/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: LowState_.idl
Source: LowState_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_LOWSTATE__HPP
#define DDSCXX_UNITREE_IDL_GO2_LOWSTATE__HPP
#include "unitree/idl/go2/BmsState_.hpp"
#include "unitree/idl/go2/IMUState_.hpp"
#include "unitree/idl/go2/MotorState_.hpp"
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class LowState_
{
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;
::unitree_go::msg::dds_::IMUState_ imu_state_;
std::array<::unitree_go::msg::dds_::MotorState_, 20> motor_state_ = { };
::unitree_go::msg::dds_::BmsState_ bms_state_;
std::array<int16_t, 4> foot_force_ = { };
std::array<int16_t, 4> foot_force_est_ = { };
uint32_t tick_ = 0;
std::array<uint8_t, 40> wireless_remote_ = { };
uint8_t bit_flag_ = 0;
float adc_reel_ = 0.0f;
uint8_t temperature_ntc1_ = 0;
uint8_t temperature_ntc2_ = 0;
float power_v_ = 0.0f;
float power_a_ = 0.0f;
std::array<uint16_t, 4> fan_frequency_ = { };
uint32_t reserve_ = 0;
uint32_t crc_ = 0;
public:
LowState_() = default;
explicit LowState_(
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 ::unitree_go::msg::dds_::IMUState_& imu_state,
const std::array<::unitree_go::msg::dds_::MotorState_, 20>& motor_state,
const ::unitree_go::msg::dds_::BmsState_& bms_state,
const std::array<int16_t, 4>& foot_force,
const std::array<int16_t, 4>& foot_force_est,
uint32_t tick,
const std::array<uint8_t, 40>& wireless_remote,
uint8_t bit_flag,
float adc_reel,
uint8_t temperature_ntc1,
uint8_t temperature_ntc2,
float power_v,
float power_a,
const std::array<uint16_t, 4>& fan_frequency,
uint32_t reserve,
uint32_t crc) :
head_(head),
level_flag_(level_flag),
frame_reserve_(frame_reserve),
sn_(sn),
version_(version),
bandwidth_(bandwidth),
imu_state_(imu_state),
motor_state_(motor_state),
bms_state_(bms_state),
foot_force_(foot_force),
foot_force_est_(foot_force_est),
tick_(tick),
wireless_remote_(wireless_remote),
bit_flag_(bit_flag),
adc_reel_(adc_reel),
temperature_ntc1_(temperature_ntc1),
temperature_ntc2_(temperature_ntc2),
power_v_(power_v),
power_a_(power_a),
fan_frequency_(fan_frequency),
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 ::unitree_go::msg::dds_::IMUState_& imu_state() const { return this->imu_state_; }
::unitree_go::msg::dds_::IMUState_& imu_state() { return this->imu_state_; }
void imu_state(const ::unitree_go::msg::dds_::IMUState_& _val_) { this->imu_state_ = _val_; }
void imu_state(::unitree_go::msg::dds_::IMUState_&& _val_) { this->imu_state_ = _val_; }
const std::array<::unitree_go::msg::dds_::MotorState_, 20>& motor_state() const { return this->motor_state_; }
std::array<::unitree_go::msg::dds_::MotorState_, 20>& motor_state() { return this->motor_state_; }
void motor_state(const std::array<::unitree_go::msg::dds_::MotorState_, 20>& _val_) { this->motor_state_ = _val_; }
void motor_state(std::array<::unitree_go::msg::dds_::MotorState_, 20>&& _val_) { this->motor_state_ = _val_; }
const ::unitree_go::msg::dds_::BmsState_& bms_state() const { return this->bms_state_; }
::unitree_go::msg::dds_::BmsState_& bms_state() { return this->bms_state_; }
void bms_state(const ::unitree_go::msg::dds_::BmsState_& _val_) { this->bms_state_ = _val_; }
void bms_state(::unitree_go::msg::dds_::BmsState_&& _val_) { this->bms_state_ = _val_; }
const std::array<int16_t, 4>& foot_force() const { return this->foot_force_; }
std::array<int16_t, 4>& foot_force() { return this->foot_force_; }
void foot_force(const std::array<int16_t, 4>& _val_) { this->foot_force_ = _val_; }
void foot_force(std::array<int16_t, 4>&& _val_) { this->foot_force_ = _val_; }
const std::array<int16_t, 4>& foot_force_est() const { return this->foot_force_est_; }
std::array<int16_t, 4>& foot_force_est() { return this->foot_force_est_; }
void foot_force_est(const std::array<int16_t, 4>& _val_) { this->foot_force_est_ = _val_; }
void foot_force_est(std::array<int16_t, 4>&& _val_) { this->foot_force_est_ = _val_; }
uint32_t tick() const { return this->tick_; }
uint32_t& tick() { return this->tick_; }
void tick(uint32_t _val_) { this->tick_ = _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_; }
uint8_t bit_flag() const { return this->bit_flag_; }
uint8_t& bit_flag() { return this->bit_flag_; }
void bit_flag(uint8_t _val_) { this->bit_flag_ = _val_; }
float adc_reel() const { return this->adc_reel_; }
float& adc_reel() { return this->adc_reel_; }
void adc_reel(float _val_) { this->adc_reel_ = _val_; }
uint8_t temperature_ntc1() const { return this->temperature_ntc1_; }
uint8_t& temperature_ntc1() { return this->temperature_ntc1_; }
void temperature_ntc1(uint8_t _val_) { this->temperature_ntc1_ = _val_; }
uint8_t temperature_ntc2() const { return this->temperature_ntc2_; }
uint8_t& temperature_ntc2() { return this->temperature_ntc2_; }
void temperature_ntc2(uint8_t _val_) { this->temperature_ntc2_ = _val_; }
float power_v() const { return this->power_v_; }
float& power_v() { return this->power_v_; }
void power_v(float _val_) { this->power_v_ = _val_; }
float power_a() const { return this->power_a_; }
float& power_a() { return this->power_a_; }
void power_a(float _val_) { this->power_a_ = _val_; }
const std::array<uint16_t, 4>& fan_frequency() const { return this->fan_frequency_; }
std::array<uint16_t, 4>& fan_frequency() { return this->fan_frequency_; }
void fan_frequency(const std::array<uint16_t, 4>& _val_) { this->fan_frequency_ = _val_; }
void fan_frequency(std::array<uint16_t, 4>&& _val_) { this->fan_frequency_ = _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 LowState_& _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_ &&
imu_state_ == _other.imu_state_ &&
motor_state_ == _other.motor_state_ &&
bms_state_ == _other.bms_state_ &&
foot_force_ == _other.foot_force_ &&
foot_force_est_ == _other.foot_force_est_ &&
