初始化项目，包含fast_lio_ws和unitree_sdk2
This commit is contained in:
541
unitree_sdk2/include/unitree/idl/hg/AgvBmsState_.hpp
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541
unitree_sdk2/include/unitree/idl/hg/AgvBmsState_.hpp
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: AgvBmsState_.idl
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Source: AgvBmsState_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_UNITREE_IDL_HG_AGVBMSSTATE__HPP
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#define DDSCXX_UNITREE_IDL_HG_AGVBMSSTATE__HPP
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#include <cstdint>
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#include <array>
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#include <string>
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namespace unitree_hg
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{
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namespace msg
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{
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namespace dds_
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{
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class AgvBmsState_
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{
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private:
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std::string software_version_;
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uint8_t battery_percentage_ = 0;
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int32_t current_ = 0;
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std::array<int16_t, 3> temperature_ = { };
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std::string docking_status_;
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bool is_charging_ = false;
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bool is_dc_connected_ = false;
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public:
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AgvBmsState_() = default;
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explicit AgvBmsState_(
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const std::string& software_version,
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uint8_t battery_percentage,
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int32_t current,
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const std::array<int16_t, 3>& temperature,
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const std::string& docking_status,
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bool is_charging,
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bool is_dc_connected) :
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software_version_(software_version),
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battery_percentage_(battery_percentage),
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current_(current),
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temperature_(temperature),
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docking_status_(docking_status),
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is_charging_(is_charging),
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is_dc_connected_(is_dc_connected) { }
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const std::string& software_version() const { return this->software_version_; }
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std::string& software_version() { return this->software_version_; }
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void software_version(const std::string& _val_) { this->software_version_ = _val_; }
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void software_version(std::string&& _val_) { this->software_version_ = _val_; }
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uint8_t battery_percentage() const { return this->battery_percentage_; }
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uint8_t& battery_percentage() { return this->battery_percentage_; }
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void battery_percentage(uint8_t _val_) { this->battery_percentage_ = _val_; }
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int32_t current() const { return this->current_; }
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int32_t& current() { return this->current_; }
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void current(int32_t _val_) { this->current_ = _val_; }
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const std::array<int16_t, 3>& temperature() const { return this->temperature_; }
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std::array<int16_t, 3>& temperature() { return this->temperature_; }
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void temperature(const std::array<int16_t, 3>& _val_) { this->temperature_ = _val_; }
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void temperature(std::array<int16_t, 3>&& _val_) { this->temperature_ = _val_; }
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const std::string& docking_status() const { return this->docking_status_; }
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std::string& docking_status() { return this->docking_status_; }
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void docking_status(const std::string& _val_) { this->docking_status_ = _val_; }
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void docking_status(std::string&& _val_) { this->docking_status_ = _val_; }
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bool is_charging() const { return this->is_charging_; }
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bool& is_charging() { return this->is_charging_; }
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void is_charging(bool _val_) { this->is_charging_ = _val_; }
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bool is_dc_connected() const { return this->is_dc_connected_; }
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bool& is_dc_connected() { return this->is_dc_connected_; }
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void is_dc_connected(bool _val_) { this->is_dc_connected_ = _val_; }
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bool operator==(const AgvBmsState_& _other) const
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{
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(void) _other;
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return software_version_ == _other.software_version_ &&
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battery_percentage_ == _other.battery_percentage_ &&
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current_ == _other.current_ &&
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temperature_ == _other.temperature_ &&
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docking_status_ == _other.docking_status_ &&
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is_charging_ == _other.is_charging_ &&
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is_dc_connected_ == _other.is_dc_connected_;
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}
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bool operator!=(const AgvBmsState_& _other) const
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{
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return !(*this == _other);
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}
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};
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}
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}
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}
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#include "dds/topic/TopicTraits.hpp"
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#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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namespace org {
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namespace eclipse {
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namespace cyclonedds {
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namespace topic {
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template <> constexpr const char* TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::getTypeName()
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{
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return "unitree_hg::msg::dds_::AgvBmsState_";
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}
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template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::isSelfContained()
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{
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return false;
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}
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template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::isKeyless()
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{
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return true;
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::type_map_blob_sz() { return 550; }
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template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::type_info_blob_sz() { return 100; }
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||||
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::type_map_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0xa7, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xed, 0x44, 0x74, 0x98, 0xd8, 0x24, 0x53,
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0xc2, 0x7f, 0x74, 0xa8, 0x32, 0x31, 0x6b, 0x00, 0x8f, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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||||
0x7f, 0x74, 0xa8, 0x32, 0x31, 0x6b, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::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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0x14, 0x00, 0x00, 0x00, 0xf1, 0xed, 0x44, 0x74, 0x98, 0xd8, 0x24, 0x53, 0xc2, 0x7f, 0x74, 0xa8,
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0x32, 0x31, 0x6b, 0x00, 0x93, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x02, 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
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||||
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||||
} //namespace topic
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||||
} //namespace cyclonedds
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} //namespace eclipse
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} //namespace org
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namespace dds {
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namespace topic {
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template <>
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struct topic_type_name<::unitree_hg::msg::dds_::AgvBmsState_>
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{
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static std::string value()
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||||
{
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||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::AgvBmsState_>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
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REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::AgvBmsState_)
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namespace org{
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namespace eclipse{
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||||
namespace cyclonedds{
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||||
namespace core{
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||||
namespace cdr{
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||||
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||||
template<>
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propvec &get_type_props<::unitree_hg::msg::dds_::AgvBmsState_>();
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template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
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||||
bool write(T& streamer, const ::unitree_hg::msg::dds_::AgvBmsState_& instance, entity_properties_t *props) {
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(void)instance;
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||||
if (!streamer.start_struct(*props))
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||||
return false;
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||||
auto prop = streamer.first_entity(props);
|
||||
while (prop) {
|
||||
switch (prop->m_id) {
|
||||
case 0:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write_string(streamer, instance.software_version(), 0))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.battery_percentage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.current()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 3:
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||||
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 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write_string(streamer, instance.docking_status(), 0))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.is_charging()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.is_dc_connected()))
|
||||
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_::AgvBmsState_& instance, bool as_key) {
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||||
auto &props = get_type_props<::unitree_hg::msg::dds_::AgvBmsState_>();
|
||||
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_::AgvBmsState_& 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_string(streamer, instance.software_version(), 0))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.battery_percentage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.current()))
|
||||
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.temperature()[0], instance.temperature().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read_string(streamer, instance.docking_status(), 0))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.is_charging()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.is_dc_connected()))
|
||||
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_::AgvBmsState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::AgvBmsState_>();
|
||||
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_::AgvBmsState_& 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_string(streamer, instance.software_version(), 0))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.battery_percentage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.current()))
|
||||
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.temperature()[0], instance.temperature().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move_string(streamer, instance.docking_status(), 0))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.is_charging()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.is_dc_connected()))
|
||||
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_::AgvBmsState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::AgvBmsState_>();
|
||||
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_::AgvBmsState_& 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_string(streamer, instance.software_version(), 0))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.battery_percentage()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 2:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.current()))
|
||||
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.temperature()[0], instance.temperature().size()))
|
||||
return false;
|
||||
if (!streamer.finish_consecutive())
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 4:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max_string(streamer, instance.docking_status(), 0))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.is_charging()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 6:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.is_dc_connected()))
|
||||
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_::AgvBmsState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::msg::dds_::AgvBmsState_>();
|
||||
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_AGVBMSSTATE__HPP
|
||||
Reference in New Issue
Block a user