level_flag_(level_flag),
frame_reserve_(frame_reserve),
sn_(sn),
version_(version),
bandwidth_(bandwidth),
motor_cmd_(motor_cmd),
bms_cmd_(bms_cmd),
wireless_remote_(wireless_remote),
led_(led),
fan_(fan),
gpio_(gpio),
reserve_(reserve),
crc_(crc) { }
const std::array<uint8_t, 2>& head() const { return this->head_; }
std::array<uint8_t, 2>& head() { return this->head_; }
void head(const std::array<uint8_t, 2>& _val_) { this->head_ = _val_; }
void head(std::array<uint8_t, 2>&& _val_) { this->head_ = _val_; }
uint8_t level_flag() const { return this->level_flag_; }
uint8_t& level_flag() { return this->level_flag_; }
void level_flag(uint8_t _val_) { this->level_flag_ = _val_; }
uint8_t frame_reserve() const { return this->frame_reserve_; }
uint8_t& frame_reserve() { return this->frame_reserve_; }
void frame_reserve(uint8_t _val_) { this->frame_reserve_ = _val_; }
const std::array<uint32_t, 2>& sn() const { return this->sn_; }
std::array<uint32_t, 2>& sn() { return this->sn_; }
void sn(const std::array<uint32_t, 2>& _val_) { this->sn_ = _val_; }
void sn(std::array<uint32_t, 2>&& _val_) { this->sn_ = _val_; }
const std::array<uint32_t, 2>& version() const { return this->version_; }
std::array<uint32_t, 2>& version() { return this->version_; }
void version(const std::array<uint32_t, 2>& _val_) { this->version_ = _val_; }
void version(std::array<uint32_t, 2>&& _val_) { this->version_ = _val_; }
uint16_t bandwidth() const { return this->bandwidth_; }
uint16_t& bandwidth() { return this->bandwidth_; }
void bandwidth(uint16_t _val_) { this->bandwidth_ = _val_; }
const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() const { return this->motor_cmd_; }
std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() { return this->motor_cmd_; }
void motor_cmd(const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& _val_) { this->motor_cmd_ = _val_; }
void motor_cmd(std::array<::unitree_go::msg::dds_::MotorCmd_, 20>&& _val_) { this->motor_cmd_ = _val_; }
const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() const { return this->bms_cmd_; }
::unitree_go::msg::dds_::BmsCmd_& bms_cmd() { return this->bms_cmd_; }
void bms_cmd(const ::unitree_go::msg::dds_::BmsCmd_& _val_) { this->bms_cmd_ = _val_; }
void bms_cmd(::unitree_go::msg::dds_::BmsCmd_&& _val_) { this->bms_cmd_ = _val_; }
const std::array<uint8_t, 40>& wireless_remote() const { return this->wireless_remote_; }
std::array<uint8_t, 40>& wireless_remote() { return this->wireless_remote_; }
void wireless_remote(const std::array<uint8_t, 40>& _val_) { this->wireless_remote_ = _val_; }
void wireless_remote(std::array<uint8_t, 40>&& _val_) { this->wireless_remote_ = _val_; }
const std::array<uint8_t, 12>& led() const { return this->led_; }
std::array<uint8_t, 12>& led() { return this->led_; }
void led(const std::array<uint8_t, 12>& _val_) { this->led_ = _val_; }
void led(std::array<uint8_t, 12>&& _val_) { this->led_ = _val_; }
const std::array<uint8_t, 2>& fan() const { return this->fan_; }
std::array<uint8_t, 2>& fan() { return this->fan_; }
void fan(const std::array<uint8_t, 2>& _val_) { this->fan_ = _val_; }
void fan(std::array<uint8_t, 2>&& _val_) { this->fan_ = _val_; }
uint8_t gpio() const { return this->gpio_; }
uint8_t& gpio() { return this->gpio_; }
void gpio(uint8_t _val_) { this->gpio_ = _val_; }
uint32_t reserve() const { return this->reserve_; }
uint32_t& reserve() { return this->reserve_; }
void reserve(uint32_t _val_) { this->reserve_ = _val_; }
uint32_t crc() const { return this->crc_; }
uint32_t& crc() { return this->crc_; }
void crc(uint32_t _val_) { this->crc_ = _val_; }
bool operator==(const LowCmd_& _other) const
{
(void) _other;
return head_ == _other.head_ &&
level_flag_ == _other.level_flag_ &&
frame_reserve_ == _other.frame_reserve_ &&
sn_ == _other.sn_ &&
version_ == _other.version_ &&
bandwidth_ == _other.bandwidth_ &&
motor_cmd_ == _other.motor_cmd_ &&
bms_cmd_ == _other.bms_cmd_ &&
wireless_remote_ == _other.wireless_remote_ &&
led_ == _other.led_ &&
fan_ == _other.fan_ &&
gpio_ == _other.gpio_ &&
reserve_ == _other.reserve_ &&
crc_ == _other.crc_;
}
bool operator!=(const LowCmd_& _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_go::msg::dds_::LowCmd_>::getTypeName()
{
return "unitree_go::msg::dds_::LowCmd_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LowCmd_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_map_blob_sz() { return 1710; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_info_blob_sz() { return 196; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_map_blob() {
static const uint8_t blob[] = {
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0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65,
0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00,
0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
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0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00,
0x74, 0x61, 0x75, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00,
0x6b, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x00, 0x00,
0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0xf2, 0x31,
0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00, 0x00, 0x00,
0x76, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x1f, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a,
0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x42, 0x6d, 0x73, 0x43, 0x6d,
0x64, 0x5f, 0x00, 0x00, 0x42, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00, 0x6f, 0x66, 0x66, 0x00,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x02, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x5e, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20,
