/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: LowState_.idl
Source: LowState_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_HG_LOWSTATE__HPP
#define DDSCXX_UNITREE_IDL_HG_LOWSTATE__HPP
#include "unitree/idl/hg/IMUState_.hpp"
#include "unitree/idl/hg/MotorState_.hpp"
#include <cstdint>
#include <array>
namespace unitree_hg
{
namespace msg
{
namespace dds_
{
class LowState_
{
private:
std::array<uint32_t, 2> version_ = { };
uint8_t mode_pr_ = 0;
uint8_t mode_machine_ = 0;
uint32_t tick_ = 0;
::unitree_hg::msg::dds_::IMUState_ imu_state_;
std::array<::unitree_hg::msg::dds_::MotorState_, 35> motor_state_ = { };
std::array<uint8_t, 40> wireless_remote_ = { };
std::array<uint32_t, 4> reserve_ = { };
uint32_t crc_ = 0;
public:
LowState_() = default;
explicit LowState_(
const std::array<uint32_t, 2>& version,
uint8_t mode_pr,
uint8_t mode_machine,
uint32_t tick,
const ::unitree_hg::msg::dds_::IMUState_& imu_state,
const std::array<::unitree_hg::msg::dds_::MotorState_, 35>& motor_state,
const std::array<uint8_t, 40>& wireless_remote,
const std::array<uint32_t, 4>& reserve,
uint32_t crc) :
version_(version),
mode_pr_(mode_pr),
mode_machine_(mode_machine),
tick_(tick),
imu_state_(imu_state),
motor_state_(motor_state),
wireless_remote_(wireless_remote),
reserve_(reserve),
crc_(crc) { }
const std::array<uint32_t, 2>& version() const { return this->version_; }
std::array<uint32_t, 2>& version() { return this->version_; }
void version(const std::array<uint32_t, 2>& _val_) { this->version_ = _val_; }
void version(std::array<uint32_t, 2>&& _val_) { this->version_ = _val_; }
uint8_t mode_pr() const { return this->mode_pr_; }
uint8_t& mode_pr() { return this->mode_pr_; }
void mode_pr(uint8_t _val_) { this->mode_pr_ = _val_; }
uint8_t mode_machine() const { return this->mode_machine_; }
uint8_t& mode_machine() { return this->mode_machine_; }
void mode_machine(uint8_t _val_) { this->mode_machine_ = _val_; }
uint32_t tick() const { return this->tick_; }
uint32_t& tick() { return this->tick_; }
void tick(uint32_t _val_) { this->tick_ = _val_; }
const ::unitree_hg::msg::dds_::IMUState_& imu_state() const { return this->imu_state_; }
::unitree_hg::msg::dds_::IMUState_& imu_state() { return this->imu_state_; }
void imu_state(const ::unitree_hg::msg::dds_::IMUState_& _val_) { this->imu_state_ = _val_; }
void imu_state(::unitree_hg::msg::dds_::IMUState_&& _val_) { this->imu_state_ = _val_; }
const std::array<::unitree_hg::msg::dds_::MotorState_, 35>& motor_state() const { return this->motor_state_; }
std::array<::unitree_hg::msg::dds_::MotorState_, 35>& motor_state() { return this->motor_state_; }
void motor_state(const std::array<::unitree_hg::msg::dds_::MotorState_, 35>& _val_) { this->motor_state_ = _val_; }
void motor_state(std::array<::unitree_hg::msg::dds_::MotorState_, 35>&& _val_) { this->motor_state_ = _val_; }
const std::array<uint8_t, 40>& wireless_remote() const { return this->wireless_remote_; }
std::array<uint8_t, 40>& wireless_remote() { return this->wireless_remote_; }
void wireless_remote(const std::array<uint8_t, 40>& _val_) { this->wireless_remote_ = _val_; }
void wireless_remote(std::array<uint8_t, 40>&& _val_) { this->wireless_remote_ = _val_; }
const std::array<uint32_t, 4>& reserve() const { return this->reserve_; }
std::array<uint32_t, 4>& reserve() { return this->reserve_; }
void reserve(const std::array<uint32_t, 4>& _val_) { this->reserve_ = _val_; }
void reserve(std::array<uint32_t, 4>&& _val_) { this->reserve_ = _val_; }
uint32_t crc() const { return this->crc_; }
uint32_t& crc() { return this->crc_; }
void crc(uint32_t _val_) { this->crc_ = _val_; }
bool operator==(const LowState_& _other) const
{
(void) _other;
return version_ == _other.version_ &&
mode_pr_ == _other.mode_pr_ &&
mode_machine_ == _other.mode_machine_ &&
tick_ == _other.tick_ &&
imu_state_ == _other.imu_state_ &&
motor_state_ == _other.motor_state_ &&
wireless_remote_ == _other.wireless_remote_ &&
reserve_ == _other.reserve_ &&
crc_ == _other.crc_;
}
bool operator!=(const LowState_& _other) const
{
return !(*this == _other);
}
};
}
}
}
#include "dds/topic/TopicTraits.hpp"
#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
namespace org {
namespace eclipse {
namespace cyclonedds {
namespace topic {
template <> constexpr const char* TopicTraits<::unitree_hg::msg::dds_::LowState_>::getTypeName()
{
return "unitree_hg::msg::dds_::LowState_";
}
template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::LowState_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::LowState_>::type_map_blob_sz() { return 1850; }
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::LowState_>::type_info_blob_sz() { return 196; }
