/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: MotorState_.idl
Source: MotorState_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_HG_MOTORSTATE__HPP
#define DDSCXX_UNITREE_IDL_HG_MOTORSTATE__HPP
#include <cstdint>
#include <array>
namespace unitree_hg
{
namespace msg
{
namespace dds_
{
class MotorState_
{
private:
uint8_t mode_ = 0;
float q_ = 0.0f;
float dq_ = 0.0f;
float ddq_ = 0.0f;
float tau_est_ = 0.0f;
std::array<int16_t, 2> temperature_ = { };
float vol_ = 0.0f;
std::array<uint32_t, 2> sensor_ = { };
uint32_t motorstate_ = 0;
std::array<uint32_t, 4> reserve_ = { };
public:
MotorState_() = default;
explicit MotorState_(
uint8_t mode,
float q,
float dq,
float ddq,
float tau_est,
const std::array<int16_t, 2>& temperature,
float vol,
const std::array<uint32_t, 2>& sensor,
uint32_t motorstate,
const std::array<uint32_t, 4>& reserve) :
mode_(mode),
q_(q),
dq_(dq),
ddq_(ddq),
tau_est_(tau_est),
temperature_(temperature),
vol_(vol),
sensor_(sensor),
motorstate_(motorstate),
reserve_(reserve) { }
uint8_t mode() const { return this->mode_; }
uint8_t& mode() { return this->mode_; }
void mode(uint8_t _val_) { this->mode_ = _val_; }
float q() const { return this->q_; }
float& q() { return this->q_; }
void q(float _val_) { this->q_ = _val_; }
float dq() const { return this->dq_; }
float& dq() { return this->dq_; }
void dq(float _val_) { this->dq_ = _val_; }
float ddq() const { return this->ddq_; }
float& ddq() { return this->ddq_; }
void ddq(float _val_) { this->ddq_ = _val_; }
float tau_est() const { return this->tau_est_; }
float& tau_est() { return this->tau_est_; }
void tau_est(float _val_) { this->tau_est_ = _val_; }
const std::array<int16_t, 2>& temperature() const { return this->temperature_; }
std::array<int16_t, 2>& temperature() { return this->temperature_; }
void temperature(const std::array<int16_t, 2>& _val_) { this->temperature_ = _val_; }
void temperature(std::array<int16_t, 2>&& _val_) { this->temperature_ = _val_; }
float vol() const { return this->vol_; }
float& vol() { return this->vol_; }
void vol(float _val_) { this->vol_ = _val_; }
const std::array<uint32_t, 2>& sensor() const { return this->sensor_; }
std::array<uint32_t, 2>& sensor() { return this->sensor_; }
void sensor(const std::array<uint32_t, 2>& _val_) { this->sensor_ = _val_; }
void sensor(std::array<uint32_t, 2>&& _val_) { this->sensor_ = _val_; }
uint32_t motorstate() const { return this->motorstate_; }
uint32_t& motorstate() { return this->motorstate_; }
void motorstate(uint32_t _val_) { this->motorstate_ = _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_; }
bool operator==(const MotorState_& _other) const
{
(void) _other;
return mode_ == _other.mode_ &&
q_ == _other.q_ &&
dq_ == _other.dq_ &&
ddq_ == _other.ddq_ &&
tau_est_ == _other.tau_est_ &&
temperature_ == _other.temperature_ &&
vol_ == _other.vol_ &&
sensor_ == _other.sensor_ &&
motorstate_ == _other.motorstate_ &&
reserve_ == _other.reserve_;
}
bool operator!=(const MotorState_& _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_::MotorState_>::getTypeName()
{
return "unitree_hg::msg::dds_::MotorState_";
}
template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::MotorState_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::MotorState_>::type_map_blob_sz() { return 670; }
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::MotorState_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::MotorState_>::type_map_blob() {
static const uint8_t blob[] = {
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0x7c, 0xc5, 0x84, 0xed, 0x94, 0x0b, 0x8f, 0x30, 0x18, 0xf1, 0x8d, 0xe0, 0xed, 0x24, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::MotorState_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, };
return blob;
}
#endif //DDSCXX_HAS_TYPE_DISCOVERY
} //namespace topic
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
namespace dds {
namespace topic {
template <>
struct topic_type_name<::unitree_hg::msg::dds_::MotorState_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::MotorState_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::MotorState_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_hg::msg::dds_::MotorState_>();
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_::MotorState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.ddq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.tau_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.temperature()[0], instance.temperature().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.vol()))
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.sensor()[0], instance.sensor().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.motorstate()))
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.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool write(S& str, const ::unitree_hg::msg::dds_::MotorState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::MotorState_>();
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_::MotorState_& 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()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.ddq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.tau_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.temperature()[0], instance.temperature().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.vol()))
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.sensor()[0], instance.sensor().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.motorstate()))
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.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool read(S& str, ::unitree_hg::msg::dds_::MotorState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::MotorState_>();
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_::MotorState_& 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()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.ddq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.tau_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.temperature()[0], instance.temperature().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.vol()))
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.sensor()[0], instance.sensor().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.motorstate()))
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.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool move(S& str, const ::unitree_hg::msg::dds_::MotorState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::MotorState_>();
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_::MotorState_& 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()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.ddq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.tau_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.temperature()[0], instance.temperature().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.vol()))
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.sensor()[0], instance.sensor().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.motorstate()))
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.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool max(S& str, const ::unitree_hg::msg::dds_::MotorState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::MotorState_>();
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_MOTORSTATE__HPP