0xa9, 0x05, 0x40, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6, 0x2a,
0x3f, 0x63, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30,
0x3b, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff,
0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0xf1,
0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_info_blob() {
static const uint8_t blob[] = {
0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6,
0x2a, 0x3f, 0x63, 0x00, 0x67, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17,
0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x92, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0x00,
0x42, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20,
0xa9, 0x05, 0x40, 0x00, 0x2a, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef,
0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x00, 0xf2, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00,
0x7a, 0x00, 0x00, 0x00, };
return blob;
}
#endif //DDSCXX_HAS_TYPE_DISCOVERY
} //namespace topic
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
namespace dds {
namespace topic {
template <>
struct topic_type_name<::unitree_go::msg::dds_::LowCmd_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::LowCmd_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LowCmd_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::LowCmd_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.head()[0], instance.head().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.level_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.frame_reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.sn()[0], instance.sn().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.bandwidth()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
if (!write(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.bms_cmd(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.led()[0], instance.led().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.fan()[0], instance.fan().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.gpio()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.crc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool write(S& str, const ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
str.set_mode(cdr_stream::stream_mode::write, as_key);
return write(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool read(T& streamer, ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.head()[0], instance.head().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.level_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.frame_reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.sn()[0], instance.sn().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.bandwidth()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (auto & a_1:instance.motor_cmd()) { //array depth 1
if (!read(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.bms_cmd(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.led()[0], instance.led().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.fan()[0], instance.fan().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.gpio()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.crc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool read(S& str, ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
str.set_mode(cdr_stream::stream_mode::read, as_key);
return read(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool move(T& streamer, const ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.head()[0], instance.head().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.level_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.frame_reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.sn()[0], instance.sn().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.bandwidth()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
if (!move(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.bms_cmd(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.led()[0], instance.led().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.fan()[0], instance.fan().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.gpio()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.crc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool move(S& str, const ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
str.set_mode(cdr_stream::stream_mode::move, as_key);
return move(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool max(T& streamer, const ::unitree_go::msg::dds_::LowCmd_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.head()[0], instance.head().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.level_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.frame_reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.sn()[0], instance.sn().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.bandwidth()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
if (!max(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.bms_cmd(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.led()[0], instance.led().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.fan()[0], instance.fan().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.gpio()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.crc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool max(S& str, const ::unitree_go::msg::dds_::LowCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
str.set_mode(cdr_stream::stream_mode::max, as_key);
return max(str, instance, props.data());
}
} //namespace cdr
} //namespace core
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
#endif // DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP