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::LowState_>::type_map_blob() {
static const uint8_t blob[] = {
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0x94, 0x0b, 0x8f, 0x30, 0x18, 0xf1, 0x8d, 0xe0, 0xed, 0x24, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::LowState_>::type_info_blob() {
static const uint8_t blob[] = {
0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
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0x8b, 0x1e, 0x39, 0x00, 0xf3, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xfc, 0x68, 0x71, 0x76, 0x65, 0x12, 0x06,
0x55, 0x84, 0x73, 0xdf, 0x44, 0x22, 0x80, 0x00, 0x97, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf1, 0x7c, 0xc5, 0x84, 0xed, 0x94, 0x0b, 0x8f, 0x30, 0x18, 0xf1, 0x8d, 0xe0, 0xed, 0x24, 0x00,
0xda, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x2b, 0xe9, 0x70, 0x6c, 0x95, 0x87, 0xe8, 0xd8, 0xaf, 0xd8, 0xbf,
0xc6, 0xde, 0x7b, 0x00, 0x8e, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x7d, 0x41, 0x66, 0x75, 0x41, 0x77, 0xd8,
0x6f, 0xa2, 0x7c, 0xd2, 0x5b, 0x04, 0x03, 0x00, 0x02, 0x01, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0xa8, 0x6c, 0xba, 0xb3, 0xae, 0x0a, 0xa9, 0x8a, 0x1e, 0x74, 0x66, 0x43, 0xa0, 0x99, 0x00,
0x6a, 0x01, 0x00, 0x00, };
return blob;
}
#endif //DDSCXX_HAS_TYPE_DISCOVERY
} //namespace topic
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
namespace dds {
namespace topic {
template <>
struct topic_type_name<::unitree_hg::msg::dds_::LowState_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::LowState_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::LowState_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_hg::msg::dds_::LowState_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_hg::msg::dds_::LowState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.mode_pr()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.mode_machine()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.tick()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_state()) { //array depth 1
if (!write(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.crc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool write(S& str, const ::unitree_hg::msg::dds_::LowState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::LowState_>();
str.set_mode(cdr_stream::stream_mode::write, as_key);
return write(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool read(T& streamer, ::unitree_hg::msg::dds_::LowState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.mode_pr()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.mode_machine()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.tick()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (auto & a_1:instance.motor_state()) { //array depth 1
if (!read(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.crc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool read(S& str, ::unitree_hg::msg::dds_::LowState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::LowState_>();
str.set_mode(cdr_stream::stream_mode::read, as_key);
return read(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool move(T& streamer, const ::unitree_hg::msg::dds_::LowState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.mode_pr()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.mode_machine()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.tick()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_state()) { //array depth 1
if (!move(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.crc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool move(S& str, const ::unitree_hg::msg::dds_::LowState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::LowState_>();
str.set_mode(cdr_stream::stream_mode::move, as_key);
return move(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool max(T& streamer, const ::unitree_hg::msg::dds_::LowState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.mode_pr()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.mode_machine()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.tick()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_state()) { //array depth 1
if (!max(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.crc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool max(S& str, const ::unitree_hg::msg::dds_::LowState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::LowState_>();
str.set_mode(cdr_stream::stream_mode::max, as_key);
return max(str, instance, props.data());
}
} //namespace cdr
} //namespace core
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
#endif // DDSCXX_UNITREE_IDL_HG_LOWSTATE__HPP