tick_ == _other.tick_ &&
wireless_remote_ == _other.wireless_remote_ &&
bit_flag_ == _other.bit_flag_ &&
adc_reel_ == _other.adc_reel_ &&
temperature_ntc1_ == _other.temperature_ntc1_ &&
temperature_ntc2_ == _other.temperature_ntc2_ &&
power_v_ == _other.power_v_ &&
power_a_ == _other.power_a_ &&
fan_frequency_ == _other.fan_frequency_ &&
reserve_ == _other.reserve_ &&
crc_ == _other.crc_;
}
bool operator!=(const LowState_& _other) const
{
return !(*this == _other);
}
};
}
}
}
#include "dds/topic/TopicTraits.hpp"
#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
namespace org {
namespace eclipse {
namespace cyclonedds {
namespace topic {
template <> constexpr const char* TopicTraits<::unitree_go::msg::dds_::LowState_>::getTypeName()
{
return "unitree_go::msg::dds_::LowState_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LowState_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowState_>::type_map_blob_sz() { return 3184; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowState_>::type_info_blob_sz() { return 244; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowState_>::type_map_blob() {
static const uint8_t blob[] = {
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0x14, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x00, 0x06, 0x00, 0x00, 0x00,
0x63, 0x79, 0x63, 0x6c, 0x65, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x00, 0x00,
0x07, 0x00, 0x00, 0x00, 0x62, 0x71, 0x5f, 0x6e, 0x74, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x22, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x6d, 0x63, 0x75, 0x5f,
0x6e, 0x74, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0f, 0x06, 0x00, 0x00,
0x09, 0x00, 0x00, 0x00, 0x63, 0x65, 0x6c, 0x6c, 0x5f, 0x76, 0x6f, 0x6c, 0x00, 0x00, 0x00, 0x00,
0x7c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf2, 0x08, 0xf2, 0x39, 0xc4, 0x71, 0xd3, 0xa2,
0x7e, 0x67, 0xe7, 0xc7, 0x72, 0x31, 0x84, 0xf1, 0x85, 0x3a, 0x99, 0xe2, 0x3d, 0x0d, 0xaa, 0x16,
0x10, 0xb6, 0x5c, 0x52, 0x6b, 0x40, 0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25, 0xd2, 0x26,
0x28, 0xb6, 0xb7, 0x64, 0xcc, 0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, 0x67, 0x10, 0xef,
0xc8, 0x29, 0x31, 0x15, 0xf2, 0xd2, 0xbc, 0xfb, 0x97, 0xbe, 0x37, 0xa8, 0xbc, 0x9c, 0x41, 0xe5,
0x0b, 0xa1, 0xc9, 0xf1, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8, 0xdb, 0x05, 0xe1, 0x27, 0x36,
0xb1, 0xbe, 0xf2, 0x2e, 0xd8, 0x57, 0xec, 0xb6, 0xb3, 0x05, 0x79, 0x80, 0x8c, 0x15, 0xfd, 0x14,
0x3d, 0xf1, 0xe1, 0x18, 0xaf, 0x07, 0x0b, 0xa2, 0x0b, 0xc2, 0xe0, 0x37, 0x0c, 0xec, 0x4c, 0xbb,
};
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowState_>::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, 0x85, 0x3a, 0x99, 0xe2, 0x3d, 0x0d, 0xaa, 0x16, 0x10, 0xb6, 0x5c,
0x52, 0x6b, 0x40, 0x00, 0x03, 0x02, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc,
0x67, 0x10, 0xef, 0xc8, 0x29, 0x31, 0x15, 0x00, 0x97, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf1, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8, 0xdb, 0x05, 0xe1, 0x27, 0x36, 0xb1, 0xbe, 0x00,
0xd2, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xe1, 0x18, 0xaf, 0x07, 0x0b, 0xa2, 0x0b,
0xc2, 0xe0, 0x37, 0x0c, 0xec, 0x4c, 0xbb, 0x00, 0xca, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40,
0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x08, 0xf2, 0x39,
0xc4, 0x71, 0xd3, 0xa2, 0x7e, 0x67, 0xe7, 0xc7, 0x72, 0x31, 0x84, 0x00, 0x56, 0x03, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25, 0xd2, 0x26, 0x28, 0xb6, 0xb7, 0x64, 0xcc, 0x00,
0x02, 0x01, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd2, 0xbc, 0xfb, 0x97, 0xbe, 0x37, 0xa8,
0xbc, 0x9c, 0x41, 0xe5, 0x0b, 0xa1, 0xc9, 0x00, 0x66, 0x01, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0x2e, 0xd8, 0x57, 0xec, 0xb6, 0xb3, 0x05, 0x79, 0x80, 0x8c, 0x15, 0xfd, 0x14, 0x3d, 0x00,
0x5f, 0x01, 0x00, 0x00, };
return blob;
}
#endif //DDSCXX_HAS_TYPE_DISCOVERY
} //namespace topic
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
namespace dds {
namespace topic {
template <>
struct topic_type_name<::unitree_go::msg::dds_::LowState_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::LowState_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LowState_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::LowState_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::LowState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.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 (!write(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_state()) { //array depth 1
if (!write(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.bms_state(), prop))
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.foot_force()[0], instance.foot_force().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.foot_force_est()[0], instance.foot_force_est().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.tick()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
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 13:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.bit_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.adc_reel()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.temperature_ntc1()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 16:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.temperature_ntc2()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 17:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.power_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 18:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.power_a()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 19:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.fan_frequency()[0], instance.fan_frequency().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 20:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 21:
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_::LowState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowState_>();
str.set_mode(cdr_stream::stream_mode::write, as_key);
return write(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool read(T& streamer, ::unitree_go::msg::dds_::LowState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.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 (!read(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (auto & a_1:instance.motor_state()) { //array depth 1
if (!read(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.bms_state(), prop))
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.foot_force()[0], instance.foot_force().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.foot_force_est()[0], instance.foot_force_est().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.tick()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
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 13:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.bit_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.adc_reel()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.temperature_ntc1()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 16:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.temperature_ntc2()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 17:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.power_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 18:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.power_a()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 19:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.fan_frequency()[0], instance.fan_frequency().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 20:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 21:
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_::LowState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowState_>();
str.set_mode(cdr_stream::stream_mode::read, as_key);
return read(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool move(T& streamer, const ::unitree_go::msg::dds_::LowState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.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 (!move(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_state()) { //array depth 1
if (!move(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.bms_state(), prop))
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.foot_force()[0], instance.foot_force().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.foot_force_est()[0], instance.foot_force_est().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.tick()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
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 13:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.bit_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.adc_reel()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.temperature_ntc1()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 16:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.temperature_ntc2()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 17:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.power_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 18:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.power_a()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 19:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.fan_frequency()[0], instance.fan_frequency().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 20:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 21:
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_::LowState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowState_>();
str.set_mode(cdr_stream::stream_mode::move, as_key);
return move(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool max(T& streamer, const ::unitree_go::msg::dds_::LowState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.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 (!max(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_state()) { //array depth 1
if (!max(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.bms_state(), prop))
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.foot_force()[0], instance.foot_force().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.foot_force_est()[0], instance.foot_force_est().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.tick()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
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 13:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.bit_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.adc_reel()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.temperature_ntc1()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 16:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.temperature_ntc2()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 17:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.power_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 18:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.power_a()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 19:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.fan_frequency()[0], instance.fan_frequency().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 20:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 21:
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_::LowState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowState_>();
str.set_mode(cdr_stream::stream_mode::max, as_key);
return max(str, instance, props.data());
}
} //namespace cdr
} //namespace core
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
#endif // DDSCXX_UNITREE_IDL_GO2_LOWSTATE__HPP
